Bucket leveling method and loader

Abstract

The invention relates to the technical field of loading machinery, and discloses a bucket leveling method and a loader, and the bucket leveling method comprises the following steps: a controller collects the value of a first inclination angle alpha of a movable arm relative to a vertical plane in real time through a first inertial measurement unit, the controller collects the value of a second inclination angle beta of the bucket relative to the horizontal plane in real time through a second inertial measurement unit; the controller conveys a first preset current to the first electromagnetic valve before controlling the movable arm to lift; according to the bucket leveling method provided by the invention, the inertial measurement unit is arranged, so that the inclination angles and other action parameters of the bucket and the movable arm can be accurately acquired in real time, the error between an acquired value and an actual value is reduced, and the data delay is low; before the lifting or descending action, the preset current is conveyed into the corresponding electromagnetic valve, response can be made on the basis of the preset current during leveling, the situation that the opening degree of the electromagnetic valve is sharply increased in a short time during the leveling or leveling action is avoided, and impact is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of loading machinery, and particularly relates to a bucket leveling method and a loader. Background Art

[0002] Skid steer loaders are usually used in fields such as construction and agriculture. The bucket needs to be kept horizontal under various terrains. For example, when loading materials or leveling the ground, automatic leveling can improve efficiency and operation convenience, and avoid spilling materials into the cab, improving safety.

[0003] During the boom lifting process, the bucket often turns inward towards the side close to the cab. Therefore, it is necessary to level the bucket during the boom lifting process. During the boom lowering process, when the boom reaches the lowest end, the side wall of the bucket away from the cab needs to be parallel to the ground. Therefore, the bucket needs to be gradually leveled during the boom lowering process.

[0004] In related technologies, to achieve the leveling task of the bucket during the lifting process and the flattening task of the bucket during the lowering process, it is usually completed by setting up a hydraulic system. With the leveling valve in the hydraulic system, when the boom is lifted, the hydraulic cylinders at the bucket supply oil synchronously to achieve the purpose of leveling. Or electronic control leveling is adopted. The position of the boom bucket is judged by an angle sensor, and the solenoid valve is used to control the hydraulic cylinder to achieve leveling.

[0005] In the above leveling methods, there is an obvious impact at the moment when the bucket performs the leveling or flattening action, which has a great impact on driving comfort. In addition, there is also a defect that the controller has a time delay in judging the action signal due to the angle acquisition error. Summary of the Invention

[0006] In view of this, the present invention provides a bucket leveling method and a loader to solve the problems of obvious impact at the moment when the bucket performs the leveling or flattening action and the time delay of the controller in judging the action signal due to the angle acquisition error.

[0007] In a first aspect, the present invention provides a bucket leveling method, including: the controller collects the value of the first inclination angle α of the boom relative to the plumb plane in real time through the first inertial measurement unit, and the controller collects the value of the second inclination angle β of the bucket relative to the horizontal plane in real time through the second inertial measurement unit; the controller controls the bucket to flip away from the cab through the first solenoid valve, and the controller controls the bucket to flip towards the cab through the second solenoid valve; before controlling the boom to lift, the controller delivers a first predetermined current to the first solenoid valve; during the process of controlling the boom to lift, the first solenoid valve is opened, and based on the first inclination angle α and the movement parameters of the boom, a corresponding leveling current is output to the first solenoid valve, so that the bucket flips towards the cab in real time during the boom lifting process, so that the plane where the bucket opening is located is parallel to the horizontal plane; when the controller controls the boom to lower, the boom descends from the initial position to the limit position; when the boom is at the limit position, the angle of the bucket relative to the boom is θ0; the controller judges the deflection direction and compensation current required by the bucket during the lowering process based on the values of the first inclination angle α of the boom and the second inclination angle β of the bucket at the initial position, and delivers the corresponding compensation current to the first solenoid valve or the second solenoid valve during the boom lowering process, so that the bucket gradually flips in the corresponding deflection direction during the boom lowering process until the angle of the bucket relative to the boom is θ0 when the boom reaches the limit position.

[0008] Beneficial effects: By setting the first inertial measurement unit and the second inertial measurement unit, it is possible to accurately and real-time collect the inclination angles of the bucket and the boom and other movement parameters, reduce the error between the collected value and the actual value, and have low data latency. It can realize real-time follow-up of the action signal during the bucket leveling or flattening process, improving the operation accuracy; by delivering a predetermined current (the first predetermined current or the second predetermined current) to the corresponding solenoid valve (the first solenoid valve or the second solenoid valve) before the lifting or lowering action, the solenoid valve has an initial opening degree. Compared with the existing solenoid valve whose current starts to respond from zero during the leveling or leveling action, it can respond based on the predetermined current during leveling, avoiding the rapid increase in the opening degree of the solenoid valve in a short time during the leveling or leveling action, achieving the purpose of reducing the impact at the moment when the bucket performs the leveling or flattening action.

[0009] In an optional embodiment, if the deflection direction required by the bucket during the boom lowering process is towards the cab, the controller delivers a second predetermined current to the second solenoid valve before controlling the boom to lower; if the deflection direction required by the bucket during the boom lowering process is away from the cab, the controller delivers a first predetermined current to the first solenoid valve before controlling the boom to move.

