Control method, device and system for reducing impact of working device of loader

Abstract

The invention discloses a control method, device and system for reducing impact of a working device of a loader, and the method comprises the steps: calculating a bucket angle, the length of a tipping bucket cylinder and a bucket angle limit value based on a rotation angle of a movable arm relative to a front frame and a rotation angle of a rocker arm relative to the movable arm; according to the bucket angle and the tipping bucket cylinder length, the bucket angular speed and the tipping bucket cylinder telescopic speed are calculated; according to the bucket angle limit value and the control domain length, the bucket angle during control triggering is calculated; when the bucket angle is smaller than or equal to the bucket angle during triggering control, the control method is triggered, and the target bucket angular velocity and the target tipping cylinder telescopic velocity under different bucket angles are calculated according to the bucket angular velocity at the triggering moment, the control domain length and the bucket angular velocity during collision; and controlling the telescopic speed of the tipping cylinder by taking the target tipping cylinder telescopic speed and the calculated tipping cylinder telescopic speed as input and combining a closed-loop control algorithm, so that the angular speed of the bucket is changed according to a set mode. According to the invention, the impact of the bucket caused by collision between the movable arm and the bucket can be reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of loader control, and in particular relates to a control method, device and system for reducing the impact of a loader working device. Background Art

[0002] The structure and performance of the loader working device directly affect the shoveling efficiency, workload, power and motion characteristics of the whole machine. During the operation, the boom and bucket collide with each other through the limit block to achieve position limit, which is easy to form bucket impact, resulting in deformation of the structural parts, affecting the service life of the structural parts and the working performance of the working device itself. At the same time, since the entire working device is connected to the front frame through a pin shaft, the impact force will also be transmitted to the whole machine through the front frame, thereby affecting the driver's operating comfort.

[0003] In the prior art, the bucket impact is generally reduced by optimizing the structural dimensions of the working device or optimizing the valve port area of ​​the hydraulic valve. However, during the operation, the boom and the bucket are still limited by the collision of the limit block, which results in failure to achieve the best effect and still has a large impact during the operation. Summary of the invention

[0004] In view of the above problems, the present invention proposes a control method, device and system for reducing the impact of the loader working device, which can greatly reduce the impact caused by the collision between the boom and the bucket during bucket digging. It can not only improve the stress conditions of the structural parts, help improve the reliability of the structural parts, but also enhance the operating comfort of the driver.

[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 control method for reducing the impact of a loader working device, comprising:

[0007] Based on the obtained rotation angle of the boom relative to the front frame and the rotation angle of the rocker arm relative to the boom, the bucket angle and the length of the bucket cylinder are calculated;

[0008] According to the bucket angle and the length of the bucket cylinder, the bucket angular velocity and the extension and retraction velocity of the bucket cylinder are calculated in combination with a numerical differentiation method;

[0009] Calculate the corresponding lifting height based on the obtained rotation angle of the boom relative to the front frame, and calculate the bucket angle limit value at the lifting height;

[0010] Calculating the bucket angle when triggering control according to the bucket angle limit value and a preset control domain length;

[0011] When the bucket angle is less than or equal to the bucket angle at the time of triggering the control, the control method is triggered, and the target bucket angular velocity and the target bucket cylinder extension and retraction velocity at different bucket angles are calculated according to the bucket angular velocity at the time of triggering, the preset control domain length, and the bucket angular velocity when the bucket collides with the boom;

[0012] Taking the target bucket cylinder extension and retraction speed and the calculated bucket cylinder extension and retraction speed as input, combined with the closed-loop control algorithm, the extension and retraction speed of the bucket cylinder is controlled by adjusting the driving current of the hydraulic valve, so that the bucket angular velocity changes according to the set method.

