Automatic leveling control circuit for return excavation and loader
By using angle sensors and memory switches on the loader, combined with intelligent control circuitry, the convenience problem of traditional loader limit control is solved, realizing automated operation of the boom and bucket, and improving work efficiency and adaptability.
Patent Information
- Application Number
- CN202520961786.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-05-15
- Publication Date
- 2026-05-15
- Estimated Expiration
- 2035-05-15
AI Technical Summary
Traditional loaders require continuous manual operation of the boom and bucket limit control, resulting in poor ease of operation and adjustment, increasing the operational burden and making it difficult to adapt to dynamic operation requirements.
Angle sensors and memory switches are used to replace proximity switches to achieve continuous detection of boom and rocker arm angles. Combined with one-button lifting, automatic leveling, and automatic leveling upon return digging functions, the hydraulic system is adjusted in real time through the vehicle controller to achieve intelligent control.
It improves the ease of operation and adjustment of the loader, eliminating the need for continuous manual operation by the driver. It allows the loader to quickly adapt to different working conditions, thereby improving work efficiency and equipment adaptability.
Smart Images
Figure CN224244000U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of loader technology, and in particular to an automatic leveling control circuit for return excavation and a loader. Background Technology
[0002] Currently, loaders with electric control handles typically use proximity switches to control the boom lifting limit and the bucket leveling limit.
[0003] In traditional control methods, the lifting limit function and the bucket leveling limit function of the loader are mainly realized through proximity switches and hydraulic system pressure cut-off valves. The lifting limit function proximity switch is installed at the limit position of the boom or hydraulic cylinder. When the boom rises to the preset highest lifting point, the proximity switch is triggered, which in turn cuts off the power supply to the solenoid valve or sends a signal to the controller to stop the lifting action.
[0004] The proximity switch for the bucket leveling limit function is usually installed at the end of the piston rod of the bucket cylinder or on the upper side of the cylinder barrel. When the bucket descends to a near-horizontal position, the proximity switch installed on the bucket cylinder triggers the limit action by detecting the sensing block at the end of the piston rod or the leveling indicator rod, ensuring that the proximity switch can accurately trigger the signal when the bucket reaches the horizontal position, thereby stopping the bucket's descent.
[0005] However, the aforementioned traditional control method has significant drawbacks when the loader is performing excavation-transfer operations. During the loader's return excavation operation, leveling the bucket requires the operator to continuously control the electronic control handle until the bucket reaches the leveling limit and stops, indicating a horizontal position. Similarly, raising the boom also requires the operator to continuously operate the handle to control the boom's ascent, stopping once the boom reaches the limit.
[0006] In general, this process mainly has the following problems:
[0007] 1. Poor ease of operation: The operator needs to maintain operation of the electric control handle for a long time, especially after the bucket reaches the limit point, the operator still needs to manually control the boom movement, which increases the operator's burden, easily leads to fatigue, and affects the work efficiency.
[0008] 2. Poor adjustability: The trigger position of the limit switch needs to be adjusted under different working conditions. In the existing technology, the driver needs to physically adjust the installation position of the proximity switch outside the cab, which is cumbersome and difficult to adapt to dynamically changing operational needs. Utility Model Content
[0009] To address the shortcomings of existing technologies, this utility model proposes an automatic leveling control circuit for return excavation and a loader. By installing an angle sensor on the working device and an angle memory switch in the cab, the ease of operation and adjustment for the driver is improved.
[0010] To achieve the above objectives, this utility model provides an automatic leveling control circuit for returning excavators. The circuit includes a vehicle controller, a function enable switch, a first switch, a second switch, a boom angle sensor, a boom lifting solenoid valve, and a boom lowering solenoid valve. The input terminal of the vehicle controller is connected to the function enable switch, the first switch, and the second switch. The output terminal of the vehicle controller is connected to the boom lifting solenoid valve and the boom lowering solenoid valve. The output terminal of the boom angle sensor is connected to the input terminal of the vehicle controller.
[0011] Furthermore, the boom angle sensor consists of a boom angle sensor rotating shaft and a boom angle sensor body.
