Loader excavator having self-adaptive hydrostatic supporting device for rotating platform, and control method

Abstract

A loader excavator having a self-adaptive hydrostatic supporting device for a rotating platform, and a control method, which belong to the field of engineering machinery. The loader excavator comprises an undercarriage (7), wherein a rotation supporting device (8) is fixed above the undercarriage (7); a rotating platform (10) is connected to the upper end of the rotation supporting device (8); a cab (2), an excavation working device (3), and a power compartment (4) are arranged on the rotating platform (10); an excavation rotating device (9) is connected to the lower end of the rotating platform (10); the excavation rotating device (9) is connected to the excavation working device (3) and configured to control the excavation working device (3) to rotate in a horizontal direction; and a supporting device (6) is fixed on the lower end of the rotating platform (10), and the supporting device (6) is configured for providing auxiliary support for the rotating platform (10). The loader excavator can ensure that the center of gravity of components above the rotating platform (10) is stable, improves the comfort of driving during travelling, and greatly improves the stability and reliability of the overall loader excavator; and the supporting device (6) can automatically start and retract, without influencing the normal rotation of the rotating platform (10), and the whole process does not require manual operation, which is intelligent and convenient and saves on time and labor.

Description

An excavator with a slewing platform adaptive static pressure support device and a control method thereof Technical Field

[0001] The present invention relates to the field of engineering machinery, and in particular to an excavator loader with a slewing platform adaptive static pressure support device and a control method thereof. Background Art

[0002] The slewing platform is a crucial component of construction machinery such as excavators and backhoe loaders. It controls the rotation of the working device for excavation and unloading, while also supporting components such as the powertrain, excavation device assembly, hydraulic pump assembly, and cab assembly. The total weight of the components above the slewing platform accounts for over 60% of the backhoe loader's overall weight. During backhoe loader operation, the center of gravity of components mounted on the slewing platform shifts with the turntable's rotation and operating conditions. This causes changes in the resultant force and torque acting on the platform, leading to a shift in the center of gravity and localized overstress on the support structure below the slewing platform, resulting in wear and even rupture.

[0003] To balance the weight of each component and external load, the components on the slewing platform are generally arranged in a reasonable manner to improve the stress on the supporting device below, reduce wear on the slewing support device, and ensure the stability of the entire machine. However, this method is relatively passive, using a fixed solution to deal with variable working conditions, which can lead to design deficiencies or design redundancy. In particular, when the center of gravity position of the components on the turntable fluctuates significantly (such as when the working device is retracted and extended), it is impossible to effectively balance the center of gravity and external loads, which not only affects driving comfort but also affects product stability and reliability.

[0004] Summary of the Invention

[0005] In response to the above-mentioned deficiencies in the existing technology, the present invention provides an excavator loader with an adaptive static pressure support device for a rotating platform. The excavator loader is provided with a support device at the rotating platform, which can ensure the stability of the center of gravity of the components above the rotating platform during loading or driving of the excavating working device, reduce the wear of the rotating support device, and extend the service life of the rotating support device.

[0006] In order to achieve the above purpose, the following technical solutions are specifically implemented:

[0007] The slewing mechanism of the present invention is a kind of backhoe loader with adaptive static pressure support device of rotary platform, comprising a vehicle frame, a loading working device, a rotary support device, a rotary platform, a driver's cab, an excavating working device, a power cabin and an excavating rotary device, wherein the front end of the vehicle frame is connected to the loading working device, and the rotary support device is fixed on the upper part; the upper end of the rotary support device is connected to the rotary platform; the driver's cab, the excavating working device and the power cabin are arranged on the rotary platform, and the excavating working device and the power cabin are located on both sides of the rotary support device; the lower end of the rotary platform is connected to the excavating rotary device; the excavating rotary device is connected to the excavating working device for controlling the horizontal rotation of the excavating working device; the lower end of the rotary platform is fixed with a support device, and the support device is used to provide auxiliary support for the rotary platform; the beneficial effect is that the backhoe loader with adaptive static pressure support device of rotary platform provided by the present invention is in the excavating operation state, the excavating working device can The excavation rotary device rotates to the outside. At this time, the excavation working device, the cab and the power cabin are respectively located on both sides of the rotary support device, which balances the weight of the excavation working device and the external load of the operation, and the center of gravity of the components above the rotary platform is relatively balanced; when the excavator switches to the driving or loading state, the rotary platform rotates so that the excavation working device and the power cabin are on the same side. At this time, the center of gravity distribution is obviously unbalanced. The present invention installs a support device at the lower end of the rotary platform, and the support device pushes down on the frame to give the rotary platform an upward support force, thereby maintaining the center of gravity stability of the components above the rotary platform; wherein, the power cabin includes a power assembly and a hydraulic pump assembly, which provides power drive for the excavation working device; the rotary support device is the rotation center of the rotary platform, and is also the support structure of the rotary platform and the upper components. In conjunction with the excavation rotary device, the double rotation of the excavation working device can be realized, thereby ensuring the excavation and loading operation functions of the excavator.

