A shovel assembly and a method of controlling a shovel

Abstract

The application provides a transverse movable bucket assembly and a bucket control method, and belongs to the technical field of engineering vehicle buckets. Through the transverse movable bucket structure design, the problem that the existing engineering machinery cannot adjust the position of the bucket along the arm laterally is solved. When dealing with side operation, edge finishing, side obstacle removal and other scenes, the whole machine needs to be adjusted and parked again, which has low operation efficiency and high operation difficulty. The transverse position of the bucket can be quickly adjusted without changing the overall parking position of the engineering machinery, the diversified operation requirements can be adapted, the operation flexibility and operation efficiency are improved, and the operation strength of the operator is reduced. The bucket control method is realized based on the transverse movable bucket assembly, the control logic is simple, the control system of the existing engineering machinery can be adapted for modification, and the modification cost is low.

Description

Technical Field

[0001] This application relates to the field of engineering vehicle bucket technology, and in particular to a laterally movable bucket assembly and a bucket control method. Background Technology

[0002] In the field of construction machinery, bucket assemblies are widely used in vehicles such as loaders, excavators, and skid steer loaders to scoop, transport, and unload bulk materials such as sand, gravel, soil, coal, and construction waste. Traditional bucket assemblies are usually connected to the vehicle's boom via a set of linkage mechanisms, and rely on one or two hydraulic cylinders to drive the bucket to rotate around a hinge point to achieve bucket retraction and unloading.

[0003] However, existing bucket assemblies have the following shortcomings in practical use: The upward tilting angle of the bucket is limited. When unloading material into a higher hopper or dumping it over obstacles, the geometry of traditional linkage mechanisms often restricts the bucket's backward tilting angle. Even with the hydraulic cylinder piston rod fully extended, the bucket opening cannot achieve the ideal vertical or backward tilting posture, and material tends to slip off prematurely, resulting in incomplete unloading. The fundamental reason is that traditional linkages are mostly straight rod structures, and the installation position and stroke of the hydraulic cylinder are limited by the hinge point layout, making it difficult to achieve a larger swing range within a limited space. Summary of the Invention

[0004] The purpose of this invention is to solve the above-mentioned problems by providing a laterally movable bucket assembly and a bucket control method.

[0005] The technical solution of this application is implemented as follows: In a first aspect, this application provides a laterally movable bucket assembly, the bucket assembly comprising: Bucket body; Vehicle body connecting frame, for connecting with engineering vehicles; A bucket connecting frame is slidably connected to the vehicle body connecting frame, and the bucket connecting frame has a third hinge point; Linkage assembly, the linkage assembly comprising: A hinge frame is installed on the back side of the bucket body. The hinge frame has a first hinge point and a second hinge point. The bottom of the bucket connecting frame is connected to the first hinge point of the hinge frame. The bucket body can be flipped along the first hinge point. A curved frame, the first end of which is rotatably mounted on the third hinge point, the curved frame having a hydraulic cylinder hinge point at the bend, the bend arching away from the bucket body; A straight rod frame, the first end of which is rotatably mounted on the second hinge point, and the second end of which is rotatably mounted on the second end of the curved frame; The bucket assembly also includes a drive assembly, which includes a first hydraulic cylinder and a second hydraulic cylinder. The cylinder end of the first hydraulic cylinder is rotatably mounted on the bucket connecting frame, and the telescopic end is rotatably mounted on the cylinder hinge point; The cylinder end of the second hydraulic cylinder is rotatably mounted on the vehicle body connecting frame, and the telescopic end is rotatably mounted on the cylinder hinge point; The first hydraulic cylinder and the second hydraulic cylinder work together to control the bucket body to tilt; The telescopic end of the second hydraulic cylinder extends and retracts, causing the bucket connecting frame to move laterally on the vehicle body connecting frame, while the telescopic end of the first hydraulic cylinder is locked.

[0006] In one embodiment, the bucket connecting frame is slidably mounted on the vehicle body connecting frame via a sliding seat, and two bucket connecting frames are symmetrically arranged along the central axis of the sliding seat, with the bucket connecting frame fixedly mounted on the bottom of the sliding seat; A pair of first hydraulic cylinders are symmetrically arranged along the central axis of the sliding seat. The first hydraulic cylinders are located in the hollow area of ​​the bucket connecting frame, and the cylinder end of the first hydraulic cylinder is rotatably mounted on the bottom of the sliding seat.

[0007] In one embodiment, the curved frame is rotatably mounted with a first rotating seat at the hinge point of the hydraulic cylinder, and the telescopic end of the first hydraulic cylinder is fixed on the first rotating seat.

[0008] In one embodiment, a connecting rod is provided between the hydraulic cylinder hinge points of the two curved frames, and the two ends of the connecting rod pass through the bucket connecting frame and are fixedly connected to the first end of the curved frame; The connecting rod is rotatably connected to the bucket connecting frame.

[0009] In one embodiment, a transition seat may also be rotatably mounted on the first rotating seat, the axis of the transition seat being perpendicular to the axis of the first hydraulic cylinder. The telescopic end of the second hydraulic cylinder is rotatably mounted on the adapter.