[0013] In combination with the first aspect, optionally, the method for calculating the bucket angle and the bucket cylinder length includes:

[0014] Obtain the rotation angle α1 of the boom relative to the front frame and the rotation angle α2 of the rocker arm relative to the boom;

[0015] According to the obtained rotation angle α1 of the boom relative to the front frame and the rotation angle α2 of the rocker arm relative to the boom, the bucket angle is calculated according to the kinematic principle of the working device. And the length of the tipping cylinder .

[0016] In combination with the first aspect, optionally, the method for calculating the bucket angle limit value includes:

[0017] Based on the obtained rotation angle α1 of the boom relative to the front frame, the corresponding lifting height and the maximum telescopic length of the bucket cylinder at the lifting height are calculated according to the kinematic principle of the working device. ;

[0018] According to the maximum telescopic length of the tipping cylinder , calculate the limit value of the rotation angle of the rocker arm relative to the boom ;

[0019] According to the limit value of the rotation angle of the rocker arm relative to the boom , calculate the bucket angle limit value according to the kinematic principle of the working device .

[0020] In combination with the first aspect, optionally, define AB as a bucket, BC as a tie rod, CDE as a rocker arm, ADIF as a boom, GHI as a front frame, EG as a tipping cylinder, and FH as a boom cylinder; the tipping cylinder limit telescopic length is defined as follows: , calculate the limit value of the rotation angle of the rocker arm relative to the boom ,include:

[0021] When the maximum extension length of the tipping cylinder Greater than or equal to the minimum length L of the tipping cylinder CylTiltMin When the rocker arm is rotated at the same angle as the boom, the following formula is used to calculate the limit value of the relative rotation angle of the rocker arm to the boom. :

[0022] ;

[0023] Among them, α 2,min It is the minimum rotation angle of the rocker arm relative to the boom;

[0024] When the maximum extension length of the tipping cylinder Less than the minimum length of the tipping cylinder When the rocker arm is rotated at the same angle as the boom, the following formula is used to calculate the limit value of the relative rotation angle of the rocker arm to the boom. :

[0025] ;

[0026] ;

[0027] in, L is the angle between the line connecting the hinge point D and hinge point E and the line connecting the hinge point D and hinge point G at the minimum tipping cylinder length; DE is the distance between hinge point D and hinge point E; L DG is the distance between hinge points D and G; ∠ADI is the angle between the line connecting hinge points A and D and the line connecting hinge points D and I; ∠GDI is the angle between the line connecting hinge points D and G and the line connecting hinge points D and I; ∠CDE is the angle between the line connecting hinge points C and D and the line connecting hinge points D and E.

[0028] In combination with the first aspect, optionally, the bucket angle during the trigger control is calculated using the following formula:

[0029] ;

[0030] in, The bucket angle when triggering control, is the bucket angle limit, The length of the control field is preset.

[0031] In combination with the first aspect, optionally, the target bucket angular velocity at different bucket angles is calculated using the following formula:

[0032] According to the bucket angular velocity at the triggering moment, the pre-set control domain length and the bucket angular velocity when the bucket collides with the boom, the following calculation formula is used to calculate the bucket angle equal to Target bucket angular velocity at:

[0033] ;

[0034] in, The bucket angle is equal to The target bucket angular velocity at is the bucket angular velocity at the triggering moment, It is the preset angular velocity of the bucket when the bucket collides with the boom.

[0035] In combination with the first aspect, optionally, the method for calculating the target bucket cylinder extension and retraction speed at different bucket angles includes:

[0036] According to the target bucket angular velocity , use the following calculation formula to calculate the target bucket cylinder extension speed:

[0037] ;

[0038] in, The bucket angle is equal to The target tipping cylinder extension and retraction speed at , K is a coefficient related to the structural size of the working device.

