Loader and control method therefor

Abstract

A loader and a control method therefor. The loader (100) comprises: a body (1), which comprises a front frame (11) and a rear frame (12), the front frame (11) and the rear frame (12) being rotationally connected; an operation mechanism (3), which comprises a boom (31) and a bucket (32), wherein a first end of the boom (31) is rotationally connected to the body (1), and the bucket (32) is rotationally connected to a second end of the boom (31); and a first rotation mechanism (4), which comprises a first electric motor (41) and a first speed reducer (42), wherein the first electric motor (41) is in driving connection with the front frame (11) and / or the rear frame (12) by means of the first speed reducer (42) so as to drive the front frame (11) and the rear frame (12) to rotate relative to each other, thereby turning the loader (100).

Description

Loader and control method thereof

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application is based on the Chinese application with application number 202410831237.8 and application date June 25, 2024, and claims its priority. The disclosed content of the Chinese application is hereby introduced as a whole into this application. Technical Field

[0003] The present application relates to the technical field of engineering machinery, and in particular to a control box and engineering machinery. Background Art

[0004] A loader is a type of earth-moving loading and unloading machinery widely used in construction projects such as roads, railways, and mines. It is mainly used to shovel bulk materials such as soil, sand, gravel, and coal, and can also perform light excavation and loading operations on ore and hard soil.

[0005] In related technologies, the steering of a loader is usually driven by a hydraulic system. However, the hydraulic system itself has low energy utilization, delayed response, and poor control accuracy, resulting in high energy consumption of the entire vehicle and poor steering accuracy.

[0006] Summary of the Invention

[0007] A technical problem to be solved by this application is to improve the steering accuracy of a loader.

[0008] In order to solve the above technical problems, the present application provides a loader, which includes:

[0009] The vehicle body comprises a front frame and a rear frame, wherein the front frame and the rear frame are rotatably connected;

[0010] an operating mechanism including a boom and a bucket, wherein a first end of the boom is rotatably connected to the vehicle body, and the bucket is rotatably connected to a second end of the boom; and

[0011] The first slewing mechanism includes a first motor and a first reducer. The first motor is connected to the front frame and / or the rear frame through the first reducer to drive the front frame and the rear frame to rotate relative to each other, thereby realizing the steering of the loader.

[0012] In some embodiments, the loader includes a first angle sensor that detects a relative rotation angle between the front frame and the rear frame.

[0013] In some embodiments, the first rotating mechanism further includes a first locking mechanism, and the first locking mechanism locks the first reducer.

[0014] In some embodiments, the first locking mechanism includes a ratchet mechanism.

[0015] In some embodiments, the first rotating mechanism is disposed at the connection between the front frame and the rear frame.

[0016] In some embodiments, the loader also includes at least one of a second slewing mechanism and a third slewing mechanism, the second slewing mechanism includes a second motor and a second reducer, the second motor is connected to the boom drive through the second reducer to drive the boom to rotate relative to the vehicle body, and the third slewing mechanism includes a third motor and a third reducer, the third motor is connected to the bucket drive through the third reducer to drive the bucket to rotate relative to the boom.

[0017] In some embodiments, the loader includes a second angle sensor that detects a rotation angle of the boom relative to the vehicle body; and / or the loader includes a third angle sensor that detects a rotation angle of the bucket relative to the boom.

[0018] In some embodiments, the second rotating mechanism further includes a second locking mechanism, which locks the second reducer; and / or the third rotating mechanism includes a third locking mechanism, which locks the third reducer.

[0019] In some embodiments, the second locking mechanism and / or the third locking mechanism comprises a ratchet mechanism.

[0020] In some embodiments, the second slewing mechanism is provided at the connection between the boom and the vehicle body; and / or the third slewing mechanism is provided at the connection between the bucket and the boom.

[0021] The present application further provides a control method for a loader based on any one of the embodiments, comprising:

[0022] Detect whether the steering wheel of the loader is turned to determine whether the loader is turning;

[0023] When the steering wheel is rotated, the first motor is controlled to work according to the rotation angle of the steering wheel to drive the front frame and the rear frame to rotate relative to each other, thereby realizing the steering of the loader.

[0024] In some embodiments, controlling the first motor to operate according to the rotation angle of the steering wheel includes:

[0025] determining a target speed of the first motor according to a rotation angle of the steering wheel;

[0026] Performing a PID calculation based on the target speed of the first motor and the current speed of the first motor to obtain an output torque of the first motor;

[0027] calculating a current power of the first motor based on a current speed and a current torque of the first motor, and determining whether the current power of the first motor is less than a maximum power of the first motor;

[0028] When the current power of the first motor is less than the maximum power of the first motor, controlling the first motor to operate according to the calculated output torque of the first motor;

[0029] When the current power of the first motor is greater than or equal to the maximum power of the first motor, the first motor is controlled to operate according to a torque calculated based on the maximum power of the first motor and the current speed of the first motor.

[0030] In some embodiments, controlling the first motor to operate according to the rotation angle of the steering wheel includes:

[0031] Real-time detection of the relative rotation angle between the front frame and the rear frame;

[0032] When the actual value of the relative rotation angle of the front frame and the rear frame reaches the difference between the limit value of the relative rotation angle of the front frame and the rear frame and the preset value, the first motor is controlled to start decelerating, and when the actual value of the relative rotation angle of the front frame and the rear frame reaches the limit value of the relative rotation angle of the front frame and the rear frame, the first motor is controlled to reduce its speed to 0.

[0033] In some embodiments, including:

[0034] Detecting whether the handle of the loader moves in a first direction to determine whether the boom is raised or lowered;

[0035] When the handle moves in the first direction, the second motor of the loader is controlled to operate according to the displacement of the handle in the first direction, so as to drive the boom to rotate and rise and fall.

[0036] In some embodiments, controlling the second motor of the loader to operate according to the displacement of the handle in the first direction includes:

[0037] determining a target rotational speed of the second motor according to the displacement of the handle along the first direction;

[0038] Performing a PID calculation based on the target speed of the second motor and the current speed of the second motor to obtain an output torque of the second motor;

[0039] calculating a current power of the second motor based on a current speed and a current torque of the second motor, and determining whether the current power of the second motor is less than a maximum power of the second motor;

[0040] When the current power of the second motor is less than the maximum power of the second motor, controlling the second motor to operate according to the calculated output torque of the second motor;

[0041] When the current power of the second motor is greater than or equal to the maximum power of the second motor, the second motor is controlled to operate according to a torque calculated based on the maximum power of the second motor and the current speed of the second motor.

[0042] In some embodiments, when the handle moves in the first direction to cause the boom to fall, a PID calculation is performed based on the target speed of the second motor and the current speed of the second motor, and the output torque of the second motor obtained is the braking torque.