[0008] Preferably, the supporting device includes at least two hydraulic cylinders; the hydraulic cylinders are controlled by a load-sensitive hydraulic system; its beneficial effect is that: the supporting device is at least two hydraulic cylinders, and when the excavator is in a traveling or loading state, the center of gravity of the slewing platform and the upper components falls within the figure formed by the hydraulic cylinder support point and the center of the slewing support device, ensuring the stability of the center of gravity of the components above the slewing platform in this state; the hydraulic cylinders are controlled by a load-sensitive hydraulic system, and when the load force acting on the hydraulic cylinders changes, the supporting force of the hydraulic cylinders can be automatically adjusted to ensure the stability of the system. In addition, it can also avoid the situation where the slewing support device is subjected to reverse force due to excessive supporting force.

[0009] The load-sensing hydraulic system is an existing technology. It is a hydraulic circuit that senses the system pressure-flow requirements and only provides the required flow and pressure. It has the advantages of simplicity and reliability, low power loss, and high efficiency. It can supply oil with a single pump and simultaneously meet the working requirements of multiple circuits and multiple actuators with different required flow and pressure.

[0010] Further preferably, the maximum extension distance of the hydraulic cylinder is greater than the gap between the frame and the rotating platform; its beneficial effect is that the maximum extension distance of the hydraulic cylinder is greater than the gap between the frame and the rotating platform, which can effectively deal with the situation where the gap between the frame and the rotating platform is inconsistent due to the long service life of the excavator.

[0011] Preferably, a sensing component 1 is provided on the rotary platform for sensing the recovery status of the excavating working device; a sensing component 2 is provided on the rotary platform for sensing the return status of the rotary platform; a sensing component 3 is provided in the power cabin for sensing the travel status of the excavator; the sensing component 1, the sensing component 2 and the sensing component 3 are connected to the controller of the excavator; its beneficial effect is that: by arranging sensing components in the rotary platform and the power cabin respectively, it is possible to detect and judge whether the excavating working device is recovered, whether the rotary platform is rotating and whether the excavator is in a walking state, and the sensing component 1, the sensing component 2 and the sensing component 3 are connected to the controller of the excavator, and in conjunction with the load-sensitive hydraulic system, the support device can be automatically started when the excavator is in a driving or loading state, and the support device can be automatically retracted after the excavator stops walking, so as to avoid affecting the normal rotation operation of the rotary platform. The whole process does not require manual operation, which is intelligent and convenient, saving time and effort.

[0012] Further preferably, the first sensing component is a travel switch located at the upper end of the slewing platform; a first zero-point contact plate is provided on the excavating device on one side of the sensing component. After excavation is completed, the slewing platform returns to its original position, the excavating slewing device rotates to control the excavating device to retract, and the first zero-point contact plate rotates accordingly until it contacts the first sensing component, causing it to emit a signal.

[0013] Further preferably, the second sensing component is a travel switch located at the lower end of the rotary platform; a second zero-point contact plate is provided on the vehicle frame below the travel switch. Similar to the sensing component, when the rotary platform returns to its original position, the second sensing component at the lower end of the rotary platform rotates until it contacts the second zero-point contact plate on the vehicle frame and generates a signal.

[0014] Further preferably, the sensing component three is a laser displacement sensor, which is located on the gearbox system in the power compartment and is used to detect the operating status of the gears in the gearbox.

[0015] Preferably, a counterweight is provided on the side of the slewing platform, and the counterweight is located on the same side as the power cabin; its beneficial effect is that: the counterweight is provided on the side of the power cabin on the side of the slewing platform, and when the excavator is in the excavation operation state, the overall center of gravity distribution of the turntable and the components on the turntable can be further improved, the force of the lower supporting device can be improved, and the stability of the whole machine can be ensured.

[0016] The present invention also aims to provide a control method for any of the above-mentioned excavator loader devices including a slewing platform adaptive static pressure support device, which specifically comprises the following steps:

[0017] S1. A sensing component senses the recovery state of the excavation working device, and the excavation working device is recovered and sends a signal;

[0018] S2. The second sensing component senses the return status of the rotary platform, and the rotary platform returns to its original position and sends a signal;

[0019] S3. The three sensing components sense the movement of the excavator, and the excavator moves and sends a signal;

[0020] S4. When the controller of the excavator detects the signals of the first, second, and third sensing components at the same time, the support device is activated; otherwise, the support device is not activated.