[0010] In an alternative embodiment, the controller determines the required deflection direction and compensation current of the bucket during the lowering process based on the values of the first inclination angle α of the boom and the second inclination angle β of the bucket at the initial position, and outputs the corresponding compensation current to the first solenoid valve or the second solenoid valve during the lowering process of the boom, so that the bucket gradually flips in the corresponding deflection direction during the lowering process of the boom until the angle of the bucket relative to the boom is θ0 when the boom reaches the limit position, including: calculating the value of the included angle θ1 of the bucket relative to the boom based on the value α1 of the first inclination angle of the boom at the initial position and the value β1 of the second inclination angle of the bucket at the initial position, where:

[0011] θ1 = |(α1 - 90°) - β1|

[0012] Calculating the difference Δ between the included angle θ1 of the bucket relative to the boom at the initial position and the included angle θ0 of the bucket relative to the boom at the limit position, where:

[0013] Δ = θ1 - θ0

[0014] If the difference Δ > 0, the bucket needs to flip towards the cab during the lowering process of the boom, and the controller conveys a second predetermined current to the second solenoid valve before controlling the boom movement;

[0015] If the difference Δ < 0, the bucket needs to flip away from the cab during the lowering process of the boom, and the controller conveys a first predetermined current to the first solenoid valve before controlling the boom movement;

[0016] If the difference Δ = 0, the bucket does not flip during the lowering process of the boom.

[0017] In an alternative embodiment, the controller conveys a first predetermined current to the first solenoid valve before controlling the boom to lift; during the process of controlling the boom to lift, the controller opens the first solenoid valve and outputs the corresponding leveling current to the first solenoid valve based on the first inclination angle α and the movement parameters of the boom, so that the bucket flips towards the cab in real time during the lifting process of the boom to make the plane where the bucket opening is located parallel to the horizontal plane, including that when the controller controls the boom to lift, the controller obtains the angular velocity and angular acceleration of the boom rotation in real time through the first inertial measurement unit; the movement parameters are the lifting opening of the boom at the operation handle, the angular velocity of the boom rotation, and the angular acceleration of the boom rotation.

[0018] In an alternative embodiment, the bucket leveling method further includes that during the lowering of the boom, the controller outputs a corresponding compensation current to the first solenoid valve based on the difference Δ, so that the bucket gradually rotates a certain angle in the direction away from the cab during the lowering of the boom; or during the lowering of the boom, the controller outputs a corresponding compensation current to the second solenoid valve based on the difference Δ, so that the bucket gradually rotates a certain angle in the direction towards the cab during the lowering of the boom.

[0019] In an alternative embodiment, the bucket leveling method further includes that the first solenoid valve and the second solenoid valve are respectively connected to a first oil cylinder, and the output end of the first oil cylinder is connected to the bucket; the controller conveys a leveling current or a compensation current to the first solenoid valve, and the first solenoid valve controls the output end of the first oil cylinder to extend a corresponding distance, so that the bucket rotates a corresponding angle in the direction away from the cab; the controller conveys a compensation current to the second solenoid valve, and the second solenoid valve controls the output end of the first oil cylinder to retract a corresponding distance, so that the bucket rotates a corresponding angle in the direction towards the cab.

[0020] In an alternative embodiment, the bucket leveling method further includes that the controller is electrically connected to a third solenoid valve and a fourth solenoid valve, and the third solenoid valve and the fourth solenoid valve are respectively connected to a second oil cylinder; the output end of the second oil cylinder is connected to the boom, the third solenoid valve controls the output end of the second oil cylinder to extend, so as to lift the boom; the fourth solenoid valve controls the output end of the second oil cylinder to retract, so as to lower the boom.

[0021] In an alternative embodiment, only when there is no instruction for the bucket to rotate at the operation handle, the controller conveys a leveling current or a compensation current to the first solenoid valve or the second solenoid valve.

[0022] In a second aspect, the present invention further provides a wheel loader applicable to the bucket leveling method as described in any one of the above, including: a body, on which a cab is provided; a boom, rotatably connected to the body; a bucket, having a receiving groove; the bucket is rotatably connected to the boom, and the bucket is spaced from the cab; a controller, disposed inside the body, the controller is electrically connected to the operation handle; a first solenoid valve, disposed inside the body; a second solenoid valve, disposed inside the body and electrically connected to the controller; wherein, a first inertial measurement unit is disposed inside the boom body, and a second inertial measurement unit is disposed inside the bucket wall body.

[0023] Beneficial effects: This embodiment provides a loader and a bucket leveling method based on the loader. The controller collects the inclination angles of the bucket and the boom in real time, determines the flipping direction required by the bucket during the lowering of the boom, and outputs a leveling or compensating current to the first solenoid valve or the second solenoid valve. During the lifting of the boom, the bucket can be adjusted in real time to a horizontal position where the bucket opening is parallel to the horizontal plane according to the lowering position. During the lowering of the boom, the bucket can be gradually flipped so that when the boom is lowered to the limit position, the angle θ1 between the bucket and the boom is the same as the angle θ0 between the bucket and the boom at the limit position. At the same time, the controller can preset an initial current (the first predetermined current and the second predetermined current) in advance to reduce the leveling impact and improve comfort.