[0039] In a second aspect, the present invention provides a control device for reducing the impact of a loader working device, comprising:

[0040] A first calculation module is used to calculate the bucket angle and the length of the bucket cylinder based on the obtained rotation angle of the boom relative to the front frame and the rotation angle of the rocker arm relative to the boom;

[0041] A second calculation module is used to calculate the bucket angular velocity and the bucket cylinder extension and retraction velocity according to the bucket angle and the bucket cylinder length in combination with a numerical differentiation method;

[0042] A third calculation module is used to calculate the corresponding lifting height based on the obtained rotation angle of the boom relative to the front frame, and calculate the bucket angle limit value under the lifting height;

[0043] A fourth calculation module, used to calculate the bucket angle when the control is triggered according to the bucket angle limit value and a preset control domain length;

[0044] A fifth calculation module, for calculating a target bucket angular velocity and a target bucket cylinder extension and retraction velocity at different bucket angles according to the bucket angular velocity at the triggering moment, the bucket angle being less than or equal to the bucket angle at the time of the triggering moment, and the preset control domain length and the bucket angular velocity when the bucket collides with the boom;

[0045] The control module is used to take the target bucket cylinder extension and retraction speed and the calculated bucket cylinder extension and retraction speed as inputs, and in combination with a closed-loop control algorithm, controls the extension and retraction speed of the bucket cylinder by adjusting the driving current of the hydraulic valve, so that the bucket angular velocity changes according to the set method.

[0046] In a third aspect, the present invention provides a control system for reducing the impact of a loader working device, including a storage medium and a processor;

[0047] The storage medium is used to store instructions;

[0048] The processor is configured to operate according to the instructions to execute the method according to any one of the first aspects.

[0049] In a fourth aspect, the present invention provides a control system for reducing the impact of a loader working device, comprising:

[0050] A first angle sensor is used to collect the rotation angle of the boom relative to the frame;

[0051] The second angle sensor is used to collect the rotation angle of the rocker arm relative to the movable arm;

[0052] A controller is connected to the first angle sensor and the second angle sensor, and performs the following operations:

[0053] Based on the obtained rotation angle of the boom relative to the front frame and the rotation angle of the rocker arm relative to the boom, the bucket angle and the length of the bucket cylinder are calculated;

[0054] According to the bucket angle and the length of the bucket cylinder, the bucket angular velocity and the extension and retraction velocity of the bucket cylinder are calculated in combination with a numerical differentiation method;

[0055] Calculate the corresponding lifting height based on the obtained rotation angle of the boom relative to the front frame, and calculate the bucket angle limit value at the lifting height;

[0056] Calculating the bucket angle when triggering control according to the bucket angle limit value and a preset control domain length;

[0057] When the bucket angle is less than or equal to the bucket angle at the time of triggering the control, the control method is triggered, and the target bucket angular velocity and the target bucket cylinder extension and retraction velocity at different bucket angles are calculated according to the bucket angular velocity at the time of triggering, the preset control domain length, and the bucket angular velocity when the bucket collides with the boom;

[0058] Taking the target bucket cylinder extension and retraction speed and the calculated bucket cylinder extension and retraction speed as input, combined with the closed-loop control algorithm, the extension and retraction speed of the bucket cylinder is controlled by adjusting the driving current of the hydraulic valve, so that the bucket angular velocity changes according to the set method.

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

[0060] Compared with the prior art, the present invention calculates the bucket angle and the bucket cylinder length based on the obtained rotation angle of the boom relative to the front frame and the rotation angle of the rocker arm relative to the boom; calculates the bucket angular velocity and the bucket cylinder extension and retraction speed according to the bucket angle and the bucket cylinder length in combination with the numerical differentiation method; calculates the corresponding lifting height based on the obtained rotation angle of the boom relative to the front frame, and calculates the bucket angle limit value under the lifting height; calculates the bucket angle when triggering control according to the bucket angle limit value in combination with a preset control domain length; when the bucket angle is less than or equal to the bucket angle when triggering control, the control method is triggered, and calculates the target bucket angular velocity and the target bucket cylinder extension and retraction speed under different bucket angles according to the bucket angular velocity at the triggering moment, the preset control domain length and the bucket angular velocity when the bucket collides with the boom; takes the target bucket cylinder extension and retraction speed and the calculated bucket cylinder extension and retraction speed as input, and in combination with the closed-loop control algorithm, controls the extension and retraction speed of the bucket cylinder by adjusting the driving current of the hydraulic valve, so that the bucket angular velocity changes in a set manner. The present invention can greatly reduce the impact caused by the collision between the boom and the bucket when the bucket is working, which can not only improve the stress conditions of the structural parts, help to improve the reliability of the structural parts, but also improve the operating comfort of the driver. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] 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:

[0062] Figure 1 A schematic diagram of a control method for reducing the impact of a working device of a loader according to an embodiment of the present invention;

[0063] Figure 2 It is a schematic diagram of the buffering process of the unloading condition of the loader working device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0064] 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.

[0065] 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.

[0066] Example 1

[0067] A control method for reducing the impact of a loader working device is provided in an embodiment of the present invention. The control method in the embodiment of the present invention is applicable to a working condition in which the rotation angle α1 of the boom relative to the front frame remains unchanged and the rotation angle α2 of the rocker arm relative to the boom changes continuously. In a specific implementation process, the control method is applied to a controller, specifically comprising the following steps:

[0068] (1) Calculate the bucket angle based on the obtained boom rotation angle α1 relative to the front frame and the rocker arm rotation angle α2 relative to the boom. And the length of the tipping cylinder ;

[0069] (2) According to the bucket angle And the length of the tipping cylinder , combined with the numerical differentiation method, calculate the bucket angular velocity and the bucket cylinder extension and retraction speed ; The bucket angular velocity and the bucket cylinder extension speed The calculation of can be implemented by using the existing technology, so no further details will be given in the embodiments of the present invention.

[0070] (3) Calculate the corresponding lifting height based on the obtained boom rotation angle α1 relative to the front frame, and calculate the bucket angle limit value at the lifting height ;

[0071] (4) According to the bucket angle limit value , combined with the pre-set control domain length , calculate the bucket angle when triggering control ;

[0072] (5) When the bucket angle Less than or equal to the bucket angle when triggering control ,Right now ≤ , the control method is triggered, and according to the bucket angular velocity at the triggering moment (the triggering moment refers to the moment when the control method is triggered) and the pre-set control domain length The angular velocity of the bucket when the bucket collides with the boom , calculate the target bucket angular velocity at different bucket angles and target tipping cylinder extension speed ; In the specific implementation process, the preset control domain length The angular velocity of the bucket when the bucket collides with the boom The value of can be set according to actual needs, and its specific value is not limited in the embodiment of the present invention;

[0073] (6) Target tipping cylinder extension and retraction speed , calculated tipping cylinder extension and retraction speed As input, combined with the closed-loop control algorithm, the extension and retraction speed V of the bucket cylinder is controlled by adjusting the driving current I of the hydraulic valve. CylTilt , so that the bucket angular velocity changes in a set manner. In the specific implementation process, the closed-loop control algorithm is based on the target bucket cylinder extension and retraction speed and the calculated tipping cylinder extension and retraction speed The control error e is calculated, and the driving current I of the controlled hydraulic valve is calculated based on the control error e. Different closed-loop control algorithms have different calculation processes. Any existing closed-loop algorithm can be used here, such as fuzzy control, PID, etc.

[0074] The control method in the embodiment of the present invention can greatly reduce the impact caused by the collision between the boom and the bucket when the bucket is working, which can not only improve the stress conditions of the structural parts, help improve the reliability of the structural parts, but also improve the operating comfort of the driver.