[0021] Compared with the prior art, the present invention is beneficial in that:

[0022] (1) The backhoe loader with the adaptive static pressure support device of the slewing platform of the present invention is provided with a support device under the slewing platform, which can make the center of gravity of the slewing platform and the components above it fall within the graphic area formed by the slewing support device and the support device, thereby ensuring the stability of the center of gravity of the components above the slewing platform when the backhoe loader is in the driving or loading state, thereby improving the driving comfort during driving and enhancing the stability and reliability of the backhoe loader.

[0023] (2) The hydraulic cylinder in the excavator with the adaptive static pressure support device of the rotary platform of the present invention is controlled by a load-sensitive hydraulic system. When the load force acting on the hydraulic cylinder changes, the support force of the hydraulic cylinder can be automatically adjusted to ensure the stability of the system; at the same time, it can cope with different support heights and has excellent adaptability; in addition, it can also avoid the situation where the rotary support device is subjected to reverse force due to excessive support force.

[0024] (3) In the excavator loader containing the adaptive static pressure support device of the rotary platform of the present invention, sensing components are set on the excavator rotary device, the rotary platform and the power cabin. When the excavator loader is in the driving or loading state, the support device can be automatically started. After the excavator loader stops moving, the support device can be automatically retracted to avoid affecting the normal rotary operation of the rotary platform. The whole process does not require human operation, which is intelligent and convenient, saving time and effort. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] FIG1 is a schematic diagram of an excavator loader including a slewing platform adaptive static pressure support device in a driving or loading state according to Embodiment 1;

[0026] FIG2 is a schematic diagram of an excavation operation state of an excavator including a slewing platform adaptive static pressure support device according to the first embodiment;

[0027] 3 is a schematic structural diagram of the rotary platform and frame of the excavator loader including the adaptive static pressure support device for the rotary platform according to the first embodiment;

[0028] FIG4 is a schematic structural diagram of a rotary platform of an excavator loader including a rotary platform adaptive static pressure support device according to the first embodiment;

[0029] FIG5 is a schematic diagram of a load-sensing hydraulic system according to the first embodiment;

[0030] FIG6 is a schematic diagram showing the positions of the first sensing component, the second sensing component, the first zero-point touch panel, and the second zero-point touch panel according to the first embodiment;

[0031] FIG7 is a control flow chart of an excavator including a slewing platform adaptive static pressure support device according to an embodiment of the present invention.

[0032] In the figure: 1. Loading working device; 2. Cab; 3. Excavating working device; 4. Power compartment; 5. Counterweight; 6. Support device; 7. Frame; 8. Slewing support device; 9. Excavating slewing device; 10. Slewing platform; 11. Hydraulic cylinder; 12. Sensing component 1; 13. Sensing component 2; 14. Telescopic rod; 15. Second zero-point touch plate; 16. Throttle valve; 17. Load-sensing pump; 18. Clamping valve block; 19. First zero-point touch plate. DETAILED DESCRIPTION

[0033] The following is a clear and complete description of the technical solutions of each embodiment of this patent in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of this patent, not all of the embodiments. Based on the embodiments of this patent, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this patent.

[0034] Example 1

[0035] As shown in Figures 1 to 5, this embodiment provides an excavator loader with an adaptive static pressure support device for a rotary platform. The excavator loader includes a loading device 1, a cab 2, an excavating device 3, a power compartment 4, a counterweight 5, a support device 6, a vehicle frame 7, a rotary support device 8, an excavating rotary device 9, and a rotary platform 10. As shown in Figures 1 and 2, the loading device 1 is placed at the front end of the vehicle frame 7 for loading operations; the rotary support device 8 is fixedly mounted above the vehicle frame 7, and the rotary platform 10 is fixed above the rotary support device 8. The rotary support device 8 is the rotation center of the rotary platform 10 and also serves as a support structure for the rotary platform 10 and the components above it; the cab 2, the excavating device 3, and the power compartment 4 are arranged above the rotary platform 10. The cab 2, the excavating device 3, and the power compartment 4 are located on both sides of the rotary support device 8; the power compartment 4 includes a power assembly and a hydraulic pump assembly. It can provide power drive for the excavation working device; a counterweight 5 is also provided on the side of the rotating platform 10, and the counterweight 5 is located on the same side as the power compartment 4; an excavation rotating device 9 and a support device 6 are fixedly installed on both sides of the rotating support device 8 at the lower end of the rotating platform 10, and the excavation rotating device 9 is connected to the excavation working device 3, and can control the excavation working device 3 to rotate in the horizontal direction. The excavation rotating device 9 cooperates with the rotating support device 8 to realize the double rotation of the excavation working device 3, ensuring the excavation and loading operation functions of the excavator; the support device 6 is used to maintain the stability of the center of gravity of the rotating platform and the upper components.