[0024] In an alternative embodiment, the boom has a first section and a second section. The first end of the first section is rotatably connected to the body, the second end of the first section is connected to the first end of the second section, and the second end of the second section is rotatably connected to the end of the bucket away from the opening of the receiving groove. The second section is connected to the first section at a preset angle. The first inclination angle α is the angle of the axis of the first section relative to the plumb plane, and the second inclination angle β is the angle of the plane where the bucket opening is located relative to the horizontal plane. An operating handle is provided in the cab, and the operating handle is electrically connected to the controller. The loader further includes a first oil cylinder and a second oil cylinder. The first oil cylinder is provided at the boom, and the output end of the first oil cylinder is connected to the bucket. The second oil cylinder is provided at the body, and the output end of the second oil cylinder is connected to the boom. Brief Description of the Drawings

[0025] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0026] Figure 1 It is a schematic diagram of the control system of the loader of the present invention;

[0027] Figure 2 It is a schematic structural diagram of the loader of the present invention.

[0028] Description of the reference numerals:

[0029] 1. Controller;

[0030] 2. Boom; 21. First inertial measurement unit; 22. First section; 23. Second section; 24. Third solenoid valve; 25. Fourth solenoid valve;

[0031] 3. Bucket; 31. Second Inertial Measurement Unit; 32. First Solenoid Valve; 33. Second Solenoid Valve; 34. Receiving Groove

[0032] 4. Operating Handle

[0033] 5. Machine Body; 51. Cab

[0034] 6. First Oil Cylinder

[0035] 7. Second Oil Cylinder Detailed Embodiment

[0036] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0037] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0038] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0040] The following combines Figures 1 to 2 , to describe the embodiments of the present invention.

[0041] According to an embodiment of the present invention, on the one hand, a method for leveling a bucket 3 is provided, including:

[0042] The controller 1 collects the value of the first inclination angle α of the boom 2 relative to the vertical plane in real time through the first inertial measurement unit 21, and the controller 1 collects the value of the second inclination angle β of the bucket 3 relative to the horizontal plane in real time through the second inertial measurement unit 31;

[0043] The controller 1 controls the bucket 3 to flip away from the cab 51 through the first solenoid valve 32, and the controller 1 controls the bucket 3 to flip towards the cab 51 through the second solenoid valve 33; before the controller 1 controls the boom 2 to lift, it delivers a first predetermined current to the first solenoid valve 32;

[0044] During the process of the controller 1 controlling the boom 2 to lift, based on the first inclination angle α and the movement parameters of the boom 2, it delivers a corresponding leveling current to the first solenoid valve 32 to activate the first solenoid valve, so that the plane where the opening of the bucket 3 is located is parallel to the horizontal plane;

[0045] When the controller 1 controls the boom 2 to lower, the boom 2 descends from the initial position to the limit position; when the boom 2 is at the limit position, the angle of the bucket 3 relative to the boom 2 is θ0; the controller 1 judges the required deflection direction and compensation current of the bucket 3 during the lowering process based on the value of the first inclination angle α of the boom 2 and the second inclination angle β of the bucket 3 at the initial position, and delivers a corresponding compensation current to the first solenoid valve 32 or the second solenoid valve 33 during the process of the boom 2 descending, so that the bucket 3 gradually flips in the corresponding deflection direction during the process of the boom 2 descending until the angle of the bucket 3 relative to the boom 2 is θ0 when the boom 2 reaches the limit position.

[0046] It should be noted that the first solenoid valve 32 controls the spool position through the magnitude of the current. By delivering a first predetermined current into the first solenoid valve 32 before the lifting action, the first solenoid valve 32 has an initial opening degree. Compared with the existing solenoid valve whose current starts from zero during leveling, the first solenoid valve 32 of the present application can respond based on the first predetermined current during leveling, avoiding the sudden increase in the opening degree of the first solenoid valve 32 in a short time during leveling, so as to achieve the purpose of reducing the action impact at the beginning of leveling; the second solenoid valve 33 is the same as the second predetermined current.

[0047] It should be noted that the first inertial measurement unit 21 and the second inertial measurement unit 31 are high-precision sensors for measuring the attitude, speed and position of an object, so as to accurately and real-time collect the inclination angles of the bucket 3 and the boom 2 and other movement parameters, reduce the error between the collected value and the actual value, have low data delay, and can realize real-time follow-up of the action signal during the leveling or laying flat process of the bucket 3, improving the operation accuracy.

[0048] It should be noted that when the controller 1 controls the boom 2 to descend, the boom 2 descends from the initial position to the extreme position. The initial position refers to the starting position when the boom 2 starts to descend, which can be but is not limited to the highest position that the boom 2 can reach when lifted in the vertical direction. The extreme position is the lowest safe position that the boom 2 can reach when it descends. Exceeding this position may cause damage to the bucket 3 or other components such as the boom 2. At the extreme position, the wall of the bucket 3 facing away from the cab side can be but is not limited to being parallel to the ground or in contact with the ground.

[0049] Specifically, the value of the first predetermined current can be but is not limited to 30%-40% of the current peak value of the first solenoid valve 32, thereby increasing the initial opening of the solenoid valve to a working range of 30%-40%; that is, the value of the first predetermined current is I1, and the current peak value of the first solenoid valve 32 is I2, wherein the value range of I1 / I2 is 0.3<I1 / I2<0.4. With such a setting, it is ensured that the value of the first predetermined current is sufficient to serve as a response basis and avoid a sharp increase in the opening from 0, while also avoiding the first solenoid valve 32 opening being too high due to the first predetermined current value being too high, thereby affecting the leveling or leveling process.