[0043] In some embodiments, controlling the second motor of the loader to operate according to the displacement of the handle in the first direction includes:

[0044] Real-time detection of the boom's rotation angle;

[0045] When the actual value of the boom's rotation angle reaches the difference between the boom's rotation angle limit value and the preset value, the second motor is controlled to start decelerating, and when the actual value of the boom's rotation angle reaches the boom's rotation angle limit value, the second motor is controlled to decelerate to 0.

[0046] In some embodiments, including:

[0047] detecting whether the handle of the loader moves in a second direction to determine whether the bucket is retracted or extended;

[0048] When the handle moves in the second direction, the third motor of the loader is controlled to operate according to the displacement of the handle in the second direction, so as to drive the bucket to rotate and be retracted or extended.

[0049] In some embodiments, controlling the operation of the third motor of the loader according to the displacement of the handle in the second direction includes:

[0050] determining a target rotational speed of the third motor according to the displacement of the handle along the second direction;

[0051] Performing a PID calculation based on the target speed of the third motor and the current speed of the third motor to obtain an output torque of the third motor;

[0052] calculating a current power of the third motor based on a current speed and a current torque of the third motor, and determining whether the current power of the third motor is less than a maximum power of the third motor;

[0053] When the current power of the third motor is less than the maximum power of the third motor, controlling the third motor to operate according to the calculated output torque of the third motor;

[0054] When the current power of the third motor is greater than or equal to the maximum power of the third motor, the third motor is controlled to operate according to a torque calculated based on the maximum power of the third motor and the current speed of the third motor.

[0055] In some embodiments, controlling the operation of the third motor of the loader according to the displacement of the handle in the second direction includes:

[0056] Real-time detection of bucket rotation angle;

[0057] When the actual value of the bucket's rotation angle reaches the difference between the bucket's rotation angle limit value and the preset value, the third motor is controlled to start decelerating, and when the actual value of the bucket's rotation angle reaches the bucket's rotation angle limit value, the third motor is controlled to decelerate to 0.

[0058] By providing a first rotary mechanism including a first motor and a first reducer to replace the hydraulic system to drive the loader to steer, the steering accuracy may be affected by the poor control accuracy of the hydraulic system, and the advantages of the high control accuracy of the first motor and the first reducer may be utilized to improve the steering accuracy.

[0059] Other features and advantages of the present application will become apparent from the following detailed description of exemplary embodiments of the present application with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0061] FIG1 is a structural block diagram of a loader in an embodiment of the present application.

[0062] FIG2 is a schematic diagram of the arrangement of the first rotary mechanism in an embodiment of the present application.

[0063] FIG3 is a schematic diagram of the arrangement of the second rotary mechanism and the third rotary mechanism in an embodiment of the present application.

[0064] FIG4 is a schematic diagram of a control flow of steering of a loader in an embodiment of the present application.

[0065] FIG5 is a schematic diagram of the control flow of the boom raising and lowering in an embodiment of the present application.

[0066] FIG6 is a schematic diagram of the control flow of bucket retraction and extension in an embodiment of the present application. DETAILED DESCRIPTION

[0067] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present application and its application or use. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without carrying out creative work are within the scope of protection of this application.

[0068] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0069] In the description of this application, it needs to be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, vertical, horizontal" and "top, bottom" are usually defined based on the direction of the loader vehicle when it is running, among which the direction when the loader is moving forward is "front", the direction when the loader is moving backward is "back", the direction the same as gravity is "down", the direction opposite to gravity is "up", and the left and right when facing the "front" are left and right; the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0070] In the description of this application, it should be understood that the use of words such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above words have no special meaning and therefore cannot be understood as limiting the scope of protection of this application.

[0071] In addition, the technical features involved in the different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0072] 1 to 3 exemplarily show the structure of the loader of the present application.

[0073] Referring to Figures 1 to 3, in the present application, the loader 100 includes a body 1, an operating mechanism 3, and a first slewing mechanism 4. The body 1 includes a front frame 11 and a rear frame 12, and the front frame 11 and the rear frame 12 are rotatably connected. The operating mechanism 3 includes a boom 31 and a bucket 32, and the first end of the boom 31 is rotatably connected to the body 1, and the bucket 32 ​​is rotatably connected to the second end of the boom 31. The first slewing mechanism 4 includes a first motor 41 and a first reducer 42, and the first motor 41 is driven and connected to the front frame 11 and / or the rear frame 12 through the first reducer 42 to drive the front frame 11 and the rear frame 12 to rotate relative to each other, thereby realizing the steering of the loader 100.

[0074] Since the first rotating mechanism 4 drives the front frame 11 and the rear frame 12 to rotate relative to each other through the first motor 41 and the first reducer 42 to realize the steering of the loader 100, the first rotating mechanism 4 is actually an electric steering drive mechanism, which makes the steering of the loader 100 no longer driven by the hydraulic system, and can avoid the increase in vehicle energy consumption and the impact on steering accuracy due to the low energy utilization rate, response lag and poor control accuracy of the hydraulic system. It can give full play to the advantages of high energy utilization rate, high transmission efficiency, fast response and high control accuracy of the first motor 41 and the first reducer 42, improve steering accuracy, enhance steering efficiency and reduce vehicle energy consumption.

[0075] It can be seen that providing the first rotary mechanism 4 including the first motor 41 and the first reducer 42 to drive the loader 100 to steer can improve the steering accuracy and efficiency of the loader 100 and reduce the energy consumption of the loader 100 .

[0076] Moreover, in the above scheme, the first motor 41 is not directly driven and connected to the front and rear frames, but is driven and connected to the front and rear frames through the first reducer 42. In this case, it is beneficial to reduce the impact of the loader 100 on the first motor 41 during operation, improve the working reliability of the first motor 41, and extend the life of the first motor 41.

[0077] At the same time, in the above scheme, the first motor 41 is driven and connected to the front and rear frames through the first reducer 42, rather than other mechanical mechanisms such as electric cylinders. The advantage is that, on the one hand, the first reducer 42 has a deceleration function, which can better meet the steering requirements. On the other hand, the working environment of the loader 100 is relatively harsh. The reducer has its own shell, and its internal gear mechanism is not exposed to the harsh working environment of the loader. Therefore, the risk of damage is relatively low, which is conducive to improving structural reliability. At the same time, it can also reduce or even eliminate additional protection, thereby simplifying the structure and reducing costs.

[0078] Furthermore, in related technologies, the hydraulic system typically includes left and right steering cylinders to drive the loader's steering. During operation, hydraulic valves control the oil inflow, oil outflow, and operating speed of the left and right steering cylinders, thereby controlling the vehicle's steering. This requires high installation and control precision for the left and right steering cylinders. Installation errors or inaccurate control of the left and right steering cylinders can easily cause force interference, reducing structural reliability and affecting steering stability.

[0079] The above solution uses the first motor 41 and the first reducer 42 to drive the loader 100 to steer, which can effectively avoid force interference caused by installation errors or inaccurate control of the left and right steering cylinders. Therefore, from this perspective, it is also beneficial to improve structural reliability and enhance steering stability.