[0036] Figure 2 is a schematic diagram of the backhoe loader in an excavation operation. In this state, the excavation device 3 and the cab 2 are located to the right of the slewing support device 8, while the power compartment 4 and counterweight 5 are located to the left of the slewing support device 8. This layout balances the weight of the excavation device 3 and the external loads of the operation. The center of gravity of the components above the slewing platform is relatively balanced, and the support device does not need to be operated. Figure 1 is a schematic diagram of the backhoe loader in a driving or loading state. In this state, the excavation device 3, power compartment 4, and counterweight 5 are all located to the right of the slewing support device 8, with only the cab 2 on the left. The center of gravity distribution is obviously unbalanced. At this time, the support device 6 pushes down on the frame 7, providing an upward support force to the slewing platform 10, maintaining the center of gravity of the components above the slewing platform stable, improving driving comfort during driving and enhancing the stability and reliability of the backhoe loader.

[0037] As shown in Figures 3 and 4, the support device 6 includes two hydraulic cylinders 11, and the hydraulic cylinders 11 and the center of the slewing support device 8 are distributed in a triangle. When the excavator is in the driving or loading state, the hydraulic cylinder 11 pushes the telescopic rod 14 out to support the frame below, and the center of gravity of the slewing platform and the upper components falls within the triangular area, ensuring the stability of the center of gravity of the slewing platform and the upper components in this state; the two hydraulic cylinders are controlled by a load-sensitive hydraulic system. When the load force acting on the hydraulic cylinder changes, the supporting force of the hydraulic cylinder can be automatically adjusted to ensure the stability of the system. In addition, it can also avoid the situation where the slewing support device is subjected to reverse force due to excessive supporting force; the maximum extension distance of the hydraulic cylinder is greater than the gap between the frame and the slewing platform, which can effectively deal with the situation where the gap between the frame and the slewing platform is inconsistent due to the long service life of the excavator.

[0038] The schematic diagram of the load-sensing hydraulic system of this embodiment is shown in FIG5 . The load-sensing hydraulic system includes a throttle valve 16, a load-sensing pump 17, a clamping valve block 18, and a hydraulic cylinder 11. The load-sensing pump 17 includes a load-sensing valve and a variable displacement pump. The throttle valve 16 represents the system load. When the system is balanced, the pressure differential across the load-sensing valve in the load-sensing pump 17 is balanced by its spring force. When the system load decreases, the inlet and outlet pressure differential of the throttle valve 16 (the pressure differential across the load-sensing valve) increases, the spool of the load-sensing valve moves upward, the outlet pressure of the variable displacement pump decreases, and the clamping valve block 18 controls the oil supply to the hydraulic cylinder 11 to decrease until the pressure differential across the load-sensing valve is balanced. When the system load increases, the system adjustment process is the opposite of the above.

[0039] As shown in FIG6 , a sensing component 12 is provided at the upper end of the rotary platform 10. The sensing component 12 is a travel switch. At the same time, a first zero-point contact plate 19 is provided on the excavation working device 3 on the side of the sensing component 12. After the excavation work is completed, the rotary platform 10 returns to its original position, and the excavation rotary device 9 rotates to control the excavation working device 3 to rotate to the recovery state (as shown in FIG2 ). The first zero-point contact plate 19 then rotates until it contacts the sensing component 12 to send a signal. A sensing component 2 13 is provided on one side of the support device 6 at the lower end of the rotary platform 10. Sensor Component 2 13 is a travel switch. A second zero-point contact plate 15 is located directly below Sensor Component 2 13 on the vehicle frame 7. When the slewing platform 10 returns to its original position, Sensor Component 2 13 at the lower end of the slewing platform 10 rotates until it contacts the second zero-point contact plate 15 on the vehicle frame 7 and emits a signal. Sensor Component 3 is located within the power compartment 4 to sense the excavator's travel status. Sensor Component 3 is a laser displacement sensor located on either side of the drive gear within the transmission system within the power compartment 4. Rotation of the drive gear drives the entire vehicle frame, simultaneously sensing and emitting a signal. Sensor Components 1, 2, and 3 are connected to the excavator's controller and, in conjunction with the load-sensing hydraulic system, automatically activate the support device when the excavator is in motion or loading mode. Once the excavator stops moving, the support device automatically retracts to avoid affecting the slewing platform's normal rotation. The entire process requires no human intervention, making it intelligent, convenient, and time-saving.