[0050] Optionally, the value of I2 / I1 may be any value among 0.31, 0.33, 0.35, 0.37, 0.39, etc., or a value between any two values.

[0051] Specifically, the value of the second predetermined current may be, but is not limited to, 30%-40% of the current peak value of the second solenoid valve 33 , which is similar to the above-mentioned first predetermined current and the first solenoid valve 32 .

[0052] In this embodiment, by setting the first inertial measurement unit 21 and the second inertial measurement unit 31, the inclination angle and other action parameters of the bucket 3 and the boom 2 can be accurately and in real time, the error between the collected value and the actual value can be reduced, the data delay is low, and the action signal can be updated in real time during the leveling or leveling process of the bucket 3, thereby improving the operation accuracy; by transmitting a predetermined current (a first predetermined current or a second predetermined current) to the corresponding solenoid valve (the first solenoid valve 32 or the second solenoid valve 33) before the lifting or lowering action, the solenoid valve has an initial opening. Compared with the existing solenoid valve, which responds from zero when the current is leveled or leveled, it can respond on the basis of the predetermined current during leveling, thereby avoiding a sharp increase in the opening of the solenoid valve in a short time during the leveling or leveling action, thereby achieving the purpose of reducing the impact at the moment when the bucket 3 is leveled or leveled.

[0053] In some embodiments, if the required deflection direction of the bucket 3 during the lowering of the boom 2 is towards the direction close to the cab 51, the controller 1 delivers a second predetermined current to the second solenoid valve 33 before controlling the lowering of the boom 2; if the required deflection direction of the bucket 3 during the lowering of the boom 2 is towards the direction away from the cab 51, the controller 1 delivers a first predetermined current to the first solenoid valve 32 before controlling the movement of the boom 2.

[0054] Specifically, when the controller 1 controls the lowering of the boom 2, the boom 2 descends from the initial position to the limit position; when the boom 2 is at the limit position, the angle of the bucket 3 relative to the boom 2 is θ0. That is to say, when the boom 2 drives the bucket 3 to rotate to the limit position, the bucket 3 is also in the standard posture. In the standard position, the angle of the bucket 3 relative to the boom 2 is θ0; in order to make the bucket 3 reach the standard position, during the lowering of the boom 2, the bucket 3 needs to be flipped towards the side close to or away from the cab 51, that is, the bucket 3 is gradually leveled.

[0055] Furthermore, if the bucket 3 needs to be deflected towards the direction close to the cab 51 during the lowering of the boom 2 to make the bucket 3 reach the standard position, then the controller 1 needs to deliver a second predetermined current to the second solenoid valve 33 that controls the bucket 3 to flip towards the direction close to the cab 51 before controlling the lowering of the boom 2, to avoid obvious impact during the instant of entering the leveling action; the same applies when the required deflection direction is reversed.

[0056] Optionally, when the bucket 3 is in the standard position, the side wall of the bucket 3 away from the cab 51 can be but is not limited to being parallel to or in contact with the ground.

[0057] In some embodiments, the controller 1 determines the required deflection direction and compensation current of the bucket 3 during the lowering process based on the values of the first inclination angle α of the boom 2 and the second inclination angle β of the bucket 3 at the initial position, and outputs corresponding compensation currents to the first solenoid valve 32 or the second solenoid valve 33 during the lowering of the boom 2, so that the bucket 3 gradually flips in the corresponding deflection direction during the lowering of the boom 2 until the angle of the bucket 3 relative to the boom 2 is θ0 when the boom 2 reaches the limit position, including: calculating the value of the included angle θ1 between the bucket 3 and the boom 2 based on the value α1 of the first inclination angle of the boom 2 at the initial position and the value β1 of the second inclination angle of the bucket 3 at the initial position, where: θ1 = |(α1 - 90°) - β1|;

[0058] Calculating the difference Δ between the included angle θ1 between the bucket 3 and the boom 2 at the initial position and the included angle θ0 between the bucket 3 and the boom 2 at the limit position, where: Δ = θ1 - θ0;

[0059] If the difference Δ>0, the bucket 3 needs to flip towards the cab 51 during the lowering of the boom 2. Before controlling the movement of the boom 2, the controller 1 delivers a second predetermined current to the second solenoid valve 33. During the lowering of the boom 2, the controller 1 delivers a second compensation current to the second solenoid valve 33;

[0060] If the difference Δ<0, the bucket 3 needs to flip away from the cab 51 during the lowering of the boom 2. Before controlling the movement of the boom 2, the controller 1 delivers a first predetermined current to the first solenoid valve 32. During the lowering of the boom 2, the controller 1 delivers a first compensation current to the first solenoid valve 32;

[0061] If the difference Δ = 0, during the lowering of the boom 2, the controller 1 does not deliver a compensation current to the first solenoid valve 32, so that the bucket 3 does not flip during the lowering of the boom 2.