[0080] It can be seen that providing the first rotary mechanism 4 including the first motor 41 and the first reducer 42 to drive the loader 100 to turn is also beneficial to improving structural reliability and steering stability.

[0081] In addition, by using the first motor 41 and the first reducer 42 to drive the steering of the entire vehicle, the left and right steering cylinders and complex hydraulic pipelines can be omitted, which is also conducive to saving layout space.

[0082] In summary, setting up a first rotating mechanism 4 including a first motor 41 and a first reducer 42 to drive the loader 100 to turn can not only improve the steering accuracy and efficiency of the loader 100 and reduce the energy consumption of the loader 100, but also improve the structural reliability of the loader 100, improve the steering stability of the loader 100, save layout space, and enable the loader 100 to achieve a steering process with higher precision, higher efficiency, higher stability and lower energy consumption based on a simpler and more reliable structure.

[0083] 2 , in some embodiments, the first slewing mechanism 4 is disposed at the connection between the front frame 11 and the rear frame 12. In this way, the transmission path for driving the entire vehicle to turn is shorter, thereby making it easier to achieve an efficient steering drive process.

[0084] Furthermore, returning to FIG. 1 , in some embodiments, the first slewing mechanism 4 includes not only a first motor 41 and a first reducer 42, but also a first locking mechanism 43, which locks the first reducer 42. Therefore, when the loader 100 is steered to a target angle, the first locking mechanism 43 can be used to lock the first reducer 42, thereby maintaining the loader 100 at the target angle. This helps further improve steering accuracy and stability. Furthermore, when the loader 100 is steered to an extreme position, the first locking mechanism 43 can be used to lock the first reducer 42, reducing the stall time of the first motor 41 and improving the reliability of the first motor 41.

[0085] Among them, the first locking mechanism 43 can adopt a variety of structural forms. As one of them, the first locking mechanism 43 includes a ratchet mechanism. In this way, the one-way teeth of the ratchet mechanism can be used to better cooperate with the first reducer 42, which can not only more reliably brake the first reducer 42, but also facilitate the reverse release of the brake on the first reducer 42, thereby achieving a more efficient and reliable locking and unlocking process.

[0086] As a further improvement to the aforementioned embodiments, referring to FIG1 , the loader 100 further includes a first angle sensor 71 that detects the relative rotation angle between the front frame 11 and the rear frame 12. This allows for timely and accurate understanding of the steering state of the loader 100, further improving steering precision. In particular, based on the real-time detection results of the first angle sensor 71, closed-loop control of the steering process can be implemented, enabling detection, early warning, and speed control of steering extremes, thereby reducing the impact on the front and rear frames at the steering extremes.

[0087] When left and right steering cylinders are used to control steering in related technologies, no angle sensor is provided to detect the relative rotation angle of the front and rear frames, and no steering closed-loop control is performed. In this case, the front and rear frames are easily subjected to large impacts at the steering extreme positions, affecting structural reliability and steering stability.

[0088] The present application performs closed-loop control of the steering process based on the first angle sensor 71, realizes steering limit position detection, early warning and speed control, which can effectively reduce the impact on the front and rear frames at the steering limit position, thereby improving structural reliability and steering stability.

[0089] In addition, in the related art, the loader 100 is driven not only by a hydraulic system for steering but also for the operation process. Specifically, to drive the loader operation, the hydraulic system generally includes a boom cylinder and a bucket cylinder. The boom cylinder is hinged between the boom and the vehicle body, and the bucket cylinder is hinged between the bucket and the boom. During operation, hydraulic valves control the oil inlet, oil outlet, and operating speed of the large and small chambers of the boom cylinder and the bucket cylinder, thereby controlling the movement of the boom and bucket to perform the operation. In this case, due to the problems of low energy utilization, delayed response, and poor control accuracy of the hydraulic system, the energy consumption of the entire vehicle is increased, affecting the operating efficiency.

[0090] In view of the above situation, in order to improve the operating efficiency of the loader 100, referring to Figure 1, in some embodiments, the loader 100 includes at least one of a second rotary mechanism 5 and a third rotary mechanism 6. The second rotary mechanism 5 and the third rotary mechanism 6 will be described below.

[0091] First, the second rotary mechanism 5 is introduced.

[0092] 1 , the second slewing mechanism 5 includes a second motor 51 and a second reducer 52 . The second motor 51 is drivingly connected to the boom 31 via the second reducer 52 to drive the boom 31 to rotate relative to the vehicle body 1 .

[0093] Since the second rotating mechanism 5 drives the boom 31 to rotate through the second motor 51 and the second reducer 52 to realize the lifting and lowering (referred to as lifting and lowering) of the boom 31, the second rotating mechanism 5 is actually an electric boom drive mechanism, which makes the lifting and lowering of the boom 31 no longer driven by the hydraulic system, and can avoid the increase in energy consumption of the whole vehicle and the impact on operation efficiency and accuracy due to the low energy utilization rate, response lag and poor control accuracy of the hydraulic system. It can give full play to the advantages of high energy utilization rate, high transmission efficiency, fast response and high control accuracy of the second motor 51 and the second reducer 52, improve operation efficiency, improve operation accuracy and reduce energy consumption of the whole vehicle.

[0094] It can be seen that setting up a second rotary mechanism 5 including a second motor 51 and a second reducer 52 to drive the boom 31 to rotate can reduce the energy consumption of the loader 100, and improve the lifting and lowering efficiency and accuracy of the boom 31, thereby improving the operating efficiency and accuracy of the loader 100.

[0095] Moreover, in the above scheme, the second motor 51 is not directly driven and connected to the boom 31, but is driven and connected to the boom 31 through the second reducer 52. In this case, it is beneficial to reduce the impact of the loader 100 on the second motor 51 during operation, improve the working reliability of the second motor 51, and extend the life of the second motor 51.

[0096] At the same time, in the above scheme, the second motor 51 is driven and connected to the boom 31 through the second reducer 52, rather than other mechanical mechanisms such as the electric cylinder. The advantage is that, on the one hand, the second reducer 52 has a deceleration function, which can better meet the lifting and lowering requirements of the boom. On the other hand, the working environment of the loader 100 is relatively harsh, and the reducer has its own shell. The gear mechanism inside it is not exposed to the harsh working environment of the front and rear frames of the loader. Therefore, the risk of damage is relatively low, which is conducive to improving structural reliability. At the same time, it can also reduce or even eliminate additional protection, thereby simplifying the structure and reducing costs.

[0097] In addition, the use of the second motor 51 and the second reducer 52 to drive the boom 31 to rise and fall also makes it convenient to apply a braking torque to the second motor 51 when the boom 31 descends, thereby recovering the potential energy of the boom, improving energy utilization, and reducing energy waste.