[0010] In one embodiment, a pair of second hydraulic cylinders are symmetrically arranged along the central axis of the vehicle body connecting frame; The vehicle body connecting frame also has extension sections on both sides along the length direction of the bucket body, and the cylinder end of the second hydraulic cylinder is rotatably connected to the end of the extension section so that the two second hydraulic cylinders are distributed on both sides of the central axis of the vehicle body connecting frame.

[0011] In one embodiment, a pair of second hydraulic cylinders are symmetrically arranged along the central axis of the vehicle body connecting frame, and the orientations of the two second hydraulic cylinders intersect each other. The two adapter seats have a length difference so that the two second hydraulic cylinders can avoid each other; Of the two cylinder ends of the second hydraulic cylinders, one is closer to the bucket connecting frame than the other.

[0012] In one embodiment, the second hydraulic cylinder has one, and an adapter is fixedly mounted on the middle of the connecting rod; The telescopic end of the second hydraulic cylinder is rotatably mounted on the adapter, and the cylinder end is mounted on the vehicle body connecting frame at a position offset from the central axis of the bucket connecting frame, so that an acute angle is formed between the axis of the second hydraulic cylinder and the horizontal line.

[0013] In one embodiment, the cylinder end of the second hydraulic cylinder is connected to the vehicle body connecting frame via a first connector; The first connector includes: The first connecting seat has its base end fixed to the vehicle body connecting frame; The second connecting seat has a first end that is hinged to the hinge end of the first connecting seat, and a second end that is hinged to the cylinder end of the second hydraulic cylinder. The orientation in which the second connecting seat rotates on the first connecting seat is the first orientation; The direction in which the cylinder end of the second hydraulic cylinder rotates on the second connecting seat is the second orientation; The first orientation and the second orientation are perpendicular to each other.

[0014] Secondly, this application also provides a control method for a bucket assembly based on any one of the above-described methods, wherein the control method enables the bucket assembly to have a lateral movement control mode, a tilting control mode, and a center of gravity self-adjustment mode: The lateral movement control mode includes: locking the first hydraulic cylinder, controlling the extension and retraction of the extension end of the second hydraulic cylinder, and driving the bucket connecting frame to move laterally on the vehicle body connecting frame; The flipping control mode includes: controlling the extension end of the first hydraulic cylinder to extend when the extension end of the first hydraulic cylinder extends, or controlling the extension end of the second hydraulic cylinder to retract when the extension end of the first hydraulic cylinder retracts, so as to drive the bucket body to flip around the first hinge point. The center of gravity self-adjustment mode includes: real-time detection of the center of gravity position data of the material by multiple pressure sensors arranged along the length of the bottom plate of the bucket body; the controller of the engineering vehicle receives the center of gravity position data and determines whether the current center of gravity deviates from the preset safety range; if it deviates, the controller controls the extension end of the second hydraulic cylinder to extend or retract, driving the bucket connecting frame to move laterally until the center of gravity position data is restored to the safety range; in the center of gravity self-adjustment mode, the extension end of the first hydraulic cylinder remains locked.

[0015] The advantages or beneficial effects of the above technical solutions include at least the following: 1. By setting up a linkage mechanism that combines a curved frame and a straight frame, and by having the first and second hydraulic cylinders work together at the cylinder hinge point of the curved frame, the upward tilting angle of the bucket body is significantly increased. When the first and second hydraulic cylinders extend, the cylinder hinge point can achieve a greater rearward travel, allowing the bucket opening to tilt backward to a position close to or even slightly beyond vertical. During unloading, the material can slide out completely without leaving any residue, making it particularly suitable for unloading highly sticky wet sand or soil with high moisture content.

[0016] 2. Independent control of the tilting and lateral movement is achieved. When lateral movement is required, the first hydraulic cylinder is locked, fixing the curved frame and the bucket connecting frame relative to each other. At this time, the extension and retraction of the second hydraulic cylinder directly drives the bucket connecting frame to slide on the vehicle body connecting frame. The bucket can initiate lateral movement at any tilting angle (whether tilted upwards or locked downwards) without interference between the two actions. If the operator finds the position is off during unloading, there is no need to first straighten the bucket; adjustment can be made simply by moving the lateral movement handle, greatly improving the smoothness of operation. Attached Figure Description

[0017] The accompanying drawings illustrate exemplary embodiments of this application and, together with the description thereof, serve to explain the principles of this application. These drawings are included to provide a further understanding of this application and are incorporated in and constitute a part of this specification.

