Translation lifting control method, device and system for working connecting rod of loading machine

Abstract

The invention discloses a loader working connecting rod translation lifting control method, device and system, and the method comprises the steps: calculating a theoretical extreme value of a movable arm relative to a frame angle and a theoretical extreme value of a rocker arm relative to the movable arm angle according to theoretical structure parameters of a loader working device; the collected actual extreme value of the movable arm relative to the frame angle and the collected actual extreme value of the rocker arm relative to the movable arm angle are obtained; the measured bucket angle under the limit posture and the ground clearance of a lower hinge pin of a movable arm are obtained, and the angle of the movable arm relative to a frame and the angle of a rocker arm relative to the movable arm are calculated; based on the actual extreme value and the theoretical extreme value of the movable arm relative to the angle of the frame, the actual extreme value and the theoretical extreme value of the rocker arm relative to the angle of the movable arm, the calculated angle of the movable arm relative to the frame and the calculated angle of the rocker arm relative to the movable arm, the angle in any posture is corrected; and controlling the tipping bucket cylinder and / or the movable arm cylinder based on the corrected angle. On the premise that the number of the sensors is not remarkably increased, the control efficiency and quality of the loader are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of loader control, and in particular relates to a method, device and system for controlling the translational lifting of a working connecting rod of a loader. Background Art

[0002] As a typical linkage mechanism, the motion characteristics of the loader working device mainly depend on the structural dimensions of each component. Due to the inevitable processing errors in the manufacturing process, there is a deviation between the structural dimensions of the actual components and the theoretical design values, resulting in poor control of the translational lifting function, and a lot of time is required to debug the control algorithm parameters.

[0003] In the prior art, the parameters in the controller are corrected by parameter identification, which can effectively improve the control effect. In the prior art, the parameters in the controller are corrected by parameter identification, which can effectively improve the control effect. However, this method will increase the number of sensors required. In addition to the original rocker arm angle sensor and boom angle sensor, it is also necessary to install additional bucket angle sensors, boom cylinders and bucket cylinder displacement sensors on the vehicle, which undoubtedly increases the cost. Summary of the invention

[0004] In view of the above problems, the present invention proposes a method, device and system for controlling the translational lifting of a working link of a loader, which can improve the control efficiency and quality of the translational lifting of the working link of the loader without significantly increasing the number of sensors.

[0005] In order to achieve the above technical objectives and the above technical effects, the present invention is implemented through the following technical solutions:

[0006] In a first aspect, the present invention provides a method for controlling the translational lifting of a working link of a loader, comprising:

[0007] According to the theoretical structural parameters of the loader working device, the theoretical extreme value of the angle of the boom relative to the frame and the theoretical extreme value of the angle of the rocker arm relative to the boom are calculated;

[0008] Acquire the actual extreme value of the angle of the boom relative to the frame acquired by the first angle sensor, and the actual extreme value of the angle of the rocker arm relative to the boom acquired by the second angle sensor;

[0009] Obtain the measured bucket angle and ground clearance of the lower hinge pin of the boom under the extreme posture, and calculate the angle of the boom relative to the frame and the angle of the rocker arm relative to the boom under the extreme posture according to the theoretical structural parameters of the loader working device;

[0010] Based on the actual extreme value of the boom angle relative to the frame and the actual extreme value of the rocker arm angle relative to the boom, the calculated theoretical extreme value of the boom angle relative to the frame and the theoretical extreme value of the rocker arm angle relative to the boom, and the calculated angles of the boom relative to the frame and the rocker arm relative to the boom in extreme postures, the angles of the boom relative to the frame and the rocker arm relative to the boom in any posture are corrected;

[0011] The tilting cylinder and / or the boom cylinder are controlled by taking the corrected angle of the boom relative to the frame and the angle of the rocker arm relative to the boom in any posture as inputs and combining with corresponding control algorithms.