[0098] It can be seen that providing the second rotary mechanism 5 including the second motor 51 and the second reducer 52 to drive the loader 100 to turn is also beneficial to improving structural reliability and reducing energy waste.

[0099] In addition, by using the second motor 51 and the second reducer 52 to drive the boom to rise and fall, the boom cylinder and complex hydraulic pipelines can be omitted, which is also conducive to saving layout space.

[0100] In summary, a second rotating mechanism 5 including a second motor 51 and a second reducer 52 is provided to drive the boom 31 to rise and fall, which can not only improve the operating efficiency and accuracy of the loader 100 and reduce the energy consumption of the loader 100, but also improve the structural reliability of the loader 100 and save layout space, so that the loader 100 can achieve a more efficient, high-precision and low-energy operation process based on a simpler and more reliable structure.

[0101] 3 , in some embodiments, the second slewing mechanism 5 is provided at the connection between the first end of the boom 31 and the vehicle body 1. In this way, the transmission path for driving the boom 31 to rise and fall is shorter, making it easier to achieve an efficient boom raising and lowering driving process.

[0102] In addition, returning to Figure 1, in some embodiments, the second rotary mechanism 5 includes not only a second motor 51 and a second reducer 52, but also a second locking mechanism 53, which locks the second reducer 52. Based on this, when the boom 31 rotates to the target angle, the second locking mechanism 53 can be used to lock the second reducer 52, so that the boom 31 is stably maintained at the corresponding target angle, and then stably maintained at the height position corresponding to the corresponding target angle, thereby helping to further improve the accuracy and stability of the operation. In addition, when the boom 31 rotates to the extreme position, the second locking mechanism 53 can be used to lock the second reducer 52, reducing the stall time of the second motor 51 and improving the reliability of the second motor 51.

[0103] Among them, the second locking mechanism 53 can adopt a variety of structural forms. As one of them, the second locking mechanism 53 includes a ratchet mechanism. In this way, the one-way teeth of the ratchet mechanism can be used to better cooperate with the second reducer 52, which can not only more reliably brake the second reducer 52, but also facilitate the reverse release of the brake on the second reducer 52, thereby achieving a more efficient and reliable locking and unlocking process.

[0104] As a further improvement to the aforementioned embodiments, referring to FIG1 , the loader 100 further includes a second angle sensor 72 that detects the rotation angle of the boom 31 relative to the vehicle body 1. This allows for timely and accurate monitoring of the boom 31's rise and fall conditions, further improving operational precision. In particular, based on the real-time detection results of the second angle sensor 72, closed-loop control of the boom's rise and fall can be implemented, enabling detection, early warning, and speed control of the boom's extreme rotational positions. This enhances refined operational control, reduces impact on the boom 31 and the second motor 51 at these extreme positions, and improves structural reliability.

[0105] In the related art, when the boom cylinder is used to drive the boom to rotate, no angle or displacement sensor is set to detect the rotation angle of the boom 31, and no closed-loop control is performed to accurately control the cylinder displacement and speed based on position or angle feedback. Instead, the driver is usually relied upon to observe whether the boom 31 is raised or lowered in place, and the overflow of the overflow valve is relied upon to control reaching the extreme position and the safety protection of the extreme position. In this case, the rising and falling position of the boom 31 is inaccurate, and the boom 31 is easily subjected to a large impact at the extreme position, affecting the structural reliability and the rising and falling stability.

[0106] The present application performs closed-loop control of the steering process based on the second angle sensor 72, realizes steering limit position detection, early warning and speed control, which can effectively improve the lifting and lowering accuracy of the boom 31, reduce the impact on the boom 31 and the second motor 51 at the steering limit position, and thus improve the structural reliability and lifting and lowering stability.

[0107] Next, the third rotary mechanism will be introduced.

[0108] 1 , the third slewing mechanism 6 includes a third motor 61 and a third reducer 62 . The third motor 61 is drivingly connected to the bucket 32 ​​via the third reducer 62 to drive the bucket 32 ​​to rotate relative to the boom 31 .

[0109] Since the third rotating mechanism 6 drives the bucket 32 ​​to rotate through the third motor 61 and the third reducer 62 to realize the folding and lowering of the bucket 32 ​​(referred to as folding and lowering), the third rotating mechanism 6 is actually an electric bucket driving mechanism, which makes the folding and lowering of the bucket 32 ​​no longer driven by the hydraulic system, and can avoid the increase in energy consumption of the whole vehicle due to the low energy utilization rate, response lag and poor control accuracy of the hydraulic system, which affects the operating efficiency and accuracy. It can give full play to the advantages of high energy utilization rate, high transmission efficiency, fast response and high control accuracy of the third motor 61 and the third reducer 62, improve operating efficiency, improve operating accuracy and reduce energy consumption of the whole vehicle.

[0110] It can be seen that setting up a third rotating mechanism 6 including a third motor 61 and a third reducer 62 to drive the bucket 32 ​​to rotate can reduce the energy consumption of the loader 100, and improve the efficiency and accuracy of retracting and extending the bucket 32, thereby improving the operating efficiency and accuracy of the loader 100.

[0111] Moreover, in the above scheme, the third motor 61 is not directly driven and connected to the bucket 32, but is driven and connected to the bucket 32 ​​through the third reducer 62. In this case, it is beneficial to reduce the impact of the loader 100 on the third motor 61 during operation, improve the working reliability of the third motor 61, and extend the life of the third motor 61.

[0112] At the same time, in the above scheme, the third motor 61 is driven and connected to the bucket 32 ​​through the third reducer 62, rather than other mechanical mechanisms such as the electric cylinder. The advantage is that, on the one hand, the third reducer 62 has a deceleration function, which can better meet the requirements of boom lifting and lowering. On the other hand, the working environment of the loader 100 is relatively harsh, and the reducer has its own shell. The gear mechanism inside it is not exposed to the harsh working environment of the front and rear frames of the loader. Therefore, the risk of damage is relatively low, which is conducive to improving structural reliability. At the same time, it can also reduce or even eliminate additional protection, thereby simplifying the structure and reducing costs.

[0113] It can be seen that providing the third rotary mechanism 6 including the third motor 61 and the third reducer 62 to drive the loader 100 to turn is also beneficial to improving structural reliability, simplifying the structure and reducing costs.

[0114] In addition, by using the third motor 61 and the third reducer 62 to drive the bucket to be retracted and extended, the bucket cylinder and complex hydraulic pipelines can be omitted, thus also helping to save layout space.

[0115] In summary, a third rotating mechanism 6 including a third motor 61 and a third reducer 62 is provided to drive the bucket 32 ​​to be retracted and extended, which can not only improve the operating efficiency and accuracy of the loader 100 and reduce the energy consumption of the loader 100, but also improve the structural reliability of the loader 100, simplify the structure, and save space, so that the loader 100 can achieve a more efficient, high-precision and low-energy operation process based on a simpler and more reliable structure.