[0012] Furthermore, the first angle sensor mounting plate is fixedly mounted on the front frame.
[0013] Furthermore, the boom angle sensor body is fixedly mounted on the first angle sensor mounting plate, and the boom angle sensor rotation shaft is fixedly connected to the boom via the first connecting rod.
[0014] Furthermore, the function enable switch, the first switch, and the second switch provide trigger signals to the vehicle controller.
[0015] Furthermore, an automatic leveling control circuit for returning excavators also includes an electronic handle, a rocker arm angle sensor, a tipping solenoid valve, and a bucket retraction solenoid valve.
[0016] Furthermore, the output terminals of the electronic handle and the rocker arm angle sensor are connected to the input terminal of the vehicle controller, and the tipping solenoid valve and the bucket-collecting solenoid valve are connected to the output terminal of the vehicle controller.
[0017] Furthermore, the rocker arm angle sensor consists of a rocker arm angle sensor rotation shaft and a rocker arm angle sensor body.
[0018] Furthermore, the rocker arm angle sensor body is fixedly mounted on the second angle sensor mounting plate, the second angle sensor mounting plate is fixedly mounted on the boom, and the rocker arm angle sensor rotation shaft is fixedly connected to the rocker arm through the second connecting rod.
[0019] A loader including the aforementioned return excavation automatic leveling control circuit.
[0020] The beneficial effects of this utility model are as follows:
[0021] This invention uses an angle sensor to replace the traditional proximity switch, enabling continuous detection of the boom and rocker arm angles. The detection range covers the entire stroke of the loader's working device. Simultaneously, in conjunction with the first switch and the low-degree memory switch, the height limit control point can be flexibly set according to actual working conditions. This overcomes the limitations of fixed-point detection by proximity switches, enabling convenient setting and adjustment of limit parameters. The driver can complete parameter settings without leaving the operating position, significantly improving the equipment's adaptability to different working conditions and realizing intelligent control of loader operation.
[0022] This invention features a one-button lifting function, an automatic leveling function, and an automatic leveling function upon returning to the excavator. The driver only needs to trigger the corresponding function to complete the operation without continuously operating the handle, which effectively reduces the intensity of operation and allows the driver to focus more on observing the working environment. Attached Figure Description
[0023] The accompanying drawings, which form part of this specification, are used to provide a further understanding of this utility model. The illustrative embodiments of this utility model and their descriptions are used to explain this utility model and do not constitute an improper limitation of this utility model.
[0024] Figure 1 The connection diagram of the automatic leveling control circuit for returning to the excavation stage described in Embodiment 1 is shown below.
[0025] Figure 2 This is a schematic diagram of the boom angle sensor installation as described in Embodiment 1;
[0026] Figure 3 This is a schematic diagram of the installation of the rocker arm angular velocity sensor as described in Embodiment 1.
[0027] In the diagram: 1. Electronic handle, 2. CAN bus, 3. Rocker arm angle sensor, 4. Boom angle sensor, 5. Function enable switch, 6. First switch, 7. Second switch, 8. Vehicle control unit (VCU), 9. Boom lifting solenoid valve, 10. Boom lowering solenoid valve, 11. Bucket retraction solenoid valve, 12. Bucket tipping solenoid valve, 13. Boom, 14. First connecting rod, 15. First angle sensor mounting plate, 16. Rocker arm, 17. Second connecting rod, 18. Second angle sensor mounting plate. Detailed Implementation
[0028] It should be noted that the following detailed description is exemplary and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.
[0029] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments of the present invention. The terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.
[0030] The embodiments of this application are for achieving the above objectives, such as... Figure 1 As shown, this utility model provides an automatic leveling control circuit for returning excavators. The circuit includes a vehicle controller 8, a function enable switch 5, a first switch 6, a second switch 7, a boom angle sensor 4, a boom lifting solenoid valve 9, and a boom lowering solenoid valve 10. The input terminal of the vehicle controller 8 is connected to the function enable switch 5, the first switch 6, and the second switch 7. The output terminal of the vehicle controller 8 is connected to the boom lifting solenoid valve 9 and the boom lowering solenoid valve 10. The output terminal of the boom angle sensor 4 is connected to the input terminal of the vehicle controller 8.