[0075] In a specific implementation of the embodiment of the present invention, the bucket angle And the length of the tipping cylinder The calculation methods include:

[0076] Obtaining a rotation angle α1 of the boom relative to the front frame and a rotation angle α2 of the rocker arm relative to the boom; in a specific implementation process, the rotation angle α1 of the boom relative to the front frame and the rotation angle α2 of the rocker arm relative to the boom can be acquired in real time by a first angle sensor and a second angle sensor respectively;

[0077] According to the obtained rotation angle α1 of the boom relative to the front frame and the rotation angle α2 of the rocker arm relative to the boom, the bucket angle is calculated according to the kinematic principle of the working device. And the length of the tipping cylinder In the specific implementation process, the kinematic model of the working device can be used to calculate the bucket angle And the length of the tipping cylinder .

[0078] In a specific implementation of the embodiment of the present invention, the bucket angle limit value The calculation methods include:

[0079] Based on the obtained rotation angle α1 of the boom relative to the front frame, the corresponding lifting height and the maximum telescopic length of the bucket cylinder at the lifting height are calculated according to the kinematic principle of the working device. ; The kinematic principle of the working device is the prior art; in the specific implementation process, the kinematic model of the working device can be used to calculate the corresponding lifting height and the maximum telescopic length of the bucket cylinder under the lifting height. .

[0080] According to the maximum telescopic length of the tipping cylinder , calculate the limit value of the rocker arm's relative rotation angle to the boom ;

[0081] According to the limit value of the rotation angle of the rocker arm relative to the boom , calculate the bucket angle limit value according to the kinematic principle of the working device In the specific implementation process, the kinematic model of the working device can be used to calculate the bucket angle limit value .

[0082] In a specific implementation of the embodiment of the present invention, Figure 2 As shown in the figure, AB is defined as a bucket, BC is a tie rod, CDE is a rocker arm, ADIF is a boom, GHI is a front frame, EG is a tipping cylinder, and FH is a boom cylinder; the limit telescopic length of the tipping cylinder is defined as , calculate the limit value of the rotation angle of the rocker arm relative to the boom ,include:

[0083] When the maximum extension length of the tipping cylinder Greater than or equal to the minimum length L of the tipping cylinder CylTiltMin When the rocker arm is rotated at the same angle as the boom, the following formula is used to calculate the limit value of the relative rotation angle of the rocker arm to the boom. :

[0084] ;

[0085] Among them, α 2,min It is the minimum rotation angle of the rocker arm relative to the boom;

[0086] When the maximum extension length of the tipping cylinder Less than the minimum length of the tipping cylinder When the rocker arm is rotated at the same angle as the boom, the following formula is used to calculate the limit value of the relative rotation angle of the rocker arm to the boom. :

[0087] ;

[0088] ;

[0089] in, L is the angle between the line connecting the hinge point D and hinge point E and the line connecting the hinge point D and hinge point G at the minimum tipping cylinder length; DE is the distance between hinge point D and hinge point E; L DG is the distance between hinge points D and G; ∠ADI is the angle between the line connecting hinge points A and D and the line connecting hinge points D and I; ∠GDI is the angle between the line connecting hinge points D and G and the line connecting hinge points D and I; ∠CDE is the angle between the line connecting hinge points C and D and the line connecting hinge points D and E.

[0090] In a specific implementation of the embodiment of the present invention, Figure 2 As shown, the bucket angle when the trigger control is It is calculated using the following formula:

[0091] ;

[0092] in, The bucket angle when triggering control, is the bucket angle limit, is the pre-set control domain length. This design can achieve unloading condition buffering.

[0093] In a specific implementation of the embodiment of the present invention, the target bucket angular velocity at different bucket angles is calculated using the following formula:

[0094] According to the bucket angular velocity at the triggering moment, the pre-set control domain length and the bucket angular velocity when the loader working device impacts, the following calculation formula is used to calculate the bucket angle equal to Target bucket angular velocity at :

[0095] ;

[0096] in, The bucket angle is equal to The target bucket angular velocity at is the bucket angular velocity at the triggering moment, It is the angular velocity of the bucket when the loader working device impacts.