[0116] 3 , in some embodiments, the third slewing mechanism 6 is provided at the connection between the bucket 32 ​​and the boom 31. In this way, the transmission path for driving the bucket 32 ​​to be retracted and extended is shorter, making it easier to achieve an efficient bucket retraction and extension driving process.

[0117] Furthermore, returning to Figure 1 , in some embodiments, the third slewing mechanism 6 includes not only a third motor 61 and a third reducer 62, but also a third locking mechanism 63, which locks the third reducer 62. Consequently, when the bucket 32 ​​rotates to a target angle, the third locking mechanism 63 can be used to lock the third reducer 62, thereby maintaining the bucket 32 ​​at the target angle. This helps further improve operational accuracy and stability. Furthermore, when the bucket 32 ​​rotates to its extreme position, the third locking mechanism 63 can be used to lock the third reducer 62, reducing the stall time of the third motor 61 and improving its reliability.

[0118] Among them, the third locking mechanism 63 can adopt a variety of structural forms. As one of them, the third locking mechanism 63 includes a ratchet mechanism. In this way, the one-way teeth of the ratchet mechanism can be used to better cooperate with the third reducer 62, which can not only more reliably brake the third reducer 62, but also facilitate the reverse release of the brake on the third reducer 62, thereby achieving a more efficient and reliable locking and unlocking process.

[0119] As a further improvement to the aforementioned embodiments, referring to FIG1 , the loader 100 further includes a third angle sensor 73 that detects the rotation angle of the bucket 32 ​​relative to the boom 31. This allows for timely and accurate monitoring of the retraction and extension of the bucket 32, further improving operational precision. In particular, based on the real-time detection results of the third angle sensor 73, closed-loop control of the bucket retraction and extension process can be implemented, enabling detection, early warning, and speed control of the bucket's rotational extremes. This enhances refined operational control, reduces impact on the bucket 32 ​​and the third motor 61 at these extremes, and improves structural reliability.

[0120] In the related art, when the bucket cylinder is used to drive the bucket to rotate, no angle or displacement sensor is set to detect the rotation angle of the bucket 32, and no closed-loop control is performed to accurately control the cylinder displacement and speed based on position or angle feedback. Instead, the driver is usually relied upon to observe whether the bucket 32 ​​is retracted or extended, and the overflow of the overflow valve is relied upon to control the reaching of the extreme position and the safety protection of the extreme position. In this case, the retraction position of the bucket 32 ​​is inaccurate, and the bucket 32 ​​is easily subjected to a large impact at the extreme position, affecting the structural reliability and the retraction and extension stability.

[0121] The present application performs closed-loop control of the steering process based on the third angle sensor 73, realizes steering limit position detection, early warning and speed control, which can effectively improve the accuracy of retraction and extension of the bucket 32, reduce the impact on the bucket 32 ​​and the third motor 61 at the steering limit position, and thus improve the structural reliability and retraction stability.

[0122] Based on the loader 100 of the aforementioned embodiments, the present application also provides a control method.

[0123] 4 to 6 exemplarily illustrate the process of the control method of the present application.

[0124] Referring to FIG4 , in an embodiment of the present application, the control method includes:

[0125] Detecting whether the steering wheel 21 of the loader 100 is rotated to determine whether the loader 100 is turning;

[0126] When the steering wheel 21 rotates, the first motor 41 is controlled to operate according to the rotation angle of the steering wheel 21 to drive the front frame 11 and the rear frame 12 to rotate relative to each other, thereby realizing the steering of the loader 100 .

[0127] The above solution can realize the steering control process by controlling the operation of the first motor 41 according to the movement of the steering wheel 21.

[0128] In the related art, when the hydraulic system drives steering, although the hydraulic system is also equipped with a motor to provide power for the steering hydraulic pump, the corresponding motor operates at a constant speed and relies entirely on the hydraulic system itself to control the steering process, resulting in poor steering accuracy, low steering efficiency, and high energy consumption.

[0129] However, in the embodiment of the present application, since the steering is no longer driven by a hydraulic system, but is instead driven by the first motor 41 through the first reducer 42, the steering can be controlled by controlling the operation of the first motor 41, thereby achieving a steering process with higher precision, higher efficiency, higher safety and lower energy consumption.

[0130] Specifically, referring to FIG. 4 , in some embodiments, controlling the operation of the first motor 41 according to the rotation angle of the steering wheel 21 includes:

[0131] Determine the target speed of the first motor 41 according to the rotation angle of the steering wheel 21;

[0132] Performing a PID calculation based on the target speed of the first motor 41 and the current speed of the first motor 41 to obtain the output torque of the first motor 41;

[0133] Calculating the current power of the first motor 41 based on the current speed and current torque of the first motor 41 , and determining whether the current power of the first motor 41 is less than the maximum power of the first motor 41 ;

[0134] When the current power of the first motor 41 is less than the maximum power of the first motor 41 , the first motor 41 is controlled to operate according to the calculated output torque of the first motor 41 ;

[0135] When the current power of the first motor 41 is greater than or equal to the maximum power of the first motor 41 , the first motor 41 is controlled to operate according to a torque calculated based on the maximum power of the first motor 41 and the current speed of the first motor 41 .

[0136] In the above scheme, the speed of the first motor 41 is controlled by PID (PROPORTIONAL-INTEGRAL-DERIVATIVE) during the steering process. In this way, the loader 100 can be driven to the target angle more accurately. Moreover, during the PID control process, the actual power of the first motor 41 is also controlled so that the actual power of the first motor 41 is not greater than the maximum power of the first motor 41. In this way, accidents such as damage to the first motor 41 caused by the actual power of the first motor 41 exceeding the maximum power can be prevented. Therefore, it is beneficial to improve the safety of the entire steering process.

[0137] 4 , in some embodiments, controlling the operation of the first motor 41 according to the rotation angle of the steering wheel 21 includes:

[0138] Real-time detection of the relative rotation angle between the front frame 11 and the rear frame 12;

[0139] When the actual value of the relative rotation angle of the front frame 11 and the rear frame 12 reaches the difference between the limit value of the relative rotation angle of the front frame 11 and the rear frame 12 and a preset value (also called a set threshold before reaching the steering limit position), the first motor 41 is controlled to start decelerating, and when the actual value of the relative rotation angle of the front frame 11 and the rear frame 12 reaches the limit value of the relative rotation angle of the front frame 11 and the rear frame 12, the first motor 41 is controlled to reduce its speed to 0.

[0140] The above scheme detects the steering limit position and controls the speed based on the real-time feedback data of the relative rotation angle of the front and rear frames, so that when the front and rear frames rotate relative to each other to a preset position before the limit position, the first motor 41 automatically decelerates, and when the limit position is reached, the deceleration is reduced to 0. In this way, the steering limit position can be reached more smoothly and safely, and the impact on the front and rear frames and the first motor 41 at the steering limit position is effectively reduced, thereby achieving a safer and smoother steering process.