[0062] It should be noted that the angle θ (θ1 and θ0) between the bucket 3 and the boom 2 can be, but is not limited to, the angle between the axis of the first section 22 and the plane where the opening of the bucket 3 is located.

[0063] Specifically, during the lowering of the boom 2, the bucket 3 needs to flip towards the side close to the cab 51 or away from the cab 51, or not flip. The specific judgment method is to judge which direction the bucket 3 needs to compensate and flip, or not flip, based on the difference between the angles between the bucket 3 and the boom 2 at the initial position and the limit position during lowering.

[0064] Specifically, as Figure 2 shown, the first inclination angle α can be, but is not limited to, the angle between the axis of the first section 22 of the boom 2 and the vertical plane. The second inclination angle β can be, but is not limited to, the angle between the plane where the opening of the bucket 3 is located and the horizontal plane. Furthermore, with the help of the first inclination angle α and the second inclination angle β, the angle θ1 between the bucket 3 and the boom 2 at the initial position can be calculated. The angle θ0 between the bucket 3 and the boom 2 at the limit position is a fixed value, and the specific value is determined according to the actual form of the loader.

[0065] Furthermore, the angle θ1 between the bucket 3 and the boom 2 at the initial position can be obtained by calculation according to the formula. First, subtract 90° from the value of the first inclination angle α1 to obtain the angle between the axis of the first section 22 and the horizontal plane, and then subtract this angle from the value of the second inclination angle β1 and take the absolute value to obtain the value of the angle θ1 between the bucket 3 and the boom 2 at the initial position.

[0066] In some embodiments, before controlling the boom 2 to lift, the controller 1 delivers a first predetermined current to the first solenoid valve 32; during the process of controlling the boom 2 to lift, and based on the first inclination angle α and the motion parameters of the boom 2, the controller 1 outputs a corresponding leveling current to the first solenoid valve 32 to activate the first solenoid valve 32, so that the plane where the opening of the bucket 3 is located is parallel to the horizontal plane, including that when the controller 1 controls the boom 2 to lift, the controller 1 obtains the angular velocity and angular acceleration of the rotation of the boom 2 in real time through the first inertial measurement unit 21; the motion parameters are the lifting opening degree of the boom 2 at the operation handle 4, the angular velocity of the rotation of the boom 2, and the angular acceleration of the rotation of the boom 2.

[0067] Specifically, during the process of controlling the boom 2 to lift, based on the first inclination angle α and the motion parameters of the boom 2, the controller 1 obtains the value of the required leveling current, and then the controller 1 outputs a leveling current of a corresponding magnitude to the first solenoid valve 32 to activate the first solenoid valve, so that the bucket 3 rotates in real time in the direction close to the cab 51 during the lifting process of the boom 2, so that the plane where the opening of the bucket 3 is located remains parallel to the horizontal plane.

[0068] Optionally, on the basis that the controller 1 obtains the value of the leveling current based on the first inclination angle α and the motion parameters of the boom 2, the real-time rotation speed of the engine of the loader can also be added as a reference value, and the controller 1 determines the value of the leveling current based on the first inclination angle α, the motion parameters of the boom 2 and the real-time rotation speed of the engine to improve the leveling accuracy.

[0069] In some embodiments, the bucket 3 leveling method further includes that during the lowering process of the boom 2, the controller 1 outputs a corresponding first compensation current to the first solenoid valve 32 based on the difference Δ, so that the bucket 3 gradually rotates a certain angle in the direction away from the cab 51 during the lowering process of the boom 2; or; during the lowering process of the boom 2, the controller 1 outputs a corresponding second compensation current to the second solenoid valve 33 based on the difference Δ, so that the bucket 3 gradually rotates a certain angle in the direction close to the cab 51 during the lowering process of the boom 2.

[0070] In some embodiments, the bucket 3 leveling method further includes that the first solenoid valve 32 and the second solenoid valve 33 are respectively connected to the first oil cylinder 6, and the output end of the first oil cylinder 6 is connected to the bucket 3; the controller 1 delivers a leveling current or a compensation current to the first solenoid valve 32, and the first solenoid valve 32 controls the output end of the first oil cylinder 6 to extend a corresponding distance, so that the bucket 3 rotates a corresponding angle in the direction away from the cab 51; the controller 1 delivers a second compensation current to the second solenoid valve 33, and the second solenoid valve 33 controls the output end of the first oil cylinder 6 to retract a corresponding distance, so that the bucket 3 rotates a corresponding angle in the direction close to the cab 51.

[0071] Specifically, the first oil cylinder 6 and the second oil cylinder 7 can both be, but are not limited to, hydraulic cylinders. By controlling the opening degree of the first solenoid valve 32 or the second solenoid valve 33, the movement displacement of the output end of the first oil cylinder 6 or the second oil cylinder 7 is controlled.

[0072] In some embodiments, the bucket 3 leveling method further includes that the controller 1 is electrically connected to the third solenoid valve 24 and the fourth solenoid valve 25, and the third solenoid valve 24 and the fourth solenoid valve 25 are respectively connected to the second oil cylinder 7; the output end of the second oil cylinder 7 is connected to the boom 2. The third solenoid valve 24 controls the output end of the second oil cylinder 7 to extend, so as to lift the boom 2; the fourth solenoid valve 25 controls the output end of the second oil cylinder 7 to retract, so as to lower the boom 2.