[0018] Figure 1 A schematic diagram of the bucket body of the present invention being tilted downwards to its lowest position is shown; Figure 2 A schematic diagram of the bucket body of the present invention being flipped upwards to its highest position is shown; Figure 3 A schematic diagram of the hinge frame structure of the present invention is shown; Figure 4 A schematic diagram is shown of the bucket body tilted downwards to its lowest position according to the first embodiment of the present invention; Figure 5This diagram shows a first schematic of the lateral movement of the bucket connecting frame under a first embodiment of the present invention. In the diagram, the second hydraulic cylinder on the left extends and the second hydraulic cylinder on the right retracts. Figure 6 A schematic diagram is shown of the bucket body flipped upward to its highest position according to the first embodiment of the present invention; Figure 7 A second schematic diagram showing the lateral movement of the bucket connecting frame under the first embodiment of the present invention is shown, in which the second hydraulic cylinder on the left extends and the second hydraulic cylinder on the right retracts; Figure 8 A first schematic diagram of the rear side of the concealed bucket connecting frame of the present invention is shown, in which the bucket is flipped upward to the highest position; Figure 9 A second schematic diagram of the rear side of the concealed bucket connecting frame of the present invention is shown, in which the bucket is flipped downward to the lowest position; Figure 10 A schematic diagram of the structure of the first connector of the present invention is shown; Figure 11 A schematic diagram is shown of the bucket body tilted downwards to its lowest position according to the second embodiment of the present invention; Figure 12 This diagram shows a first schematic of the lateral movement of the bucket connecting frame under a second embodiment of the present invention, in which the second hydraulic cylinder on the left extends and the second hydraulic cylinder on the right retracts; Figure 13 A schematic diagram is shown of the bucket body flipped upward to its highest position according to the second embodiment of the present invention; Figure 14 This is a second schematic diagram showing the lateral movement of the bucket connecting frame under a second embodiment of the present invention. In the figure, the second hydraulic cylinder on the left extends and the second hydraulic cylinder on the right retracts. Figure 15 A side view of the bucket assembly according to a second embodiment of the present invention is shown; Figure 16 A schematic diagram of the articulated frame and the vehicle body connecting frame of the present invention is shown; Figure 17 A side view of the first hydraulic cylinder and the second hydraulic cylinder of the present invention is shown. It can be seen from the figure that the axes of the first hydraulic cylinder and the second hydraulic cylinder are parallel to each other. Figure 18 A schematic diagram is shown of the bucket body tilted downwards to its lowest position according to the third embodiment of the present invention; Figure 19 A first schematic diagram of the lateral movement of the bucket connecting frame under the third embodiment of the present invention is shown, in which the second hydraulic cylinder retracts; Figure 20 A schematic diagram is shown of the bucket body flipped upward to its highest position according to the third embodiment of the present invention; Figure 21 A second schematic diagram of the lateral movement of the bucket connecting frame under the third embodiment of the present invention is shown, in which the second hydraulic cylinder retracts.

[0019] Reference numerals: 10. Bucket body; 11. Articulated frame; 111. First articulation point; 112. Second articulation point; 12. Curved frame; 121. Curved section; 122. First rotating seat; 13. Straight rod frame; 14. Adapter seat; 15. Connecting rod; 20. Vehicle body connecting frame; 21. Extension section; 30. Bucket connecting frame; 31. Sliding seat; 32. Third articulation point; 40. Drive assembly; 41. First hydraulic cylinder; 42. Second hydraulic cylinder; 50. First connecting piece; 51. First connecting seat; 52. Second connecting seat. Detailed Implementation

[0020] Embodiments of this application will now be described in more detail with reference to the accompanying drawings.

[0021] It should be understood that the term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc., mentioned in this application are used only to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0022] It should be noted that the terms "one" and "more" used in this application are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0023] The names of the messages or information exchanged between multiple devices in the embodiments of this application are for illustrative purposes only and are not intended to limit the scope of these messages or information.

[0024] A laterally movable bucket assembly, Figure 1 A schematic diagram shows the bucket body 10 tilted downwards to its lowest position. Figure 2 A schematic diagram shows the bucket body 10 tilted upwards to its highest position. Figure 3 A schematic diagram of the hinge frame 11 is shown.

[0025] Reference Figures 1 to 3A lateral bucket assembly for mounting on the front end of an engineering vehicle (such as a loader, excavator, or skid steer loader) to scoop, transport, and unload bulk materials such as sand, gravel, coal, or construction waste.

[0026] The bucket assembly includes a bucket body 10. The bucket body 10 is a container with an open front end and a curved bottom, and its rear (i.e., the back side of the bucket) is used to mount the linkage mechanism and drive assembly 40. The vehicle body connecting frame 20 is directly and fixedly connected to the front frame of the engineering vehicle, serving as the basic support between the entire bucket assembly and the vehicle.

[0027] The bucket connecting frame 30 is slidably mounted on the vehicle body connecting frame 20. Specifically, the upper part of the bucket connecting frame 30 is slidably engaged with the vehicle body connecting frame 20 via a sliding seat 31, allowing the bucket connecting frame 30 to move left and right along the lateral direction (i.e., the vehicle width direction) of the vehicle body connecting frame 20. The bucket connecting frame 30 has a third hinge point 32. Furthermore, two bucket connecting frames 30 are symmetrically arranged along the central axis of the sliding seat 31, and the bucket connecting frames 30 are fixedly mounted on the bottom of the sliding seat 31. In this way, the entire bucket connecting frame 30, along with the bucket body 10 below it, can move laterally as a whole without tilting.

[0028] A hinge frame 11 is mounted on the rear side of the bucket body 10. The hinge frame 11 has a first hinge point 111 and a second hinge point 112, as shown in the reference. Figure 3 The bottom of the bucket connecting frame 30 is connected to the first hinge point 111 of the hinge frame 11, and the bucket body 10 can rotate up and down around the first hinge point 111. That is to say, the first hinge point 111 is the swing center of the bucket body 10 relative to the bucket connecting frame 30.