[0097] In a specific implementation of the embodiment of the present invention, the method for calculating the target bucket cylinder extension and retraction speed under different bucket angles includes:

[0098] According to the target bucket angular velocity , use the following calculation formula to calculate the target bucket cylinder extension speed:

[0099] ;

[0100] in, The bucket angle is equal to The target tipping cylinder extension and retraction speed at , K is a coefficient related to the structural size of the working device.

[0101] Example 2

[0102] The present invention provides a control device for reducing the impact of a loader working device, comprising:

[0103] A first calculation module is used to calculate the bucket angle and the length of the bucket cylinder based on the obtained rotation angle of the boom relative to the front frame and the rotation angle of the rocker arm relative to the boom;

[0104] A second calculation module is used to calculate the bucket angular velocity and the bucket cylinder extension and retraction velocity according to the bucket angle and the bucket cylinder length in combination with a numerical differentiation method;

[0105] A third calculation module is used to calculate the corresponding lifting height based on the obtained rotation angle of the boom relative to the front frame, and calculate the bucket angle limit value under the lifting height;

[0106] A fourth calculation module, used to calculate the bucket angle when the control is triggered according to the bucket angle limit value and a preset control domain length;

[0107] A fifth calculation module, for calculating a target bucket angular velocity and a target bucket cylinder extension and retraction velocity at different bucket angles according to the bucket angular velocity at the triggering moment, the bucket angle being less than or equal to the bucket angle at the time of the triggering moment, and the preset control domain length and the bucket angular velocity when the bucket collides with the boom;

[0108] The control module is used to take the target bucket cylinder extension and retraction speed and the calculated bucket cylinder extension and retraction speed as inputs, and in combination with a closed-loop control algorithm, controls the extension and retraction speed of the bucket cylinder by adjusting the driving current of the hydraulic valve, so that the bucket angular velocity changes according to the set method.

[0109] The rest are the same as in Example 1.

[0110] Example 3

[0111] An embodiment of the present invention provides a control system for reducing the impact of a loader working device, including a storage medium and a processor;

[0112] The storage medium is used to store instructions;

[0113] The processor is configured to operate according to the instructions to execute the method according to any one of the embodiments 1.

[0114] Example 4

[0115] In an embodiment of the present invention, a control system for reducing the impact of a loader working device is provided, comprising:

[0116] The first angle sensor is used to collect the rotation angle α1 of the boom relative to the frame;

[0117] The second angle sensor is used to collect the rotation angle α2 of the rocker arm relative to the movable arm;

[0118] A controller is connected to the first angle sensor and the second angle sensor, and performs the following operations:

[0119] Calculate the bucket angle based on the obtained boom rotation angle α1 relative to the front frame and the rocker arm rotation angle α2 relative to the boom And the length of the tipping cylinder ;

[0120] According to the bucket angle And the length of the tipping cylinder , combined with the numerical differentiation method, calculate the bucket angular velocity and the bucket cylinder extension and retraction speed ; The bucket angular velocity and the bucket cylinder extension speed The calculation of can be realized by using existing technology;

[0121] Calculate the corresponding lifting height based on the obtained boom rotation angle α1 relative to the front frame, and calculate the bucket angle limit value at the lifting height ;

[0122] According to the bucket angle limit value , combined with the pre-set control domain length , calculate the bucket angle when triggering control ;

[0123] When the bucket angle Less than or equal to the bucket angle when triggering control ,Right now ≤ , the control method is triggered, and the bucket angular velocity at the triggering moment and the pre-set control domain length are used. The angular velocity of the bucket when the bucket collides with the boom , calculate the target bucket angular velocity at different bucket angles and target tipping cylinder extension speed ;

[0124] Target tipping cylinder extension speed , calculated tipping cylinder extension and retraction speed As input, combined with the closed-loop control algorithm, the extension and retraction speed V of the bucket cylinder is controlled by adjusting the driving current I of the hydraulic valve. CylTilt , so that the bucket angular speed changes according to the set method.

[0125] The rest are the same as in Example 1.

[0126] 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.

[0127] 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.

[0128] 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.