[0012] In combination with the first aspect, optionally, the step of obtaining the measured bucket angle and the ground clearance height of the lower hinge pin of the boom in the extreme posture, and calculating the angle of the boom relative to the frame and the angle of the rocker arm relative to the boom in the extreme posture according to theoretical structural parameters of the loader working device, includes:

[0013] Select a posture so that the angle of the boom relative to the frame and the angle of the rocker arm relative to the boom reach extreme values ​​at the same time;

[0014] Record the bucket angle and the ground clearance height of the lower hinge pin of the boom in the current posture;

[0015] Based on the obtained bucket angle and the height of the lower hinge pin of the boom from the ground, the angle of the boom relative to the frame and the angle of the rocker arm relative to the boom in this extreme posture are calculated according to the mechanism kinematics inverse algorithm.

[0016] In combination with the first aspect, optionally, based on the actual extreme value of the boom angle relative to the frame and the actual extreme value of the rocker arm angle relative to the boom, the calculated theoretical extreme value of the boom angle relative to the frame and the theoretical extreme value of the rocker arm angle relative to the boom, and the calculated angles of the boom relative to the frame and the rocker arm relative to the boom in extreme postures, the angle of the boom relative to the frame and the rocker arm relative to the boom in any posture are corrected, including:

[0017] Based on the actual extreme value of the boom angle relative to the frame and the actual extreme value of the rocker arm angle relative to the boom, the theoretical extreme value of the boom angle relative to the frame and the theoretical extreme value of the rocker arm angle relative to the boom are calculated, and the correction coefficient 1 and the second coefficient 2 are calculated;

[0018] Subtract the angle of the boom relative to the frame or the angle of the rocker arm relative to the boom in any current posture from the actual extreme value of the angle of the boom relative to the frame or the actual extreme value of the angle of the rocker arm relative to the boom to obtain a first angle difference, and multiply the first angle difference by a correction coefficient 1 or a correction coefficient 2 to obtain a second angle difference;

[0019] The second angle difference is added to the calculated angle of the boom relative to the frame or the angle of the rocker arm relative to the boom in the extreme posture to obtain the corrected angle of the boom relative to the frame and the angle of the rocker arm relative to the boom in any posture.

[0020] In combination with the first aspect, optionally, the calculation formulas of the correction coefficient 1 and the second coefficient 2 are:

[0021] ;

[0022] ;

[0023] in, , They are the theoretical maximum and minimum angles of the boom relative to the frame, respectively; , are the theoretical maximum and minimum angles of the rocker arm relative to the boom, , are the maximum and minimum values ​​of the measured angles of the boom relative to the frame, , are the maximum and minimum values ​​of the angle of the rocker arm relative to the boom, respectively.

[0024] In combination with the first aspect, optionally, the calculation formula of the corrected angle of the boom relative to the frame and the angle of the rocker arm relative to the boom in any posture is:

[0025]

[0026]

[0027] in, is the corrected angle of the boom relative to the frame in any posture, is the corrected angle of the rocker arm relative to the boom, is the calculated angle of the boom relative to the frame in the extreme attitude, is the angle of the rocker arm relative to the boom in the calculated extreme attitude, is the measured angle of the boom relative to the frame in any posture, is the measured angle of the rocker arm relative to the boom in any posture.

[0028] In combination with the first aspect, optionally, the controlling the bucket cylinder and / or the boom cylinder by taking the corrected angle of the boom relative to the frame and the angle of the rocker arm relative to the boom in any posture as input and combining with a corresponding control algorithm comprises:

[0029] Obtaining the target bucket angle, the control threshold, and the corrected angles of the boom relative to the frame and the rocker arm relative to the boom in the current posture;

[0030] Calculate a target value of the angle of the rocker arm relative to the boom according to the target bucket angle and the corrected angle of the boom relative to the frame;

[0031] The calculated target value of the rocker arm angle relative to the boom and the obtained test value of the corrected rocker arm angle relative to the boom are subtracted and the absolute value is taken to obtain the control error;

[0032] Based on the control error and the control threshold, control of the bucket cylinder and / or the boom cylinder is completed.