[0029] The linkage assembly includes a curved frame 12 and a straight frame 13. The first end of the curved frame 12 is rotatably mounted on the third hinge point 32 of the bucket connecting frame 30. The curved frame 12 has a bend in its middle, which arches away from the bucket body 10 (i.e., rearward), and the bend 121 has a hydraulic hinge point. The first end of the straight frame 13 is rotatably mounted on the second hinge point 112 of the hinge frame 11, and the second end of the straight frame 13 is rotatably mounted on the second end of the curved frame 12.

[0030] The combination of the curved frame 12 and the straight rod frame 13 allows the straight rod frame 13 to pull or push the second hinge point 112 of the hinge frame 11 when the curved frame 12 swings around the third hinge point 32, thereby causing the bucket body 10 to rotate around the first hinge point 111. Compared with the traditional straight connecting rod, the arched structure of the curved frame 12 provides more space for the installation and stroke of the hydraulic cylinder, allowing the bucket body 10 to achieve a larger upward rotation angle. Even when the bottom of the bucket is almost vertically upward, the hydraulic cylinder still has sufficient extension and retraction margin.

[0031] The drive assembly 40 includes a first hydraulic cylinder 41 and a second hydraulic cylinder 42. The cylinder end of the first hydraulic cylinder 41 is rotatably mounted on the bucket connecting frame 30, and the telescopic end of the first hydraulic cylinder 41 is rotatably mounted on the cylinder hinge point of the curved frame 12. The cylinder end of the second hydraulic cylinder 42 is rotatably mounted on the vehicle body connecting frame 20, and the telescopic end of the second hydraulic cylinder 42 is also mounted on the same cylinder hinge point. In this way, both the first hydraulic cylinder 41 and the second hydraulic cylinder 42 act on the same hinge point of the curved frame 12, and the two can work together to significantly increase the torque driving the curved frame 12 to swing, especially when the bucket is fully loaded with heavy materials (such as wet sand or gravel), it can still lift the bucket smoothly.

[0032] The first hydraulic cylinder 41 and the second hydraulic cylinder 42 work together to control the bucket body 10 to tilt. In actual operation, if you want the bucket body 10 to tilt upwards (for example, to tilt the material in the bucket backwards), the extension end of the first hydraulic cylinder 41 extends, and at the same time, the extension end of the second hydraulic cylinder 42 also extends. Together, they push and pull the hydraulic cylinder hinge point of the curved frame 12 backwards and downwards, causing the bucket to tilt backwards around the first hinge point 111. Figure 8 As shown. Conversely, if you want the bucket body 10 to tilt downwards (for example, to place the bucket opening downwards onto the ground), the telescopic end of the first hydraulic cylinder 41 retracts, and at the same time, the telescopic end of the second hydraulic cylinder 42 retracts, the cylinder hinge point moves backwards and upwards, and the bucket opening gradually faces the ground, as shown. Figure 9 As shown. This collaborative control method is smoother than a single hydraulic cylinder drive, and the force on the two hydraulic cylinders is more balanced regardless of whether the bucket is in the extreme position of tilting upwards or downwards.

[0033] When the bucket assembly needs to be moved laterally, the telescopic end of the second hydraulic cylinder 42 extends or retracts, while the telescopic end of the first hydraulic cylinder 41 remains locked. At this time, the first hydraulic cylinder 41 fixes the curved frame 12 relative to the bucket connecting frame 30, and the extension or retraction of the second hydraulic cylinder 42 directly pushes or pulls the bucket connecting frame 30 to slide on the vehicle body connecting frame 20, thus achieving lateral movement of the bucket body 10 relative to the vehicle. This design allows for lateral movement to be initiated at any time, even when the bucket has been tilted to any angle (e.g., tilted upwards or locked downwards), without interfering with the bucket's posture.

[0034] Figures 4 to 7 The specific structure of the first embodiment is shown, wherein a pair of second hydraulic cylinders 42 are symmetrically arranged along the central axis of the vehicle body connecting frame 20, and the orientations of the two second hydraulic cylinders 42 are parallel to each other, both arranged along the front-rear direction of the vehicle.

[0035] Reference Figures 4 to 7In the first embodiment, the bucket connecting frame 30 is slidably mounted on the vehicle body connecting frame 20 via sliding seats 31. There are two sliding seats 31, located on the left and right sides of the vehicle body connecting frame 20, respectively. The bucket connecting frame 30 is fixedly mounted on the bottom of the sliding seats 31, and the bucket connecting frame 30 itself has a hollow frame structure, with one on each side. A pair of first hydraulic cylinders 41 are symmetrically arranged along the central axis of the sliding seats 31, and these two first hydraulic cylinders 41 are located in the hollow areas of the left and right bucket connecting frames 30, respectively. The cylinder ends of the first hydraulic cylinders 41 are rotatably mounted on the bottom of the sliding seats 31, rather than directly mounted on the bucket connecting frame 30, so that when the sliding seats 31 drive the bucket connecting frame 30 to move laterally, the cylinder ends of the first hydraulic cylinders 41 will move together with the sliding seats 31, maintaining a constant relative position.