[0073] During the process of lifting the boom 2, when the driver uses the operation handle 4 to control the actions of the boom 2 and the bucket 3 to complete loading, and then starts to lift the boom 2, after the controller 1 receives the lifting signal of the operation handle 4, immediately before controlling the boom 2 to lift, a first predetermined current is transmitted to the first solenoid valve 32 as the starting current, to avoid an instantaneous increase in the opening degree of the first solenoid valve 32 before leveling, which plays a role in reducing the starting action impact of leveling, and can also avoid a sudden increase in the opening degree of the first solenoid valve 32 caused by overshoot, achieving the purpose of increasing comfort; during the process of lifting the boom 2, the value of the second inclination angle β of the bucket 3 gradually decreases, and then there is a tendency to turn inwards towards the cab 51 side. When the second inclination angle β of the bucket 3 decreases to 0°, when the boom 2 is lifted again by the operation handle 4, due to the continuous lifting of the boom 2, the angle of the second inclination angle β of the bucket 3 decreases to a negative value, which will cause the bucket 3 to turn inwards and spill materials; in this embodiment, the controller 1 calculates the current compensation amount of the first solenoid valve 32, that is, the value of the leveling current, according to the second inclination angle β of the bucket 3 and the movement parameters of the boom 2, and outputs the leveling current to the first solenoid valve 32 in real time, thereby controlling the extending length of the first oil cylinder 6, so that the plane where the opening of the bucket 3 is located is parallel to the horizontal plane, thereby ensuring that the bucket 3 maintains a horizontal state and avoiding inward turning and spilling of materials.

[0074] During the lowering process of the boom 2, before the boom 2 starts to lower, the controller 1 uses the first inertial measurement unit 21 and the second inertial measurement unit 31 to collect the first inclination angle α of the boom 2 and the second inclination angle β of the bucket 3 at the initial position in real time, obtains the included angle θ1 between the bucket 3 and the boom 2 at the initial position, and calculates the difference Δ between θ1 and the included angle θ0 between the bucket 3 and the boom 2 at the limit position. If Δ>0, the current of the second solenoid valve 33 is adjusted to the second predetermined current; if Δ<0, the current of the first solenoid valve 32 is adjusted to the first predetermined current; if Δ = 0, no adjustment is made. During the lowering process of the boom 2, the controller 1 conveys the corresponding compensation current to the first solenoid valve 32 or the second solenoid valve 33 according to the difference Δ of the included angle. The first solenoid valve 32 or the second solenoid valve 33 controls the bucket 3 to flip in the corresponding direction, so that when the boom 2 descends to the limit position, the included angle θ1 between the bucket 3 and the boom 2 is the same as the included angle θ0 between the bucket 3 and the boom 2 at the limit position.

[0075] In some embodiments, only when the operation handle has no instruction to flip the bucket 3, the controller 1 conveys the leveling current or the compensation current to the first solenoid valve 32 or the second solenoid valve 33 to prevent the unloading or shoveling action of the bucket 3 from conflicting with the leveling action.

[0076] Optionally, the controller 1 can also calculate the limit position when the bucket 3 flips towards the side close to the cab 51 according to the first inclination angle α of the boom 2 collected by the first inertial measurement unit 21, so as to avoid the first oil cylinder 6 from acting to the pressure holding state.

[0077] Optionally, the leveling current of the controller 1 is proportional to the opening degree of the operation handle 4. When the opening degree of the operation handle 4 is 0, the leveling current also returns to zero at the same time.

[0078] In a second aspect, the present invention also provides a wheel loader applicable to the bucket 3 leveling method as described in any one of the above, including: a body 5, on which a cab 51 is provided; a boom 2, rotatably connected to the body 5; a bucket 3, having a receiving groove 34; the bucket 3 is rotatably connected to the boom 2, and the bucket 3 is spaced apart from the cab 51; a controller 1, provided in the body 5, the controller 1 is electrically connected to the operation handle 4; a first solenoid valve 32, provided in the body 5; a second solenoid valve 33, provided in the body 5 and electrically connected to the controller 1; wherein, a first inertial measurement unit 21 is provided in the arm body of the first section 22 of the boom 2, and a second inertial measurement unit 31 is provided in the wall body of the bucket 3.

[0079] This embodiment provides a loader and a bucket leveling method based on the loader. The controller 1 collects the inclination angles of the bucket 3 and the boom 2 in real time, determines the flipping direction required for the bucket 3 during the lowering process of the boom 2, and outputs a leveling or compensation current to the first solenoid valve 32 or the second solenoid valve 33, so that during the lifting process of the boom 2, the bucket 3 can be adjusted to a horizontal position where the opening of the bucket 3 is parallel to the horizontal plane according to the lowering position in real time. During the lowering process of the boom 2, the bucket 3 can gradually flip, so that when the boom 2 descends to the limit position, the included angle θ1 between the bucket 3 and the boom 2 is the same as the included angle θ0 between the bucket 3 and the boom 2 at the limit position; at the same time, the controller 1 can preset an initial current (the first predetermined current and the second predetermined current) in advance to reduce the leveling impact and improve the comfort level.