[0033] In combination with the first aspect, optionally, completing the control of the bucket cylinder and / or the boom cylinder based on the control error and the control threshold includes:

[0034] The control error is compared with the control threshold. If the error is greater than the control threshold, the control amount is calculated based on the PID control algorithm or the linear quadratic optimal control algorithm, the opening of the multi-way valve is adjusted, and the extension and retraction of the bucket cylinder and / or the boom cylinder are controlled.

[0035] In a second aspect, the present invention provides a loader working link translation lifting control device, comprising:

[0036] An angle acquisition module, used to acquire an actual extreme value of the angle of the boom relative to the frame acquired by the first angle sensor, and an actual extreme value of the angle of the rocker arm relative to the boom acquired by the second angle sensor;

[0037] The first calculation module is used to calculate the theoretical extreme value of the angle of the boom relative to the frame and the theoretical extreme value of the angle of the rocker arm relative to the boom according to the theoretical structural parameters of the loader working device;

[0038] The second calculation module is used to obtain the measured bucket angle and the ground clearance height of the lower hinge pin of the boom under the extreme posture, and calculate the angle of the boom relative to the frame and the angle of the rocker arm relative to the boom under the extreme posture according to the theoretical structural parameters of the loader working device;

[0039] A third calculation module is used to correct the angle of the boom relative to the frame and the angle of the rocker arm relative to the boom in any posture based on the actual extreme value of the boom angle relative to the frame and the actual extreme value of the rocker arm angle relative to the boom, the calculated theoretical extreme value of the boom angle relative to the frame and the theoretical extreme value of the rocker arm angle relative to the boom, and the calculated angle of the boom relative to the frame and the rocker arm angle relative to the boom in extreme postures;

[0040] The control module is used to control the bucket cylinder and / or the boom cylinder by taking the corrected angle of the boom relative to the frame and the angle of the rocker arm relative to the boom in any posture as inputs and combining with corresponding control algorithms.

[0041] In a third aspect, the present invention provides a loader working link translation lifting control system, including a storage medium and a processor;

[0042] The storage medium is used to store instructions;

[0043] The processor is configured to operate according to the instructions to execute the method according to any one of the first aspects.

[0044] In a fourth aspect, the present invention provides a loader working link translation lifting control system, comprising:

[0045] A first angle sensor and a second angle sensor, both used to collect the rotation angles of the boom relative to the frame and the rocker arm relative to the boom, respectively;

[0046] Level, used to collect bucket angle;

[0047] Distance meter, used to collect the height of the hinge pin under the boom from the ground;

[0048] The controller comprises a kinematics calculation module, wherein the kinematics calculation module is respectively connected to the angle sensor, the level meter and the rangefinder, and is configured to execute any one of the methods described in the first aspect.

[0049] Compared with the prior art, the present invention has the following beneficial effects:

[0050] The present invention calculates the theoretical extreme value of the angle of the boom relative to the frame and the theoretical extreme value of the angle of the rocker arm relative to the boom according to the theoretical structural parameters of the loader working device; obtains the actual extreme value of the angle of the boom relative to the frame through a first angle sensor; obtains the actual extreme value of the angle of the rocker arm relative to the boom through a second angle sensor; measures the bucket angle and the height of the hinge pin under the boom from the ground under the extreme posture, and calculates the angle of the boom relative to the frame and the angle of the rocker arm relative to the boom under the posture according to the theoretical structural parameters of the loader working device; based on the actual extreme value of the angle of the boom relative to the frame and the actual extreme value of the angle of the rocker arm relative to the boom obtained, the theoretical extreme value of the angle of the boom relative to the frame and the theoretical extreme value of the angle of the rocker arm relative to the boom calculated, as well as the angle of the boom relative to the frame and the angle of the rocker arm relative to the boom under the extreme posture, the angle of the boom relative to the frame and the angle of the rocker arm relative to the boom under any posture are corrected; the corrected angle of the boom relative to the frame and the angle of the rocker arm relative to the boom are used in the translation lifting function of the working connecting rod of the loader to improve the control effect, which can greatly improve the efficiency and effect of actual vehicle control. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative labor, among which:

[0052] Figure 1 A schematic diagram of a loader working link translation lifting control device according to an embodiment of the present invention;

[0053] Figure 2 The present invention is a schematic diagram of a loader working link translation lifting control algorithm process according to an embodiment of the present invention.