[0036] A first rotating seat 122 is rotatably mounted at the cylinder hinge point of the curved frame 12. The telescopic end of the first hydraulic cylinder 41 is fixed to the first rotating seat 122. Through the first rotating seat 122, the telescopic end of the first hydraulic cylinder 41 is no longer rigidly fixed to the curved frame 12, but can rotate relative to it, thus avoiding the hydraulic cylinder being subjected to lateral bending moment when the curved frame 12 swings.

[0037] A connecting rod 15 is provided between the hydraulic cylinder hinge points of the two curved frames 12. Both ends of the connecting rod 15 pass through the bucket connecting frame 30 and are fixedly connected to the first end of the curved frame 12. Simultaneously, the connecting rod 15 is rotatably connected to the bucket connecting frame 30. This allows the curved frames 12 on both sides to swing synchronously, maintaining uniform force on both sides of the bucket body 10. The connecting rod 15 also provides a location for the subsequent installation of the adapter seat 14.

[0038] A transition seat 14 is rotatably mounted on the first rotating seat 122, and the axis of the transition seat 14 is perpendicular to the axis of the first hydraulic cylinder 41. The telescopic end of the second hydraulic cylinder 42 is mounted on this transition seat 14. Because the transition seat 14 changes the direction of the hinge axis, the second hydraulic cylinder 42 can swing in a plane perpendicular to the first hydraulic cylinder 41, thus allowing it to be flexibly arranged on both sides of the vehicle body connecting frame 20.

[0039] In the first embodiment, the vehicle body connecting frame 20 also has extension sections 21 on both sides along the length of the bucket body 10. The cylinder end of the second hydraulic cylinder 42 is rotatably connected to the end of the extension section 21, so that the two second hydraulic cylinders 42 are distributed on both sides of the central axis of the vehicle body connecting frame 20, parallel and symmetrical to each other. When the bucket needs to move laterally to the left, the second hydraulic cylinder 42 on the left extends and the second hydraulic cylinder 42 on the right retracts, jointly pushing the sliding seat 31 and the bucket connecting frame 30 to slide to the left. The reverse is also true. Figure 5 and Figure 7 The hydraulic cylinder states under two different lateral movement positions are shown respectively.

[0040] Figure 8 and Figure 9 The following views are shown on the rear side of the concealed bucket connecting frame 30, in which... Figure 8 The corresponding bucket flips upwards to its highest position. Figure 9 The bucket tilts downwards to its lowest position. It can be seen that no matter which extreme position the bucket is in, the telescopic rods of the first hydraulic cylinder 41 and the second hydraulic cylinder 42 maintain a certain coordination relationship, and the curved frame 12 and the straight rod frame 13 never interfere with each other.

[0041] The two second hydraulic cylinders 42 are arranged in a V-shape, with the cylinder ends fixed to the ends of the extension sections 21 on both sides of the vehicle body connecting frame 20, and the extension and retraction ends pointing towards the central axis. In this arrangement, the direction of the hydraulic cylinder's push-pull force almost coincides with the lateral movement direction of the sliding seat 31, minimizing the force transmission path and energy loss. When the bucket connecting frame 30 needs to move laterally, one hydraulic cylinder extends while the other retracts, and the combined force of the two cylinders acts directly on both sides of the sliding seat 31, resulting in a very smooth lateral movement without generating additional deflection torque. Furthermore, the V-shape structure completely avoids the linkage movement area behind the bucket connecting frame 30, ensuring that even when the bucket is tilted upwards to its highest position, the hydraulic cylinders will not interfere with the curved frame 12 or the straight frame 13. For engineering vehicles that frequently operate on slopes (such as shoveling sand and gravel on riverbanks), this arrangement can also utilize the differential motion of the two hydraulic cylinders to counteract gravity-induced sideslip, resulting in more precise lateral positioning.

[0042] Figures 11 to 15 A second embodiment is shown. Unlike the first embodiment, in the second embodiment, the two second hydraulic cylinders 42 are oriented in a cross direction when projected from the front of the bucket, and their axes are parallel when projected from the side. To achieve this cross arrangement, the two adapter seats 14 are designed with a length difference: one adapter seat 14 is longer than the other, so that the telescopic ends of the two second hydraulic cylinders 42 can be staggered during installation, avoiding collisions during movement. One of the cylinder ends of the two second hydraulic cylinders 42 is closer to the bucket connecting frame 30 than the other, so that the first hydraulic cylinder 41 and the second hydraulic cylinder 42 are parallel when projected from the side. That is, the cylinder end of one second hydraulic cylinder 42 is installed at the end of the extension section 21 closer to the vehicle, and the other is installed at the end of the extension section 21 farther from the vehicle, so that the axes of the two hydraulic cylinders form an angle in the horizontal plane. This cross arrangement allows for a greater lateral travel within a limited lateral space, while also making the lateral force during lateral movement more evenly distributed on the sliding seat 31. Figure 12 and Figure 14 The hydraulic cylinder actions during lateral movement under a cross arrangement were demonstrated.