[0080] In some embodiments, the boom 2 has a first section 22 and a second section 23. The first end of the first section 22 is rotatably connected to the body 5, the second end of the first section 22 is connected to the first end of the second section 23, and the second end of the second section 23 is rotatably connected to the end of the bucket 3 away from the opening of the receiving groove 34. The second section 23 is connected to the first section 22 at a preset angle; the first inclination angle α is the angle of the axis of the first section 22 relative to the plumb plane, and the second inclination angle β is the angle of the plane where the opening of the bucket 3 is located relative to the horizontal plane; an operating handle 4 is provided in the cab 51, and the operating handle 4 is electrically connected to the controller 1; the loader further includes a first oil cylinder 6 and a second oil cylinder 7. The first oil cylinder 6 is provided at the boom 2, and the output end of the first oil cylinder 6 is connected to the bucket 3; the second oil cylinder 7 is provided at the body 5, and the output end of the second oil cylinder 7 is connected to the boom 2.

[0081] Specifically, the bucket 3 has a receiving groove 34, and the opening of the receiving groove 34 is the opening of the bucket 3. During the leveling process, it is necessary to make the opening of the receiving groove 34 parallel to the horizontal plane to prevent material scattering; the first inclination angle α can be, but is not limited to, the angle of the axis of the first section 22 relative to the plumb plane, and the second inclination angle β can be, but is not limited to, the angle of the plane where the opening of the bucket 3 is located relative to the horizontal plane, which can be determined according to actual working requirements.

[0082] Obviously, the above embodiments are only examples clearly described and not limitations on the implementation manners. Although the embodiments of the present invention are described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the present invention.

Claims

1. A bucket leveling method, characterized in that: Includes steps: The controller (1) collects in real time the value of a first inclination angle α of the boom (2) relative to a vertical plane through a first inertial measurement unit (21), and the controller (1) collects in real time the value of a second inclination angle β of the bucket (3) relative to a horizontal plane through a second inertial measurement unit (31); The controller (1) controls the bucket (3) to flip in a direction away from the cab (51) through the first solenoid valve (32), and the controller (1) controls the bucket (3) to flip in a direction close to the cab (51) through the second solenoid valve (33); Before controlling the boom (2) to lift, the controller (1) transmits a first predetermined current to the first solenoid valve (32); during the process of controlling the boom (2) to lift, the controller (1) transmits a corresponding leveling current to the first solenoid valve (32) based on the first inclination angle α and the action parameters of the boom (2), so as to start the first solenoid valve, so that the plane where the bucket (3) is located is parallel to the horizontal plane; When the controller (1) controls the boom (2) to descend, the boom (2) descends from an initial position to an extreme position; when the boom (2) is at the extreme position, the angle of the bucket (3) relative to the boom (2) is θ0; The controller (1) determines the deflection direction and compensation current required for the bucket (3) during the descent process based on the values ​​of the first inclination angle α of the boom (2) and the second inclination angle β of the bucket (3) at the initial position, and transmits the corresponding compensation current to the first solenoid valve (32) or the second solenoid valve (33) during the descent process of the boom (2), so that the bucket (3) gradually turns in the corresponding deflection direction during the descent process of the boom (2), until the boom (2) reaches the extreme position, and the angle of the bucket (3) relative to the boom (2) is θ0.

2. The bucket leveling method according to claim 1, characterized in that: If the deflection direction required for the bucket (3) during the lowering of the boom (2) is toward the direction close to the cab (51), the controller (1) transmits a second predetermined current to the second solenoid valve (33) before controlling the lowering of the boom (2); If the deflection direction required for the bucket (3) during the lowering of the boom (2) is a direction away from the cab (51), the controller (1) transmits a first predetermined current to the first solenoid valve (32) before controlling the boom (2) to move.

3. The bucket leveling method according to claim 2, characterized in that: The controller (1) determines the deflection direction and compensation current required for the bucket (3) during the descent process based on the values ​​of the first inclination angle α of the boom (2) and the second inclination angle β of the bucket (3) at the initial position, and transmits the corresponding compensation current to the first solenoid valve (32) or the second solenoid valve (33) during the descent process of the boom (2), so that the bucket (3) gradually turns in the corresponding deflection direction during the descent process of the boom (2), until the boom (2) reaches the limit position and the angle of the bucket (3) relative to the boom (2) is θ0, comprising the steps of: Based on the value α1 of the first inclination angle of the boom (2) at the initial position and the value β1 of the second inclination angle of the bucket (3) at the initial position, the value of the angle θ1 of the bucket (3) relative to the boom (2) is calculated, wherein: θ1=|(α1-90°)-β1| The difference Δ between the angle θ1 of the bucket (3) relative to the boom (2) at the initial position and the angle θ0 of the bucket (3) relative to the boom (2) at the extreme position is calculated, where: Δ=θ1-θ0 If the difference Δ>0, the bucket (3) needs to flip in a direction close to the cab (51) during the lowering of the boom (2), and the controller (1) transmits a second predetermined current to the second solenoid valve (33) before controlling the action of the boom (2). The controller (1) transmits a second compensation current to the second solenoid valve (33) during the lowering of the boom (2); If the difference Δ<0, the bucket (3) needs to flip in a direction away from the cab (51) during the lowering of the boom (2), and the controller (1) transmits a first predetermined current to the first solenoid valve (32) before controlling the boom (2) to move. The controller (1) transmits a first compensation current to the first solenoid valve (32) during the lowering of the boom (2); If the difference Δ=0, the controller (1) does not transmit a compensation current to the first solenoid valve (32) during the lowering of the boom (2), so that the bucket (3) does not flip during the lowering of the boom (2).