[0054] Figure 3 A schematic diagram of a loader working device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0055] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0056] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0057] Example 1

[0058] An embodiment of the present invention provides a method for controlling the translational lifting of a working link of a loader, comprising the following steps:

[0059] (1) Based on the theoretical structural parameters of the loader working device, the theoretical extreme values ​​of the angles of the boom relative to the frame and the theoretical extreme values ​​of the angles of the rocker arm relative to the boom are calculated;

[0060] (2) obtaining an actual extreme value of the angle of the boom relative to the frame acquired by the first angle sensor, and an actual extreme value of the angle of the rocker arm relative to the boom acquired by the second angle sensor;

[0061] (3) Obtain the bucket angle and the ground clearance of the lower hinge pin of the boom under the measured extreme posture, and calculate the angle of the boom relative to the frame and the angle of the rocker arm relative to the boom under the extreme posture based on the theoretical structural parameters of the loader working device;

[0062] (4) Based on the actual extreme value of the boom angle relative to the frame and the actual extreme value of the rocker arm angle relative to the boom, the calculated theoretical extreme value of the boom angle relative to the frame and the theoretical extreme value of the rocker arm angle relative to the boom, and the calculated angles of the boom relative to the frame and the rocker arm relative to the boom in the extreme postures, the angles of the boom relative to the frame and the rocker arm relative to the boom in any posture are corrected;

[0063] (5) Using the corrected angle of the boom relative to the vehicle frame and the angle of the rocker arm relative to the boom in any posture as input, combined with a corresponding control algorithm, the dump cylinder and / or the boom cylinder are controlled.

[0064] In a specific implementation of the embodiment of the present invention, the step of obtaining the measured bucket angle and the ground clearance height of the lower hinge pin of the boom in the extreme posture, and calculating the angle of the boom relative to the frame and the angle of the rocker arm relative to the boom in the extreme posture according to the theoretical structural parameters of the loader working device, includes:

[0065] Select a posture so that the angle of the boom relative to the frame and the angle of the rocker arm relative to the boom reach extreme values ​​at the same time;

[0066] Record the bucket angle and the ground clearance height of the lower hinge pin of the boom in the current posture;

[0067] Based on the obtained bucket angle and the height of the lower hinge pin of the boom from the ground, the angle of the boom relative to the frame and the angle of the rocker arm relative to the boom in this extreme posture are calculated according to the mechanism kinematics inverse algorithm.

[0068] In a specific implementation of the embodiment of the present invention, based on the actual extreme value of the boom angle relative to the frame and the actual extreme value of the rocker arm angle relative to the boom, the calculated theoretical extreme value of the boom angle relative to the frame and the theoretical extreme value of the rocker arm angle relative to the boom, and the calculated angle of the boom relative to the frame and the rocker arm angle relative to the boom in the extreme posture, the angle of the boom relative to the frame and the rocker arm angle relative to the boom in any posture are corrected, including:

[0069] Based on the actual extreme value of the boom angle relative to the frame and the actual extreme value of the rocker arm angle relative to the boom, the theoretical extreme value of the boom angle relative to the frame and the theoretical extreme value of the rocker arm angle relative to the boom are calculated, and the correction coefficient 1 and the second coefficient 2 are calculated;

[0070] Subtract the angle of the boom relative to the frame or the angle of the rocker arm relative to the boom in any current posture from the actual extreme value of the angle of the boom relative to the frame or the actual extreme value of the angle of the rocker arm relative to the boom to obtain a first angle difference, and multiply the first angle difference by a correction coefficient 1 or a correction coefficient 2 to obtain a second angle difference;

[0071] The second angle difference is added to the calculated angle of the boom relative to the frame or the angle of the rocker arm relative to the boom in the extreme posture to obtain the corrected angle of the boom relative to the frame and the angle of the rocker arm relative to the boom in any posture.