[0141] The real-time feedback data of the steering angle can be obtained by the aforementioned first angle sensor 71. In addition, when the steering reaches a preset position before the limit position, an early warning can be issued, for example, a warning message can be displayed on the display screen 94 to remind the first motor 41 to slow down, thereby achieving an early warning of the steering limit position and further improving steering safety.

[0142] In addition, referring to FIG5 , in some embodiments, the control method includes:

[0143] Detecting whether the handle 23 of the loader 100 moves in a first direction to determine whether the boom 31 is raised or lowered;

[0144] When the handle 23 moves in the first direction, the second motor 51 of the loader 100 is controlled to operate according to the displacement (or opening) of the handle 23 in the first direction, so as to drive the boom 31 to rotate and rise and fall.

[0145] The above solution can realize the boom raising and lowering control process by controlling the operation of the second motor 51 according to the movement of the handle 23 along the first direction (for example, one of the front-back direction and the left-right direction).

[0146] In the related art, when the hydraulic system drives the boom to rise and fall, although the hydraulic system is also equipped with a motor to provide power for the hydraulic pump for the boom raising and lowering, the corresponding motor operates at a constant speed and relies entirely on the hydraulic system itself to control the boom raising and lowering process, which has poor accuracy, low efficiency and high energy consumption.

[0147] However, in the embodiment of the present application, since a hydraulic system is no longer used to drive the boom to rise and fall, the boom is instead driven to rise and fall by a second motor 51 through a second reducer 52. Therefore, the boom can be controlled by controlling the operation of the second motor 51, which is conducive to achieving a boom raising and lowering process with higher precision, higher efficiency and lower energy consumption.

[0148] Specifically, referring to FIG5 , in some embodiments, controlling the second motor 51 of the loader 100 to operate according to the displacement of the handle 23 along the first direction includes:

[0149] determining a target rotational speed of the second motor 51 according to the displacement of the handle 23 along the first direction;

[0150] Performing a PID calculation based on the target speed of the second motor 51 and the current speed of the second motor 51 to obtain the output torque of the second motor 51;

[0151] Calculating the current power of the second motor 51 based on the current speed and current torque of the second motor 51, and determining whether the current power of the second motor 51 is less than the maximum power of the second motor 51;

[0152] When the current power of the second motor 51 is less than the maximum power of the second motor 51 , the second motor 51 is controlled to operate according to the calculated output torque of the second motor 51 ;

[0153] When the current power of the second motor 51 is greater than or equal to the maximum power of the second motor 51 , the second motor 51 is controlled to operate according to a torque calculated based on the maximum power of the second motor 51 and the current speed of the second motor 51 .

[0154] In the above scheme, the speed of the second motor 51 is PID controlled during the boom raising and lowering process. In this way, the boom 31 can be driven to rotate to the target angle and raised and lowered to the target position more accurately. Moreover, during the PID control process, the actual power of the second motor 51 is also controlled so that the actual power of the second motor 51 is not greater than the maximum power of the second motor 51. In this way, accidents such as damage to the second motor 51 caused by the actual power of the second motor 51 exceeding the maximum power can be prevented. Therefore, it is beneficial to improve the safety of the entire boom raising and lowering process.

[0155] Furthermore, in some embodiments, when the handle 23 is moved in the first direction, causing the boom 31 to drop, a PID calculation is performed based on the target speed of the second motor 51 and the current speed of the second motor 51, and the output torque of the second motor 51 is obtained as the braking torque. This allows the potential energy of the boom 31 to be recovered during its drop, improving energy utilization, reducing energy consumption, and increasing battery life.

[0156] 5 , in some embodiments, controlling the second motor 51 of the loader 100 to operate according to the displacement of the handle 23 along the first direction includes:

[0157] Real-time detection of the rotation angle of the movable arm 31;

[0158] When the actual value of the rotation angle of the boom 31 reaches the difference between the limit value of the rotation angle of the boom 31 and the preset value (also called the set threshold before reaching the lifting and lowering limit position), the second motor 51 is controlled to start decelerating, and when the actual value of the rotation angle of the boom 31 reaches the limit value of the rotation angle of the boom 31, the second motor 51 is controlled to decelerate to 0.

[0159] The above scheme detects the extreme position of the boom and controls the speed based on the real-time feedback data of the rotation angle of the boom 31, so that when the boom 31 reaches the preset position before the extreme position, the second motor 51 automatically decelerates, and when it reaches the extreme position, the deceleration is reduced to 0. In this way, the lifting and lowering extreme positions can be reached more smoothly and safely, effectively reducing the impact on the boom 31 and the second motor 51 at the lifting and lowering extreme positions, and realizing a safer and smoother boom lifting and lowering process.

[0160] The real-time feedback data of the rotation angle of the boom 31 can be obtained by the aforementioned second angle sensor 72. In addition, when the bucket 32 ​​reaches a preset position before the limit position, an early warning can be issued, for example, by displaying an early warning message on the display screen 94 to prompt the second motor 51 to slow down, thereby achieving an early warning of the lifting and lowering limit position and further improving the safety of the boom lifting and lowering.

[0161] In addition, referring to FIG6 , in some embodiments, the control method includes:

[0162] Detecting whether the handle 23 of the loader 100 moves in a second direction to determine whether the bucket 32 ​​is retracted or extended;

[0163] When the handle 23 moves in the second direction, the third motor 61 of the loader 100 is controlled to operate according to the displacement (or opening) of the handle 23 in the second direction, so as to drive the bucket 32 ​​to rotate and retract.

[0164] The above solution can realize the bucket retraction and extension control process by controlling the operation of the third motor 61 according to the movement of the handle 23 along the second direction (for example, the other of the front-back direction and the left-right direction).

[0165] In the related art, when the hydraulic system drives the bucket to be retracted and extended, although the hydraulic system is also equipped with a motor to provide power for the hydraulic pump for bucket retraction and extension, the corresponding motor operates at a constant speed and relies entirely on the hydraulic system itself to control the bucket retraction and extension process, which has poor accuracy, low efficiency and high energy consumption.

[0166] However, in the embodiment of the present application, since the hydraulic system is no longer used to drive the bucket to be retracted and extended, the bucket is instead driven to be retracted and extended by the third motor 61 through the third reducer 62. Therefore, the bucket can be controlled by controlling the operation of the third motor 61, which is conducive to achieving a bucket retraction and extension process with higher precision, higher efficiency and lower energy consumption.