[0129] 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 in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0130] 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.

[0131] 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 control method for reducing the impact of a loader working device, characterized in that: include: Based on the obtained rotation angle of the boom relative to the front frame and the rotation angle of the rocker arm relative to the boom, the bucket angle and the length of the bucket cylinder are calculated; According to the bucket angle and the length of the bucket cylinder, the bucket angular velocity and the extension and retraction velocity of the bucket cylinder are calculated in combination with a numerical differentiation method; Calculate the corresponding lifting height based on the obtained rotation angle of the boom relative to the front frame, and calculate the bucket angle limit value at the lifting height; Calculating the bucket angle when triggering control according to the bucket angle limit value and a preset control domain length; When the bucket angle is less than or equal to the bucket angle at the time of triggering the control, the control method is triggered, and the target bucket angular velocity and the target bucket cylinder extension and retraction velocity at different bucket angles are calculated according to the bucket angular velocity at the time of triggering, the preset control domain length, and the bucket angular velocity when the bucket collides with the boom; Taking the target bucket cylinder extension and retraction speed and the calculated bucket cylinder extension and retraction speed as input, combined with the closed-loop control algorithm, the extension and retraction speed of the bucket cylinder is controlled by adjusting the driving current of the hydraulic valve, so that the bucket angular velocity changes according to the set method.

2. A control method for reducing the impact of a loader working device according to claim 1, characterized in that: The calculation method of the bucket angle and the bucket cylinder length includes: Obtain the rotation angle α1 of the boom relative to the front frame and the rotation angle α2 of the rocker arm relative to the boom; According to the obtained rotation angle α1 of the boom relative to the front frame and the rotation angle α2 of the rocker arm relative to the boom, the bucket angle is calculated according to the kinematic principle of the working device. And the length of the tipping cylinder .

3. A control method for reducing the impact of a loader working device according to claim 1, characterized in that: The calculation method of the bucket angle limit value includes: Based on the obtained rotation angle α1 of the boom relative to the front frame, the corresponding lifting height and the maximum telescopic length of the dump cylinder at the lifting height are calculated according to the kinematic principle of the working device. ; According to the maximum telescopic length of the tipping cylinder , calculate the limit value of the rocker arm's relative rotation angle to the boom ; According to the limit value of the rotation angle of the rocker arm relative to the boom , calculate the bucket angle limit value according to the kinematic principle of the working device .

4. A control method for reducing the impact of a loader working device according to claim 3, characterized in that: Define AB as bucket, BC as tie rod, CDE as rocker arm, ADIF as boom, GHI as front frame, EG as tipping cylinder, and FH as boom cylinder; , calculate the limit value of the rocker arm's relative rotation angle to the boom ,include: When the maximum extension length of the tipping cylinder Greater than or equal to the minimum length L of the tipping cylinder CylTiltMin When the rocker arm is rotated at the same angle as the boom, the following formula is used to calculate the limit value of the relative rotation angle of the rocker arm to the boom. : ； Among them, α 2,min It is the minimum rotation angle of the rocker arm relative to the boom; When the maximum extension length of the tipping cylinder Less than the minimum length of the tipping cylinder When the rocker arm is rotated at the same angle as the boom, the following formula is used to calculate the limit value of the relative rotation angle of the rocker arm to the boom. : ； ； in, L is the angle between the line connecting the hinge point D and hinge point E and the line connecting the hinge point D and hinge point G at the minimum tipping cylinder length; DE is the distance between hinge point D and hinge point E; L DG is the distance between hinge points D and G; ∠ADI is the angle between the line connecting hinge points A and D and the line connecting hinge points D and I; ∠GDI is the angle between the line connecting hinge points D and G and the line connecting hinge points D and I; ∠CDE is the angle between the line connecting hinge points C and D and the line connecting hinge points D and E.

5. The control method for reducing the impact of a loader working device according to claim 1, characterized in that: The bucket angle during the trigger control is calculated using the following formula: ； in, The bucket angle when triggering control, is the bucket angle limit, The length of the control field is preset.