[0072] Specifically: the calculation formula of the correction coefficient 1 and the second coefficient 2 is:

[0073] ;

[0074] ;

[0075] in, , They are the theoretical maximum and minimum angles of the boom relative to the frame, respectively; , are the theoretical maximum and minimum angles of the rocker arm relative to the boom, , are the maximum and minimum values ​​of the measured angles of the boom relative to the frame, , are the maximum and minimum values ​​of the angle of the rocker arm relative to the boom, respectively.

[0076] The calculation formulas for the angle of the boom relative to the frame and the angle of the rocker arm relative to the boom in the corrected arbitrary posture are:

[0077]

[0078]

[0079] in, is the corrected angle of the boom relative to the frame in any posture, is the corrected angle of the rocker arm relative to the boom, is the calculated angle of the boom relative to the frame in the extreme attitude, is the angle of the rocker arm relative to the boom in the calculated extreme attitude, is the measured angle of the boom relative to the frame in any posture, is the measured angle of the rocker arm relative to the boom in any posture.

[0080] In a specific implementation of the embodiment of the present invention, Figure 2 As shown, the angle of the boom relative to the frame and the angle of the rocker arm relative to the boom in the corrected arbitrary posture are used as inputs, combined with a corresponding control algorithm, to control the bucket cylinder and / or the boom cylinder, including:

[0081] Obtaining the target bucket angle, the control threshold, and the corrected angles of the boom relative to the frame and the rocker arm relative to the boom in the current posture;

[0082] Calculate a target value of the angle of the rocker arm relative to the boom according to the target bucket angle and the corrected angle of the boom relative to the frame;

[0083] The calculated target value of the rocker arm angle relative to the boom and the obtained test value of the corrected rocker arm angle relative to the boom are subtracted and the absolute value is taken to obtain the control error;

[0084] Based on the control error and the control threshold, control of the bucket cylinder and / or the boom cylinder is completed.

[0085] In a specific implementation of the embodiment of the present invention, the control of the bucket cylinder and / or the boom cylinder based on the control error and the control threshold value includes:

[0086] The control error is compared with the control threshold. If the error is greater than the control threshold, the control amount is calculated based on the PID control algorithm or the linear quadratic optimal control algorithm, the opening of the multi-way valve is adjusted, and the extension and retraction of the bucket cylinder and / or the boom cylinder are controlled.

[0087] The following is a detailed description of the method for controlling the translational lifting of the working link of a loader in an embodiment of the present invention in conjunction with a specific implementation.

[0088] Schematic diagram of loader working device Figure 3 As shown, AB is the bucket, BC is the drawbar, CDE is the rocker arm, ADIF is the boom, GHI is the frame, EG is the tipping cylinder, FH is the boom cylinder, AJ is the line segment parallel to the bottom plate of the bucket, and KI is the line segment parallel to the horizontal plane.

[0089] The loader working link translation lifting control method comprises the following steps:

[0090] Step (a) Calculate the theoretical maximum angle of the boom relative to the frame based on the theoretical structural parameters of the loader working device. , minimum The theoretical maximum angle of the rocker arm relative to the boom , minimum .

[0091] Step (ii), operating the control handle to continuously adjust the posture of the loader working device, recording the numerical changes of the angle of the boom relative to the frame and the angle of the rocker arm relative to the boom during the whole process through the first angle sensor and the second angle sensor, and then processing the test data to obtain the maximum value of the boom relative to the frame test and minimum value , the maximum value of the rocker arm angle test relative to the boom and minimum value .