[0043] The two second hydraulic cylinders 42 are arranged in a cross configuration, with the extension end of the left hydraulic cylinder pointing towards the right front adapter 14, and the extension end of the right hydraulic cylinder pointing towards the left front adapter 14. Because the axes of the two hydraulic cylinders intersect, the lateral force they exert on the sliding seat 31 includes a forward component. This component is transmitted to the bucket connecting frame 30 through the adapter 14 and the curved frame 12, effectively slightly tightening the bucket body 10 during lateral movement, reducing the bucket's back-and-forth swaying during the lateral movement. The cross configuration also allows the cylinder ends of the two hydraulic cylinders to be installed staggered, thus achieving a longer hydraulic cylinder stroke without changing the total length of the vehicle body connecting frame 20, resulting in a larger lateral movement range for the bucket connecting frame 30 compared to an outward-pointing arrangement. For loading loose materials (such as coal or rice husks), the slight forward component generated by the cross configuration also allows the bucket opening to naturally lift slightly during lateral movement, preventing material from spilling from the bucket edge.

[0044] Figures 18 to 21 A third embodiment is shown. In this embodiment, only one second hydraulic cylinder 42 is used. Correspondingly, a transition seat 14 is fixedly installed in the middle of the connecting rod 15, instead of one on each side. The telescopic end of the second hydraulic cylinder 42 is rotatably mounted on this central transition seat 14, while the cylinder end is mounted on the vehicle body connecting frame 20 at a position off-center from its central axis (e.g., to the left or right), thus forming an acute angle between the axis of the second hydraulic cylinder 42 and the horizontal line. When this single second hydraulic cylinder 42 telescopically extends or retracts, a lateral component force is generated because the direction of the force does not pass through the center of the sliding seat 31, pushing the sliding seat 31 to one side laterally. This single-cylinder solution has a simpler structure, lower cost, and is suitable for working conditions where lateral movement frequency is low or space is limited. Figure 19 and Figure 21 The images show two different positions where the bucket connecting frame 30 moves laterally to the right during single-cylinder retraction.

[0045] Using only one second hydraulic cylinder 42, the cylinder end is offset and mounted on one side of the body connecting frame 20, and the telescopic end is connected to the connecting rod 15 via the central adapter 14. This simplified structure eliminates all hydraulic components, pipelines, and adapter 14 on the other side, reducing the weight of the entire bucket assembly. The hydraulic control circuit only requires one directional valve, and only one cylinder needs to be checked during maintenance. For small loaders or agricultural machinery (such as shoveling manure or silage in the field), the lateral movement function is not used frequently, and the single-cylinder solution is sufficient to meet the needs. Due to the elimination of the second hydraulic cylinder 42 on the other side, the space behind the bucket connecting frame 30 becomes more open, facilitating the operator's daily inspection and lubrication of the first hydraulic cylinder 41 and the various hinge points. In addition, the single-cylinder offset arrangement causes the sliding seat 31 to tilt slightly during lateral movement, but this tilt actually helps to slightly gather the material in the bucket in the tilt direction, which is suitable for scooping easily rolling round materials (such as beans or small stones).

[0046] In all the above embodiments, the cylinder end of the second hydraulic cylinder 42 is connected to the vehicle body connecting frame 20 through the first connecting member 50. Figure 10 The structure of the first connecting member 50 is shown. The first connecting member 50 includes a first connecting seat 51 and a second connecting seat 52. The base end of the first connecting seat 51 is fixed to the vehicle body connecting frame 20, and the other end of the first connecting seat 51 is a hinge end. The first end of the second connecting seat 52 is hinged to the hinge end of the first connecting seat 51, and the second connecting seat 52 can rotate in a vertical plane about the hinge point; this rotation direction is defined as the first orientation. The second end of the second connecting seat 52 is hinged to the cylinder end of the second hydraulic cylinder 42, and the cylinder end of the second hydraulic cylinder 42 can rotate relative to the second connecting seat 52 in a horizontal plane; this rotation direction is defined as the second orientation. The first orientation and the second orientation are perpendicular to each other. The cross-hinged structure allows the second hydraulic cylinder 42 to have two orthogonal degrees of freedom on the vehicle body connecting frame 20 simultaneously. This allows it to adapt to minor changes in the posture of the hydraulic cylinder during lateral movement and to withstand the lateral force generated when the bucket is overturned, avoiding additional bending moments on the hydraulic cylinder piston rod.

[0047] Figure 16 The overall layout of the articulated frame 11 and the body connecting frame 20 is shown. Figure 17 The axial relationship between the first hydraulic cylinder 41 and the second hydraulic cylinder 42 is shown in the figure. It can be seen from the figure that the two are roughly parallel in the working plane.

[0048] The present invention also discloses a control method based on the above-described bucket assembly, wherein the control method enables the bucket assembly to have a lateral movement control mode, a tilting control mode, and a center of gravity self-adjustment mode: The following reference Figures 1 to 21 Based on actual working conditions, a control method for the aforementioned bucket assembly is described. This control method enables the bucket assembly to have a lateral movement control mode, a tilting control mode, and a center of gravity self-adjustment mode.