[0167] Specifically, referring to FIG6 , in some embodiments, controlling the operation of the third motor 61 of the loader 100 according to the displacement of the handle 23 along the second direction includes:

[0168] determining a target rotational speed of the third motor 61 according to the displacement of the handle 23 along the second direction;

[0169] Performing a PID calculation based on the target speed of the third motor 61 and the current speed of the third motor 61 to obtain the output torque of the third motor 61;

[0170] calculating the current power of the third motor 61 based on the current speed and current torque of the third motor 61 , and determining whether the current power of the third motor 61 is less than the maximum power of the third motor 61 ;

[0171] When the current power of the third motor 61 is less than the maximum power of the third motor 61 , the third motor 61 is controlled to operate according to the calculated output torque of the third motor 61 ;

[0172] When the current power of the third motor 61 is greater than or equal to the maximum power of the third motor 61 , the third motor 61 is controlled to operate according to a torque calculated based on the maximum power of the third motor 61 and the current speed of the third motor 61 .

[0173] In the above scheme, the speed of the third motor 61 is PID controlled during the bucket retraction and extension process. In this way, the bucket 32 ​​can be driven to rotate to the target angle and retracted to the target position more accurately. Moreover, during the PID control process, the actual power of the third motor 61 is also controlled so that the actual power of the third motor 61 is not greater than the maximum power of the third motor 61. In this way, accidents such as damage to the third motor 61 caused by the actual power of the third motor 61 exceeding the maximum power can be prevented. Therefore, it is beneficial to improve the safety of the entire bucket retraction and extension process.

[0174] 6 , in some embodiments, according to the displacement of the handle 23 along the second direction, controlling the operation of the third motor 61 of the loader 100 includes:

[0175] Real-time detection of the rotation angle of the bucket 32;

[0176] When the actual value of the rotation angle of the bucket 32 ​​reaches the difference between the limit value of the rotation angle of the bucket 32 ​​and the preset value (also called the set threshold before reaching the retraction limit position), the third motor 61 is controlled to start decelerating, and when the actual value of the rotation angle of the bucket 32 ​​reaches the limit value of the rotation angle of the bucket 32, the third motor 61 is controlled to decelerate to 0.

[0177] The above scheme performs bucket limit position detection and speed control based on real-time feedback data of the rotation angle of the bucket 32, so that when the bucket 32 ​​reaches the preset position before the limit position, the third motor 61 automatically decelerates, and when it reaches the limit position, the deceleration is reduced to 0. In this way, the retraction and extension limit position can be reached more smoothly and safely, effectively reducing the impact on the bucket 32 ​​and the third motor 61 at the retraction and extension limit position, and realizing a safer and smoother bucket retraction and extension process.

[0178] The real-time feedback data of the rotation angle of the bucket 32 ​​can be obtained by the aforementioned third angle sensor 73. In addition, when the bucket 32 ​​reaches a preset position before the limit position, an early warning can be issued, for example, by displaying an early warning message on the display screen 94, prompting the third motor 61 to slow down, thereby further improving the safety of bucket retraction and extension.

[0179] Next, the present application will be further introduced with reference to the embodiments shown in FIG. 1 to FIG. 6 .

[0180] As shown in Figures 1 to 3, in this embodiment, the loader 100 includes a body 1, a steering wheel 21, a pedal 22, a handle 23, a boom 31, a bucket 32, a first slewing mechanism 4, a second slewing mechanism 5, a third slewing mechanism 6, a first angle sensor 71, a second angle sensor 72, a third angle sensor 73, a first motor controller 81, a second motor controller 82, a third motor controller 83, a vehicle controller 84, a fourth motor controller 86, a fifth motor controller 87, a fourth motor 91, a fifth motor 92, a power battery 93 and a display screen 94.

[0181] The vehicle body 1 includes a front frame 11 and a rear frame 12. The front and rear frames 11, 12 are articulated, allowing them to rotate relative to each other, enabling the vehicle to steer. Drive axles 13, referred to as front axles 14 and rear axles 15, are mounted on the front and rear frames 11, 12, respectively. Wheels 16, namely the front and rear wheels, are mounted on the front and rear axles 14, 15, respectively.

[0182] The fourth motor 91 and the fifth motor 92 are connected to the drive axle 13 to drive the wheels 16 and enable the vehicle to move. They are connected to the vehicle controller 84 through the fourth motor controller 86 and the fifth motor controller 87, respectively, so that the fourth motor controller 86 and the fifth motor controller 87 can control the operation of the fourth motor 91 and the fifth motor 92 according to the instructions of the vehicle controller 84 to drive the vehicle.

[0183] A boom 31 and bucket 32 ​​are mounted on the vehicle body 1 and are used for operations such as shoveling and loading. Specifically, the first end of the boom 31 is hinged to the vehicle body 1, allowing it to be raised and lowered by rotating relative to the vehicle body 1. The bucket 32 ​​is hinged to the second end of the boom 31 and can be turned outward and retracted by rotating relative to the boom 31.

[0184] The steering wheel 21, pedals 22, and handle 23 are all provided on the vehicle body 1 and serve as operating mechanisms for the driver to operate to achieve steering, driving, and operational control. The steering wheel 21 is rotated to steer. Specifically, turning the steering wheel 21 left or right causes the vehicle to turn left or right, respectively. Depressing the pedal 22 accelerates or brakes the vehicle. The handle 23 moves left and right to control the raising and lowering of the boom 31. Specifically, moving the handle 23 left or right causes the boom 31 to rise and fall, respectively. The handle 23 moves forward and backward to control the retraction and extension of the bucket 32. Specifically, moving the handle 23 forward and backward causes the bucket 32 ​​to turn outward and retract, respectively. The steering wheel 21, pedals 22, and handle 23 are all signal-connected to the vehicle controller 84 so that, when operated, they send signals to the vehicle controller 84, causing the vehicle controller 84 to issue instructions to the corresponding motor controllers.

[0185] The first slewing mechanism 4, the second slewing mechanism 5 and the third slewing mechanism 6 are used to drive the front and rear frames, the boom 31 and the bucket 32 ​​to rotate respectively, so as to realize the steering of the whole vehicle, the raising and lowering of the boom and the retraction and extension of the bucket.

[0186] The first slewing mechanism 4 is located at the hinged joint between the front and rear frames and includes a first motor 41, a first reducer 42, and a first locking mechanism 43. The first motor 41 is connected to the front and rear frames via the first reducer 42, driving the front and rear frames to rotate relative to each other, thereby steering the vehicle. The first reducer 42 is locked by the first locking mechanism 43. The first motor 41 is connected to the vehicle controller 84 via a first motor controller 81, enabling the first motor controller 81 to control the operation of the first motor 41 and drive the vehicle to steer according to instructions from the vehicle controller 84.

[0187] The second slewing mechanism 5 is provided at the hinged joint between the boom 31 and the vehicle body 1 and includes a second motor 51, a second reducer 52, and a second locking mechanism 53. The second motor 51 is connected to the boom 31 via the second reducer 52 to drive the boom 31 to rotate and thereby raise and lower the boom. The second reducer 52 is locked by the second locking mechanism 53. The second motor 51 is connected to the vehicle controller 84 via a second motor controller 82, enabling the second motor controller 82 to control the operation of the second motor 51 and drive the boom to raise and lower according to instructions from the vehicle controller 84.