4. The bucket leveling method according to claim 1, characterized in that: The controller (1) transmits a first predetermined current to the first solenoid valve (32) before controlling the boom (2) to lift; the controller (1) transmits a corresponding leveling current to the first solenoid valve (32) based on the first inclination angle α and the action parameters of the boom (2) during the process of controlling the boom (2) to lift, so that the first solenoid valve (32) is started, so that the plane where the opening of the bucket (3) is located is parallel to the horizontal plane, comprising the steps of: When the controller (1) controls the boom (2) to lift, the controller (1) acquires the angular velocity and angular acceleration of the boom (2) in real time through the first inertial measurement unit (21); The action parameters include the lifting opening of the boom (2) at the operating handle (4), the angular velocity of the rotation of the boom (2), and the angular acceleration of the rotation of the boom (2).

5. The bucket leveling method according to claim 3, characterized in that: The bucket leveling method further comprises the following steps: during the lowering of the boom (2), the controller (1) transmits a corresponding compensation current to the first solenoid valve (32) based on the difference Δ, so that the bucket (3) gradually turns over by a certain angle in a direction away from the cab (51) during the lowering of the boom (2); or; During the lowering of the boom (2), the controller (1) transmits a corresponding compensation current to the second solenoid valve (33) based on the difference Δ, so that the bucket (3) gradually turns over by a certain angle in a direction close to the cab (51) during the lowering of the boom (2).

6. The bucket leveling method according to claim 5, characterized in that: The bucket leveling method further comprises: the first solenoid valve (32) and the second solenoid valve (33) are respectively connected to a first oil cylinder (6), and an output end of the first oil cylinder (6) is connected to the bucket (3); The controller (1) transmits a leveling current or a first compensation current to the first solenoid valve (32), and the first solenoid valve (32) controls the output end of the first oil cylinder (6) to extend a corresponding distance, so that the bucket (3) flips a corresponding angle in a direction away from the cab (51); The controller (1) transmits a second compensation current to the second solenoid valve (33), and the second solenoid valve (33) controls the output end of the first oil cylinder (6) to retract a corresponding distance, so that the bucket (3) flips to a corresponding angle in a direction close to the cab (51).

7. The bucket leveling method according to claim 6, characterized in that: The bucket leveling method further comprises: the controller (1) is electrically connected to a third solenoid valve (24) and a fourth solenoid valve (25); the third solenoid valve (24) and the fourth solenoid valve (25) are respectively connected to a second oil cylinder (7); The output end of the second oil cylinder (7) is connected to the boom (2), and the third solenoid valve (24) controls the output end of the second oil cylinder (7) to extend so as to lift the boom (2); The fourth solenoid valve (25) controls the output end of the second oil cylinder (7) to retract, thereby causing the boom (2) to descend.

8. The bucket leveling method according to claim 7, characterized in that: Only when the operating handle (4) does not have an instruction to operate the bucket (3) to flip, the controller (1) transmits a leveling current or a compensating current to the first solenoid valve (32) or the second solenoid valve (33).

9. A loader, applicable to the bucket leveling method according to any one of claims 1 to 8, characterized in that: include: A machine body (5) on which a cab (51) is provided; A movable arm (2) rotatably connected to the machine body (5); A bucket (3) having a receiving groove (34); the bucket (3) is rotatably connected to the boom (2), and the bucket (3) is spaced apart from the cab (51); A controller (1) is disposed in the machine body (5); A first solenoid valve (32) is disposed in the machine body (5) and is electrically connected to the controller (1). The controller (1) controls the bucket (3) to flip in a direction away from the cab (51) through the first solenoid valve (32); A second solenoid valve (33) is disposed in the machine body and is electrically connected to the controller (1). The controller (1) controls the bucket (3) to flip toward a direction close to the cab (51) through the second solenoid valve (33); Wherein, a first inertial measurement unit (21) is provided on the boom (2), and a second inertial measurement unit (31) is provided on the bucket (3).

10. The loader according to claim 9, characterized in that: The boom (2) comprises a first section (22) and a second section (23), the first end of the first section (22) being rotatably connected to the machine body (5), the second end of the first section (22) being connected to the first end of the second section (23), the second end of the second section (23) being rotatably connected to an end of the bucket (3) away from the opening of the bucket (3), the second section (23) being connected to the first section (22) at a preset angle; the first inclination angle α being the angle of the axis of the first section (22) relative to the vertical plane, the second inclination angle β being the angle of the plane where the opening of the bucket (3) is located relative to the horizontal plane; and / or, An operating handle (4) is provided in the cab (51), and the operating handle (4) is electrically connected to the controller (1); and / or, The loader further comprises a first oil cylinder (6) and a second oil cylinder (7); the first oil cylinder (6) is arranged at the boom (2), and an output end of the first oil cylinder (6) is connected to the bucket (3); the second oil cylinder (7) is arranged at the machine body (5), and an output end of the second oil cylinder (7) is connected to the boom (2).

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