[0092] Step (iii): Install the level meter on the main blade of the bucket, and operate the control handle to adjust the working device to dig down and collect the bucket, and use the level meter to measure the bucket angle α bucket , Use the distance meter to measure the height of the lower hinge pin of the boom from the ground h A , combined with the theoretical structural dimensions of the boom and rocker arm, according to the mechanism kinematics inverse algorithm, calculate the angle of the boom relative to the frame in the extreme posture (i.e. this posture) Angle of rocker arm relative to boom .

[0093] Step (iv) calculates the corrected angle ∠KIA of the boom relative to the frame and the angle ∠ADC of the rocker arm relative to the boom in any posture, specifically:

[0094]

[0095]

[0096] Step (V): Figure 2 The control algorithm flow chart shown takes the corrected angle ∠KIA of the boom relative to the frame and the angle ∠ADC of the rocker arm relative to the boom in any posture as input, and combines the corresponding control algorithm to control the dump cylinder and / or boom cylinder to achieve the translational lifting of the loader working link.

[0097] Example 2

[0098] Based on the same inventive concept as that of Embodiment 1, a loader working link translation lifting control device is provided in the embodiment of the present invention, such as Figure 1 As shown, including:

[0099] An angle acquisition module, used to acquire an actual extreme value of the angle of the boom relative to the frame acquired by the first angle sensor, and an actual extreme value of the angle of the rocker arm relative to the boom acquired by the second angle sensor;

[0100] The first calculation module is used to calculate the theoretical extreme value of the angle of the boom relative to the frame and the theoretical extreme value of the angle of the rocker arm relative to the boom according to the theoretical structural parameters of the loader working device;

[0101] The second calculation module is used to obtain the measured bucket angle and the ground clearance height of the lower hinge pin of the boom under the extreme posture, and calculate the angle of the boom relative to the frame and the angle of the rocker arm relative to the boom under the extreme posture according to the theoretical structural parameters of the loader working device;

[0102] A third calculation module is used to correct the angle of the boom relative to the frame and the angle of the rocker arm relative to the boom in any posture based on the actual extreme value of the boom angle relative to the frame and the actual extreme value of the rocker arm angle relative to the boom, the calculated theoretical extreme value of the boom angle relative to the frame and the theoretical extreme value of the rocker arm angle relative to the boom, and the calculated angle of the boom relative to the frame and the rocker arm angle relative to the boom in extreme postures;

[0103] The control module is used to control the bucket cylinder and / or the boom cylinder by taking the corrected angle of the boom relative to the frame and the angle of the rocker arm relative to the boom in any posture as inputs and combining with corresponding control algorithms.

[0104] The rest are the same as in Example 1.

[0105] Example 3

[0106] Based on the same inventive concept as that of Embodiment 1, an embodiment of the present invention provides a loader working link translation lifting control system, including a storage medium and a processor;

[0107] The storage medium is used to store instructions;

[0108] The processor is configured to operate according to the instructions to execute the method according to any one of the embodiments 1.

[0109] Example 4

[0110] The present invention provides a loader working link translation lifting control system, comprising:

[0111] A first angle sensor and a second angle sensor, both used to collect the rotation angles of the boom relative to the frame and the rocker arm relative to the boom, respectively;

[0112] Level, used to collect bucket angle;

[0113] Distance meter, used to collect the height of the hinge pin under the boom from the ground;

[0114] The controller includes a kinematics calculation module, which is respectively connected to the angle sensor, the level meter and the rangefinder, and is configured to execute any one of the methods described in Example 1.

[0115] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0116] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0117] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0118] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0119] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which all fall within the protection of the present invention.