[0049] In lateral movement control mode, the controller (e.g., the electronic control unit integrated into the engineering vehicle) sends a locking command to the solenoid valve of the first hydraulic cylinder 41, preventing the extension and retraction of the first hydraulic cylinder 41, thereby fixing the curved frame 12 relative to the bucket connecting frame 30. Then, the controller controls the extension and retraction of the second hydraulic cylinder 42 according to the lateral movement signal from the operating handle. For example, when the driver pushes the lateral movement handle to the right, the second hydraulic cylinder 42 on the right retracts, and the second hydraulic cylinder 42 on the left extends (in the first and second embodiments). During this process, the adapter 14 and the first rotating seat 122 rotate relative to each other, or the second hydraulic cylinder 42 extends and retracts in a predetermined direction (in the third embodiment), driving the bucket connecting frame 30 to slide to the right on the vehicle body connecting frame 20. During this process, the extension and retraction of the second hydraulic cylinder 42 is rotatably connected to the connecting rod 15 via the adapter 14. During lateral movement, the bucket body 10 and the material inside it do not experience additional shaking because the locking of the first hydraulic cylinder 41 ensures that the bucket's posture remains unchanged.

[0050] In the tilting control mode, the controller simultaneously adjusts the actions of the first hydraulic cylinder 41 and the second hydraulic cylinder 42. Specifically, when the bucket body 10 needs to tilt upwards (for example, to unload sand from the bucket into a higher hopper), the controller extends the telescopic end of the first hydraulic cylinder 41 and simultaneously extends the telescopic end of the second hydraulic cylinder 42. Together, they drive the hydraulic cylinder hinge point of the curved frame 12 to rotate backwards. The straight rod frame 13 pulls the second hinge point 112 of the hinge frame 11, causing the bucket body 10 to tilt backwards around the first hinge point 111 (as if...). Figure 8 (As shown). When the bucket body 10 needs to be tilted downwards (e.g., to tilt the bucket opening towards the ground to flatten gravel), the telescopic end of the first hydraulic cylinder 41 retracts, and at the same time, the telescopic end of the second hydraulic cylinder 42 retracts, the cylinder hinge point moves forward, and the bucket opening gradually tilts downwards (as shown). Figure 9 (As shown). This collaborative method ensures that the bucket always receives a large torque during the tilting process. Even when the bucket approaches its vertically upward or downward extreme angle, the two hydraulic cylinders can still provide effective thrust or pull, without any dead angles.

[0051] The center of gravity self-adjustment mode is used to automatically maintain the stability of the vehicle when the bucket is loaded with unevenly distributed materials. Taking wet sand in the bucket as an example: the sand may concentrate on one side of the bucket due to tilting during loading or bumps during transportation, causing the vehicle's center of gravity to shift and making it prone to tipping. Multiple pressure sensors are pre-positioned along the length of the bucket body's bottom plate, preferably one every 20 centimeters. These sensors detect the pressure at various points on the bottom plate in real time and send these pressure values ​​as center of gravity position data to the vehicle's controller. The controller determines whether the current center of gravity deviates from a preset safety range; the safety range is an interval based on the center of the bucket width, for example, allowing the center of gravity to shift left or right by no more than 15% of the bucket width. If the controller determines that the center of gravity exceeds this range, for example, if the center of gravity shifts to the left, then the controller enters the center of gravity self-adjustment mode.

[0052] In this mode, the extension end of the first hydraulic cylinder 41 remains locked to ensure the bucket's posture remains unchanged. The controller controls the action of the second hydraulic cylinder 42: if the center of gravity shifts to the left, the bucket connecting frame 30 is moved laterally to the right, moving the bucket body 10 along with the material to the right until the center of gravity position data returns to a safe range. If the load is a denser rock, the required lateral movement when the center of gravity shifts will be smaller, and the sensors can still provide accurate feedback, with the controller automatically adjusting the extension amount of the second hydraulic cylinder 42. The entire process requires no manual intervention from the driver, making it particularly suitable for operations on slopes or soft ground.

[0053] By combining the above three control modes, the operator can easily complete the bucket tilting, lateral movement, and automatic center of gravity adjustment from the cab, which significantly reduces the safety risks caused by uneven loading and also improves work efficiency.

[0054] In the description of this application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0055] Those skilled in the art should understand that the above embodiments are merely for illustrative purposes and are not intended to limit the scope of this application. Those skilled in the art can make other changes or modifications based on the above disclosure, and these changes or modifications still fall within the scope of this application.

Claims

1. A traversable bucket assembly characterized by: The bucket assembly includes: Bucket body; Vehicle body connecting frame, for connecting with engineering vehicles; A bucket connecting frame is slidably connected to the vehicle body connecting frame, and the bucket connecting frame has a third hinge point; Linkage assembly, the linkage assembly comprising: A hinge frame is installed on the back side of the bucket body. The hinge frame has a first hinge point and a second hinge point. The bottom of the bucket connecting frame is connected to the first hinge point of the hinge frame. The bucket body can be flipped along the first hinge point. A curved frame, the first end of which is rotatably mounted on the third hinge point, the curved frame having a hydraulic cylinder hinge point at the bend, the bend arching away from the bucket body; A straight rod frame, the first end of which is rotatably mounted on the second hinge point, and the second end of which is rotatably mounted on the second end of the curved frame; The bucket assembly also includes a drive assembly, which includes a first hydraulic cylinder and a second hydraulic cylinder. The cylinder end of the first hydraulic cylinder is rotatably mounted on the bucket connecting frame, and the telescopic end is rotatably mounted on the cylinder hinge point; The cylinder end of the second hydraulic cylinder is rotatably mounted on the vehicle body connecting frame, and the telescopic end is rotatably mounted on the cylinder hinge point; The first hydraulic cylinder and the second hydraulic cylinder work together to control the bucket body to tilt; The telescopic end of the second hydraulic cylinder extends and retracts, causing the bucket connecting frame to move laterally on the vehicle body connecting frame, while the telescopic end of the first hydraulic cylinder is locked.