6. A control method for reducing the impact of a loader working device according to claim 5, characterized in that: The target bucket angular velocity at different bucket angles is calculated using the following formula: According to the bucket angular velocity at the triggering moment, the pre-set control domain length and the bucket angular velocity when the bucket collides with the boom, the following calculation formula is used to calculate the bucket angle equal to Target bucket angular velocity at: ； in, The bucket angle is equal to The target bucket angular velocity at is the bucket angular velocity at the triggering moment, It is the preset angular velocity of the bucket when the bucket collides with the boom.

7. A control method for reducing the impact of a loader working device according to claim 6, characterized in that: The method for calculating the target bucket cylinder extension and retraction speed under different bucket angles includes: According to the target bucket angular velocity , use the following calculation formula to calculate the target bucket cylinder extension speed: ； in, The bucket angle is equal to The target tipping cylinder extension and retraction speed at , K is a coefficient related to the structural size of the working device.

8. A control device for reducing the impact of a loader working device, characterized in that: include: A first calculation module is used to calculate the bucket angle and the length of the bucket cylinder based on the obtained rotation angle of the boom relative to the front frame and the rotation angle of the rocker arm relative to the boom; A second calculation module is used to calculate the bucket angular velocity and the bucket cylinder extension and retraction velocity according to the bucket angle and the bucket cylinder length in combination with a numerical differentiation method; A third calculation module is used to calculate the corresponding lifting height based on the obtained rotation angle of the boom relative to the front frame, and calculate the bucket angle limit value under the lifting height; A fourth calculation module, used to calculate the bucket angle when the control is triggered according to the bucket angle limit value and a preset control domain length; A fifth calculation module, for calculating a target bucket angular velocity and a target bucket cylinder extension and retraction velocity at different bucket angles according to the bucket angular velocity at the triggering moment, the bucket angle being less than or equal to the bucket angle at the time of the triggering moment, and the preset control domain length and the bucket angular velocity when the bucket collides with the boom; The control module is used to take the target bucket cylinder extension and retraction speed and the calculated bucket cylinder extension and retraction speed as inputs, and in combination with a closed-loop control algorithm, controls the extension and retraction speed of the bucket cylinder by adjusting the driving current of the hydraulic valve, so that the bucket angular velocity changes according to the set method.

9. A control system for reducing the impact of a loader working device, 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 control system for reducing the impact of a loader working device, characterized in that: include: A first angle sensor is used to collect the rotation angle of the boom relative to the frame; The second angle sensor is used to collect the rotation angle of the rocker arm relative to the movable arm; A controller is connected to the first angle sensor and the second angle sensor, and performs the following operations: Based on the obtained rotation angle of the boom relative to the front frame and the rotation angle of the rocker arm relative to the boom, the bucket angle and the length of the bucket cylinder are calculated; According to the bucket angle and the length of the bucket cylinder, the bucket angular velocity and the extension and retraction velocity of the bucket cylinder are calculated in combination with a numerical differentiation method; Calculate the corresponding lifting height based on the obtained rotation angle of the boom relative to the front frame, and calculate the bucket angle limit value at the lifting height; Calculating the bucket angle when triggering control according to the bucket angle limit value and a preset control domain length; When the bucket angle is less than or equal to the bucket angle at the time of triggering the control, the control method is triggered, and the target bucket angular velocity and the target bucket cylinder extension and retraction velocity at different bucket angles are calculated according to the bucket angular velocity at the time of triggering, the preset control domain length, and the bucket angular velocity when the bucket collides with the boom; Taking the target bucket cylinder extension and retraction speed and the calculated bucket cylinder extension and retraction speed as input, combined with the closed-loop control algorithm, the extension and retraction speed of the bucket cylinder is controlled by adjusting the driving current of the hydraulic valve, so that the bucket angular velocity changes according to the set method.

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