[0120] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A method for controlling the translational lifting of a working link of a loader, characterized in that: include: According to the theoretical structural parameters of the loader working device, the theoretical extreme value of the angle of the boom relative to the frame and the theoretical extreme value of the angle of the rocker arm relative to the boom are calculated; Acquire the actual extreme value of the angle of the boom relative to the frame acquired by the first angle sensor, and the actual extreme value of the angle of the rocker arm relative to the boom acquired by the second angle sensor; Obtain the measured bucket angle and ground clearance of the lower hinge pin of the boom under the extreme posture, and calculate the angle of the boom relative to the frame and the angle of the rocker arm relative to the boom under the extreme posture according to the theoretical structural parameters of the loader working device; Based on the actual extreme value of the boom angle relative to the frame and the actual extreme value of the rocker arm angle relative to the boom, the calculated theoretical extreme value of the boom angle relative to the frame and the theoretical extreme value of the rocker arm angle relative to the boom, and the calculated angles of the boom relative to the frame and the rocker arm relative to the boom in extreme postures, the angles of the boom relative to the frame and the rocker arm relative to the boom in any posture are corrected; The tilting cylinder and / or the boom cylinder are controlled by taking the corrected angle of the boom relative to the frame and the angle of the rocker arm relative to the boom in any posture as inputs and combining with corresponding control algorithms.

2. A method for controlling the translational lifting of a working link of a loader according to claim 1, characterized in that: The step of obtaining the measured bucket angle and the ground clearance height of the lower hinge pin of the boom under the extreme posture, and calculating the angle of the boom relative to the frame and the angle of the rocker arm relative to the boom under the extreme posture according to the theoretical structural parameters of the loader working device, includes: Select a posture so that the angle of the boom relative to the frame and the angle of the rocker arm relative to the boom reach extreme values ​​at the same time; Record the bucket angle and the ground clearance height of the lower hinge pin of the boom in the current posture; Based on the obtained bucket angle and the height of the lower hinge pin of the boom from the ground, the angle of the boom relative to the frame and the angle of the rocker arm relative to the boom in this extreme posture are calculated according to the mechanism kinematics inverse algorithm.

3. A method for controlling the translational lifting of a working link of a loader according to claim 1, characterized in that: The method comprises: based on the actual extreme value of the boom angle relative to the frame and the actual extreme value of the rocker arm angle relative to the boom, the calculated theoretical extreme value of the boom angle relative to the frame and the theoretical extreme value of the rocker arm angle relative to the boom, and the calculated angles of the boom relative to the frame and the rocker arm relative to the boom in extreme postures, correcting the angles of the boom relative to the frame and the rocker arm relative to the boom in any posture, including: Based on the actual extreme value of the boom angle relative to the frame and the actual extreme value of the rocker arm angle relative to the boom, the theoretical extreme value of the boom angle relative to the frame and the theoretical extreme value of the rocker arm angle relative to the boom are calculated, and the correction coefficient 1 and the second coefficient 2 are calculated; Subtract the angle of the boom relative to the frame or the angle of the rocker arm relative to the boom in any current posture from the actual extreme value of the angle of the boom relative to the frame or the actual extreme value of the angle of the rocker arm relative to the boom to obtain a first angle difference, and multiply the first angle difference by a correction coefficient 1 or a correction coefficient 2 to obtain a second angle difference; The second angle difference is added to the calculated angle of the boom relative to the frame or the angle of the rocker arm relative to the boom in the extreme posture to obtain the corrected angle of the boom relative to the frame and the angle of the rocker arm relative to the boom in any posture.

4. A method for controlling the translational lifting of a working link of a loader according to claim 3, characterized in that: The calculation formulas of the correction coefficient 1 and the second coefficient 2 are: ； ； in, , They are the theoretical maximum and minimum angles of the boom relative to the frame, respectively; , are the theoretical maximum and minimum angles of the rocker arm relative to the boom, , are the maximum and minimum values ​​of the measured angles of the boom relative to the frame, , are the maximum and minimum values ​​of the angle of the rocker arm relative to the boom, respectively.