[0031] Specifically, the boom angle sensor 4 consists of a boom angle sensor rotating shaft and a boom angle sensor body, such as... Figure 2 As shown, the boom angle sensor body is fixedly mounted on the first angle sensor mounting plate 15, the first angle sensor mounting plate 15 is fixedly mounted on the front frame, and the boom angle sensor rotating shaft is fixedly connected to the boom through the first connecting rod 14.
[0032] During operation, the rotational motion of the boom 13 is transmitted to the boom angle sensor 4 through the first connecting rod 14. When the boom 13 performs lifting or lowering actions, it drives the first connecting rod 14 to rotate synchronously, thereby driving the boom angle sensor rotation shaft of the boom angle sensor 4 to rotate accordingly.
[0033] During the movement, the boom angle sensor 4 detects the angular displacement of its own boom angle sensor rotation axis, converts the actual angle information of the boom 13 into an electrical signal, and transmits it to the vehicle controller 8 in real time.
[0034] The aforementioned mechanical linkage design ensures that the boom angle sensor can accurately and in real time follow the changes in the movement state of the boom 13. The mechanical linkage design for the boom angle sensor 4 not only achieves non-contact measurement, avoiding the mechanical wear problems of traditional proximity switches, but also covers angle detection throughout the entire stroke of the boom 13, providing high-precision position feedback for the intelligent control of the loader.
[0035] Meanwhile, this direct linkage mechanical structure design effectively reduces intermediate links in signal transmission, improving system response speed and measurement reliability.
[0036] Furthermore, the function enable switch 5, the first switch 6, and the second switch 7 provide trigger signals to the vehicle controller.
[0037] When the first switch 6 is closed, the upper limit of the boom angle value can be remembered. The upper limit of the boom angle value is remembered as follows: when the driver presses the first switch button, the button will send a trigger signal to the vehicle controller. After receiving the trigger signal, the vehicle controller 8 stores the current boom angle value as the upper limit reference.
[0038] When the second switch 7 is closed, the lower limit memory function of boom angle value movement can be realized. The process of lower limit memory of boom angle value movement is as follows: when the driver presses the second switch button, the button will send a trigger signal to the vehicle controller. After receiving the trigger signal, the vehicle controller 8 will be triggered to store the current boom 13 angle value as the lower limit reference.
[0039] In some embodiments, the function enable switch 5, the first switch 6 and the second switch 7 can be installed on the control panel inside the loader cab, making them visible and easily accessible to the driver.
[0040] Specifically, when the loader is in operation, the function enable switch is first closed to activate the boom angle value memory function of the vehicle control 8. Then, the electronic handle 1 is operated to control the boom 13 to lift. When the boom 13 reaches the maximum working height required for the current working condition, the first switch 6 is closed.
[0041] At this time, the vehicle controller 8 (VCU) collects the current boom angle value in real time through the boom angle sensor 4, and stores the value as the upper limit reference for the lifting of the boom 13 in the memory of the vehicle controller 8.
[0042] The vehicle controller 8 compares the upper limit reference of the boom 13 lifting with the real-time data of the boom angle sensor in real time. When the angle value of the boom angle sensor reaches the upper limit reference, the vehicle controller 8 stops outputting control signals to the boom lifting solenoid valve 9, and the boom 13 stops lifting.
[0043] Similarly, the electronic handle 1 controls the boom 13 to descend. When the boom 13 reaches the lowest working position required by the current working condition, the second switch 7 is closed.
[0044] At this time, the vehicle controller 8 (VCU) collects the current boom 13 angle value in real time through the boom angle sensor 4, and stores the value as the lower limit of boom 13 descent as the lower limit reference in the memory of the vehicle controller 8.
[0045] The vehicle controller 8 compares the lower limit reference of the boom 13 descent with the real-time data of the boom angle sensor. When the angle value of the boom angle sensor reaches the lower limit reference, the vehicle controller 8 stops outputting control signals to the boom descent solenoid valve 10, and the boom 13 stops descent.