2. The laterally movable bucket assembly according to claim 1, characterized in that: The bucket connecting frame is slidably mounted on the vehicle body connecting frame via a sliding seat. Two bucket connecting frames are symmetrically arranged along the central axis of the sliding seat, and the bucket connecting frame is fixedly mounted on the bottom of the sliding seat. A pair of first hydraulic cylinders are symmetrically arranged along the central axis of the sliding seat. The first hydraulic cylinders are located in the hollow area of ​​the bucket connecting frame, and the cylinder end of the first hydraulic cylinder is rotatably mounted on the bottom of the sliding seat.

3. The laterally movable bucket assembly according to claim 2, characterized in that: The curved frame is rotatably mounted with a first rotating seat at the hinge point of the hydraulic cylinder, and the telescopic end of the first hydraulic cylinder is fixed on the first rotating seat.

4. The laterally movable bucket assembly according to claim 3, characterized in that: A connecting rod is provided between the hydraulic cylinder hinge points of the two curved frames, and the two ends of the connecting rod pass through the bucket connecting frame and are fixedly connected to the first end of the curved frame; The connecting rod is rotatably connected to the bucket connecting frame.

5. The laterally movable bucket assembly according to claim 4, characterized in that: An adapter seat is rotatably mounted on the first rotating seat, and the axis of the adapter seat is perpendicular to the axis of the first hydraulic cylinder. The telescopic end of the second hydraulic cylinder is rotatably mounted on the adapter.

6. The laterally movable bucket assembly according to claim 5, characterized in that: A pair of second hydraulic cylinders are symmetrically arranged along the central axis of the vehicle body connecting frame; The vehicle body connecting frame also has extension sections on both sides along the length direction of the bucket body, and the cylinder end of the second hydraulic cylinder is rotatably connected to the end of the extension section so that the two second hydraulic cylinders are distributed on both sides of the central axis of the vehicle body connecting frame.

7. The laterally movable bucket assembly according to claim 5, characterized in that: A pair of second hydraulic cylinders are symmetrically arranged along the central axis of the vehicle body connecting frame, and the orientations of the two second hydraulic cylinders intersect each other. The two adapter seats have a length difference so that the two second hydraulic cylinders can avoid each other; Of the two cylinder ends of the second hydraulic cylinders, one is closer to the bucket connecting frame than the other.

8. The laterally movable bucket assembly according to claim 4, characterized in that: The second hydraulic cylinder has one unit, and an adapter is fixedly installed in the middle of the connecting rod; The telescopic end of the second hydraulic cylinder is rotatably mounted on the adapter, and the cylinder end is mounted on the vehicle body connecting frame at a position offset from the central axis of the bucket connecting frame, so that an acute angle is formed between the axis of the second hydraulic cylinder and the horizontal line.

9. The laterally movable bucket assembly according to any one of claims 5-8, characterized in that: The cylinder end of the second hydraulic cylinder is connected to the vehicle body connecting frame via the first connecting member; The first connector includes: The first connecting seat has its base end fixed to the vehicle body connecting frame; The second connecting seat has a first end that is hinged to the hinge end of the first connecting seat, and a second end that is hinged to the cylinder end of the second hydraulic cylinder. The orientation in which the second connecting seat rotates on the first connecting seat is the first orientation; The direction in which the cylinder end of the second hydraulic cylinder rotates on the second connecting seat is the second orientation; The first orientation and the second orientation are perpendicular to each other.

10. A control method for a bucket assembly according to any one of claims 1-9, characterized in that: The control method enables the bucket assembly to have a lateral movement control mode, a tilting control mode, and a center of gravity self-adjustment mode: The lateral movement control mode includes: locking the first hydraulic cylinder, controlling the extension and retraction of the extension end of the second hydraulic cylinder, and driving the bucket connecting frame to move laterally on the vehicle body connecting frame; The flipping control mode includes: controlling the extension end of the first hydraulic cylinder to extend when the extension end of the first hydraulic cylinder extends, or controlling the extension end of the second hydraulic cylinder to retract when the extension end of the first hydraulic cylinder retracts, so as to drive the bucket body to flip around the first hinge point. The center of gravity self-adjustment mode includes: real-time detection of the center of gravity position data of the material by multiple pressure sensors arranged along the length of the bottom plate of the bucket body; the controller of the engineering vehicle receives the center of gravity position data and determines whether the current center of gravity deviates from the preset safety range; if it deviates, the controller controls the extension end of the second hydraulic cylinder to extend or retract, driving the bucket connecting frame to move laterally until the center of gravity position data is restored to the safety range; in the center of gravity self-adjustment mode, the extension end of the first hydraulic cylinder remains locked.

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