[0040] As shown in FIG7 , this embodiment further provides a control method for an excavator including a slewing platform adaptive static pressure support device, which specifically includes the following steps:

[0041] S1. A sensing component 12 senses the recovery state of the excavation working device 3, the excavation working device is recovered, and a signal is issued;

[0042] S2. The sensing component 13 senses the return state of the rotary platform 10, the rotary platform returns and sends a signal;

[0043] S3. The three sensing components sense the movement of the excavator, and the excavator moves and sends a signal;

[0044] S4. The backhoe loader controller simultaneously detects the signals from sensing components 1, 2, and 3, and controls the hydraulic valve in the load-sensing system to open, supply oil to the hydraulic cylinder, extend the telescopic rod, and activate the support device. Otherwise, the support device does not activate.

[0045] The above specific embodiments describe the implementation of the present invention in detail, but the present invention is not limited to the specific details of the above embodiments. Within the scope of the claims and technical concept of the present invention, various simple modifications and changes can be made to the technical solution of the present invention, and these simple modifications all fall within the scope of protection of the present invention.

Claims

1. An excavator with a slewing platform adaptive static pressure support device, comprising a frame, a loading working device, a slewing support device, a slewing platform, a cab, an excavating working device, a power cabin and an excavating slewing device, characterized in that: A loading working device is connected to the front end of the frame, and a rotating support device is fixed on the top; a rotating platform is connected to the upper end of the rotating support device; a driver's cab, an excavating working device, and a power compartment are arranged on the rotating platform, and the excavating working device and the power compartment are located on both sides of the rotating support device; an excavating rotating device is connected to the lower end of the rotating platform; the excavating rotating device is connected to the excavating working device and is used to control the excavating working device to rotate in the horizontal direction; a supporting device is fixed to the lower end of the rotating platform, and the supporting device is used to provide auxiliary support for the rotating platform.

2. The backhoe loader with a slewing platform adaptive static pressure support device according to claim 1, characterized in that: The supporting device comprises at least two hydraulic cylinders; the hydraulic cylinders are controlled by a load-sensitive hydraulic system.

3. The backhoe loader with a slewing platform adaptive static pressure support device according to claim 2, characterized in that: The maximum extension distance of the hydraulic cylinder is greater than the gap between the frame and the revolving platform.

4. The backhoe loader with a slewing platform adaptive static pressure support device according to claim 2, characterized in that: The slewing platform is provided with a sensing component 1 for sensing the recovery state of the excavation working device; the slewing platform is provided with a sensing component 2 for sensing the return state of the slewing platform; the power cabin is provided with a sensing component 3 for sensing the travel state of the excavator; the sensing components 1, 2 and 3 are connected to the controller of the excavator.

5. The backhoe loader with a slewing platform adaptive static pressure support device according to claim 4, characterized in that: The first sensing component is a travel switch, which is located at the upper end of the rotary platform; a first zero-point touch plate is arranged on the excavation working device on one side of the sensing component.

6. The backhoe loader with a slewing platform adaptive static pressure support device according to claim 4, characterized in that: The second induction component is a travel switch, which is located at the lower end of the rotary platform; a second zero-point touch plate is arranged on the frame below the travel switch.

7. The backhoe loader with a slewing platform adaptive static pressure support device according to claim 4, characterized in that: The sensing component three is a laser displacement sensor, which is located on the gearbox system in the power compartment and is used to detect the operating status of the gears in the gearbox.

8. The backhoe loader with a slewing platform adaptive static pressure support device according to claim 1, characterized in that: A counterweight is provided on the side of the rotating platform, and the counterweight and the power cabin are located on the same side.

9. A control method for an excavator loader comprising a slewing platform adaptive static pressure support device based on any one of claims 1 to 8, characterized in that: The specific steps include: S1. A sensing component senses the recovery state of the excavation working device, and the excavation working device is recovered and sends a signal; S2. The second sensing component senses the return state of the rotary platform, and the rotary platform returns to its original position and sends a signal; S3. The three sensing components sense the moving state of the frame, the excavator moves, and sends a signal; S4. The controller of the backhoe loader detects the signals of the sensing component 1, the sensing component 2 and the sensing component 3 at the same time, and the supporting device starts; otherwise, the supporting device does not start.

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