[0046] The aforementioned first / second switch completely solves the problem of limit adjustment in multi-condition operation of traditional loaders. Compared with the cumbersome operation of stopping the machine and manually adjusting the installation position of the proximity switch in the prior art, the real-time memory function of the first / second switch proposed in this utility model allows the driver to quickly update the limit reference at any time through the first / second switch according to the different material characteristics or changes in the working environment during continuous operation.
[0047] like Figure 1 As shown in the figure, the automatic leveling control circuit for returning excavators described in this example also includes: an electronic handle 1, a rocker arm angle sensor 3, a tipping solenoid valve 12, and a bucket retraction solenoid valve 11; the output terminals of the electronic handle 1 and the rocker arm angle sensor 3 are connected to the input terminals of the vehicle controller 8, and the tipping solenoid valve 12 and the bucket retraction solenoid valve 11 are connected to the output terminals of the vehicle controller 8.
[0048] The electronic handle 1 establishes a digital communication connection with the vehicle controller 8 via the CAN bus to transmit operation commands in real time.
[0049] Specifically, the rocker arm angle sensor 3 consists of a rocker arm angle sensor rotating shaft and a rocker arm angle sensor body. The rocker arm angle sensor body is fixedly mounted on the second angle sensor mounting plate 18, and the second angle sensor mounting plate 18 is fixedly mounted on the boom 13. The rocker arm angle sensor rotating shaft is fixedly connected to the rocker arm 16 through the second connecting rod 17.
[0050] During operation, the rotational motion of the rocker arm 16 is transmitted to the rocker arm angle sensor 3 through the second connecting rod 17. When the rocker arm 16 performs the action of retracting or tipping the bucket, it drives the second connecting rod 17 to rotate synchronously, thereby driving the rocker arm angle sensor rotation shaft of the rocker arm angle sensor 3 to rotate accordingly.
[0051] During the movement, the rocker arm angle sensor 3 detects the angular displacement of its own rotation axis, converts the actual angle information of the rocker arm 16 into an electrical signal, and transmits it to the vehicle controller 8 in real time.
[0052] The vehicle controller 8 detects the angle information of the rocker arm 16 in real time through the rocker arm angle sensor 3, processes the data according to the preset algorithm, and dynamically adjusts the opening of the tipping / collecting solenoid valve 11 to form precise position feedback control.
[0053] This application embodiment considers that the boom lifting and bucket leveling control of existing loaders typically uses proximity switches to achieve the limit function. In the traditional operation mode, the operator needs to continuously operate the electric control handle to lower the bucket to the preset leveling limit point and stop. At this time, the bucket reaches the horizontal position, but the boom still needs to be manually controlled by the operator to rise. Therefore, the loader circuit described in this application embodiment is equipped with a one-button lifting function, an automatic leveling function, and an automatic leveling function on return digging.
[0054] The specific functional implementation principle is as follows:
[0055] In some embodiments, the one-button lifting function is set as follows: First, the electronic handle is operated to complete the memory function of the upper limit angle value of the boom under the current working condition. Specifically, when operating the electronic handle 1, it is pulled to the end of the stroke and then returned to the middle position, outputting a boom lifting control signal to the vehicle controller 8 (VCU). The vehicle controller 8 controls the boom lifting solenoid valve 9 to work. The boom lifting solenoid valve adjusts the flow and pressure of hydraulic oil according to the received control signal, thereby controlling the boom to gradually lift. The vehicle controller 8 compares the upper limit reference of the boom 13 lifting with the real-time data of the boom angle sensor in real time. When the angle value of the boom angle sensor reaches the upper limit reference, the vehicle controller 8 stops outputting the control signal to the boom lifting solenoid valve 9, and the boom lifting solenoid valve 9 stops working, completing the one-button lifting function.
[0056] In some embodiments, the automatic leveling function is set as follows: the driver actively pulls the electronic handle 1 to the left or right end of its stroke and then returns it to the middle position according to the bucket's tipping or retracting state, outputting a bucket retracting or tipping control signal to the vehicle controller 8 (VCU). The vehicle controller 8 (VCU) controls the bucket retracting solenoid valve 11 or the tipping solenoid valve 12 to work. When the vehicle controller 8 (VCU) detects that the angle of the rocker arm angle sensor 3 has reached the set threshold stop point, the bucket retracting solenoid valve 11 or the tipping solenoid valve 12 stops working, completing the automatic leveling function.