5. A method for controlling the translational lifting of a working link of a loader according to claim 4, characterized in that: The calculation formulas for the angle of the boom relative to the frame and the angle of the rocker arm relative to the boom in the corrected arbitrary posture are: ； ； in, is the corrected angle of the boom relative to the frame in any posture, is the corrected angle of the rocker arm relative to the boom, is the calculated angle of the boom relative to the frame in the extreme attitude, is the angle of the rocker arm relative to the boom in the calculated extreme attitude, is the measured angle of the boom relative to the frame in any posture, is the measured angle of the rocker arm relative to the boom in any posture.

6. A method for controlling the translational lifting of a working link of a loader according to claim 1, characterized in that: The method of controlling the bucket cylinder and / or the boom cylinder by taking the corrected angle of the boom relative to the frame and the angle of the rocker arm relative to the boom in any posture as input and combining with a corresponding control algorithm comprises: Obtaining the target bucket angle, the control threshold, and the corrected angles of the boom relative to the frame and the rocker arm relative to the boom in the current posture; Calculate a target value of the angle of the rocker arm relative to the boom according to the target bucket angle and the corrected angle of the boom relative to the frame; The calculated target value of the rocker arm angle relative to the boom and the obtained test value of the corrected rocker arm angle relative to the boom are subtracted and the absolute value is taken to obtain the control error; Based on the control error and the control threshold, control of the bucket cylinder and / or the boom cylinder is completed.

7. A method for controlling the translational lifting of a working link of a loader according to claim 1, characterized in that: The controlling of the bucket cylinder and / or the boom cylinder based on the control error and the control threshold comprises: The control error is compared with the control threshold. If the error is greater than the control threshold, the control amount is calculated based on the PID control algorithm or the linear quadratic optimal control algorithm, the opening of the multi-way valve is adjusted, and the extension and retraction of the bucket cylinder and / or the boom cylinder are controlled.

8. A loader working link translation lifting control device, characterized in that: include: An angle acquisition module, used to acquire an actual extreme value of the angle of the boom relative to the frame acquired by the first angle sensor, and an actual extreme value of the angle of the rocker arm relative to the boom acquired by the second angle sensor; The first calculation module is used to calculate the theoretical extreme value of the angle of the boom relative to the frame and the theoretical extreme value of the angle of the rocker arm relative to the boom according to the theoretical structural parameters of the loader working device; The second calculation module is used to obtain the measured bucket angle and the ground clearance height of the lower hinge pin of the boom under the extreme posture, and calculate the angle of the boom relative to the frame and the angle of the rocker arm relative to the boom under the extreme posture according to the theoretical structural parameters of the loader working device; A third calculation module is used to correct the angle of the boom relative to the frame and the angle of the rocker arm relative to the boom in any posture based on the actual extreme value of the boom angle relative to the frame and the actual extreme value of the rocker arm angle relative to the boom, the calculated theoretical extreme value of the boom angle relative to the frame and the theoretical extreme value of the rocker arm angle relative to the boom, and the calculated angle of the boom relative to the frame and the rocker arm angle relative to the boom in extreme postures; The control module is used to control the bucket cylinder and / or the boom cylinder by taking the corrected angle of the boom relative to the frame and the angle of the rocker arm relative to the boom in any posture as inputs and combining with corresponding control algorithms.

9. A loader working link translation lifting control system, characterized in that: including storage media and processors; The storage medium is used to store instructions; The processor is configured to operate according to the instructions to perform the method according to any one of claims 1-7.

10. A loader working link translation lifting control system, characterized in that: include: A first angle sensor and a second angle sensor, both used to collect the rotation angles of the boom relative to the frame and the rocker arm relative to the boom, respectively; Level, used to collect bucket angle; Distance meter, used to collect the height of the hinge pin under the boom from the ground; The controller comprises a kinematics calculation module, wherein the kinematics calculation module is respectively connected to the angle sensor, the level meter and the rangefinder, and is configured to execute the method according to any one of claims 1 to 7.

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