[0057] In some embodiments, the return excavator automatic leveling function is set as follows: First, operate the electronic handle to complete the memory function of the lower limit angle value of the boom under the current working condition. Push the electronic handle 1 forward to the end of the stroke and then return to the middle position. Output boom lowering control signal to the vehicle controller 8 (VCU). The vehicle controller 8 (VCU) controls the boom lowering solenoid valve 10 to work. The boom lowering solenoid valve adjusts the flow and pressure of hydraulic oil according to the received control signal, thereby controlling the boom to gradually lower. Pull the electronic handle 1 left or right to the end of the stroke and then return to the middle position. Output bucket retraction or tipping control signal to the vehicle controller 8 (VCU). The vehicle controller 8 (VCU) controls the bucket retraction solenoid valve 11 or tipping solenoid valve 12 to work.
[0058] The vehicle controller 8 compares the lower limit reference of the boom 13 descent with the real-time data of the boom angle sensor in real time. When the angle value of the boom angle sensor reaches the lower limit reference, the boom descent solenoid valve 10 stops working. When the vehicle controller 8 detects that the angle of the rocker arm angle sensor 3 has reached the set threshold stop point, the bucket retraction solenoid valve 11 or the bucket tipping solenoid valve 12 stops working, completing the automatic leveling function of returning to the excavator.
[0059] Another embodiment of this application provides a loader, the loader comprising: Figure 1 The loader control circuit is shown.
[0060] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.
Claims
1. A return excavation automatic leveling control circuit, characterized in that, The system includes a vehicle controller, a function enable switch, a first switch, a second switch, a boom angle sensor, a boom lifting solenoid valve, and a boom lowering solenoid valve. The input terminal of the vehicle controller is connected to the function enable switch, the first switch, and the second switch. The output terminal of the vehicle controller is connected to the boom lifting solenoid valve and the boom lowering solenoid valve. The output terminal of the boom angle sensor is connected to the input terminal of the vehicle controller.
2. The automatic leveling control circuit for returning to dig as described in claim 1, characterized in that, The boom angle sensor consists of a boom angle sensor rotating shaft and a boom angle sensor body.
3. The automatic leveling control circuit for returning to dig as described in claim 2, characterized in that, The boom angle sensor body is fixedly mounted on the first angle sensor mounting plate, and the boom angle sensor rotation shaft is fixedly connected to the boom through the first connecting rod.
4. The automatic leveling control circuit for returning to dig as described in claim 3, characterized in that, The first angle sensor mounting plate is fixedly mounted on the front frame.
5. The automatic leveling control circuit for returning to dig as described in claim 1, characterized in that, The function enable switch, the first switch, and the second switch provide trigger signals to the vehicle controller.
6. The automatic leveling control circuit for returning to dig as described in claim 1, characterized in that, It also includes an electronic handle, a rocker arm angle sensor, a tipping solenoid valve, and a bucket-collecting solenoid valve.
7. The automatic leveling control circuit for returning to dig as described in claim 6, characterized in that, The output terminals of the electronic handle and rocker arm angle sensor are connected to the input terminal of the vehicle controller, and the tipping solenoid valve and the bucket-collecting solenoid valve are connected to the output terminal of the vehicle controller.
8. The automatic leveling control circuit for returning to dig as described in claim 6, characterized in that, The rocker arm angle sensor consists of a rocker arm angle sensor rotation shaft and a rocker arm angle sensor body.
9. The automatic leveling control circuit for returning to dig as described in claim 8, characterized in that, The rocker arm angle sensor body is fixedly mounted on the second angle sensor mounting plate, which is fixedly mounted on the boom. The rocker arm angle sensor rotation shaft is fixedly connected to the rocker arm via a second connecting rod.
10. A loader, characterized in that, Includes an automatic leveling control circuit for returning to the excavation site as described in claims 1-9.