[0188] The third slewing mechanism 6 is located at the hinge between the bucket 32 ​​and the boom 31 and includes a third motor 61, a third reducer 62, and a third locking mechanism 63. The third motor 61 is connected to the bucket 32 ​​via the third reducer 62 to rotate the bucket 32 ​​and retract it. The third reducer 62 is locked by the third locking mechanism 63. The third motor 61 is connected to the vehicle controller 84 via a third motor controller 83, allowing the third motor controller 83 to control the operation of the third motor 61 and retract the bucket according to instructions from the vehicle controller 84.

[0189] It can be seen that in this embodiment, the first rotating mechanism 4, the second rotating mechanism 5 and the third rotating mechanism 6 are all electric drive mechanisms, which makes the steering and operation of the loader 100 no longer driven by the hydraulic system, but driven by the electric drive mechanism. Therefore, it can avoid the increase in vehicle energy consumption due to low energy utilization, response lag and poor control accuracy of the hydraulic system, which affects the steering and operation efficiency and accuracy. It can give full play to the advantages of the electric drive mechanism with high control accuracy, fast response, high energy utilization and high transmission efficiency, improve the steering and operation efficiency and accuracy of the vehicle, and reduce the energy consumption of the vehicle.

[0190] The first angle sensor 71, the second angle sensor 72 and the third angle sensor 73 respectively detect the relative rotation angle of the front and rear frames, the boom rotation angle and the bucket rotation angle in real time, so that feedback can be implemented according to the detected angles, and the steering, boom and bucket can be subjected to extreme position detection, early warning and speed control, thereby realizing refined control of the steering and operation process.

[0191] The display screen 94 is used to display various information such as warning information to remind the driver to perform various operations.

[0192] The power battery 93 supplies power to the first motor 41 , the second motor 51 , the third motor 61 , the fourth motor 91 and the fifth motor 92 .

[0193] Next, the steering and operation control process of the loader 100 of this embodiment will be described with reference to FIG. 4 to FIG. 6 .

[0194] First, the steering control process is introduced.

[0195] When steering is required, the driver operates the steering wheel 21, and the steering wheel 21 issues a command, which is analyzed by the vehicle controller 84 and controls the first motor 41 to operate and perform steering. As shown in FIG4 , the specific control process is as follows:

[0196] (1) Detect whether the steering wheel 21 turns left or right;

[0197] (2) When the steering wheel 21 turns left or right, the first locking mechanism 43 is unlocked;

[0198] (3) Setting the target speed of the first motor 41 according to the steering angle of the steering wheel 21;

[0199] (4) performing PID calculation based on the target speed and current speed of the first motor 41 to obtain the output torque of the first motor 41;

[0200] (5) Calculating the current power of the first motor 41 based on the current speed and current torque of the first motor 41 , and determining whether the current power of the first motor 41 is less than the peak power (i.e., maximum power) of the first motor 41 with reference to the motor external characteristic limit;

[0201] (6) If the current power of the first motor 41 is less than the peak power of the first motor 41 , the output torque calculated in step (4) is output to the first motor 41 ; and if the current power of the first motor 41 is greater than or equal to the peak power of the first motor 41 , the torque is calculated according to the peak power of the first motor 41 and the current speed of the first motor 41 , and is output to the first motor 41 to control the vehicle to turn left or right;

[0202] (7) When the vehicle turns left or right, the first angle sensor 71 provides real-time feedback of angle information. When the first angle sensor 71 detects that the set threshold is about to be reached before the extreme position, the display screen 94 displays a warning message to remind the driver to operate and control the first motor 41 to reduce torque and speed. When the extreme steering position is reached, the first motor 41 is reduced to 0 speed and the first locking mechanism 43 is locked.

[0203] Next, the job control process is introduced.

[0204] When operation is required, the driver operates the handle 23, and the handle 23 issues a command, which is analyzed by the vehicle controller 84 and controls the second motor 51 to operate, thereby realizing the lifting and lowering of the boom and the retraction and extension of the bucket.

[0205] As shown in Figure 5, the specific control process of boom raising and lowering is as follows:

[0206] (1) Detecting whether the driver's handle 23 moves to the right to control the boom 31 to fall, or whether it moves to the left to control the boom 31 to rise;

[0207] (2) When the handle 23 moves to the right or left, the second locking mechanism 53 is unlocked;

[0208] (3) Setting the target speed of the second motor 51 according to the rightward or leftward opening of the handle 23;

[0209] (4) PID calculation is performed based on the target speed and current speed of the second motor 51 to obtain the output torque of the second motor 51. When the handle 23 moves to the right to control the boom 31 to fall, the output torque is the braking torque;

[0210] (5) calculating the current power of the second motor 51 based on the current motor speed and torque information of the second motor 51 , and determining whether the current power of the second motor 51 is less than the peak power (i.e., maximum power) of the second motor 51 with reference to the motor external characteristic limit;

[0211] (6) If the current power of the second motor 51 is less than the peak power of the second motor 51, the output torque calculated in step (4) is output to the second motor 51; if the current power of the second motor 51 is greater than or equal to the peak power of the second motor 51, the torque is calculated according to the peak power of the second motor 51 and the current speed of the second motor 51, and is output to the second motor 51 to control the lifting and lowering of the boom 31;

[0212] (7) During the raising and lowering process of the boom 31, the second angle sensor 72 provides real-time feedback of angle information. When the second angle sensor 72 detects that the set threshold is about to be reached before the limit position, the display screen 94 displays a warning message to remind the driver to operate and control the second motor 51 to reduce torque and speed. When the limit position is reached, the second motor 51 is reduced to 0 speed and the second locking mechanism 53 is locked.

[0213] In addition, as shown in Figure 6, the specific control process of bucket retraction and extension is as follows:

[0214] (1) Detecting whether the driver's handle 23 moves forward to control the bucket 32 ​​to turn outward, or whether it moves backward to control the bucket 32 ​​to retract;

[0215] (2) When the handle 23 moves forward or backward, the third locking mechanism 63 is unlocked;

[0216] (3) Setting the target speed of the third motor 61 according to the forward or backward opening of the handle 23;

[0217] (4) performing PID calculation based on the target speed and current speed of the third motor 61 to obtain the output torque of the third motor 61;

[0218] (5) calculating the current power of the third motor 61 based on the current motor speed and torque information of the third motor 61 , and determining whether the current power of the third motor 61 is less than the peak power (i.e., maximum power) of the third motor 61 with reference to the motor external characteristic limit;

[0219] (6) If the current power of the third motor 61 is less than the peak power of the third motor 61, the output torque calculated in step (4) is output to the third motor 61; if the current power of the third motor 61 is greater than or equal to the peak power of the third motor 61, the torque is calculated according to the peak power of the third motor 61 and the current speed of the third motor 61, and is output to the third motor 61 to control the retraction and extension of the bucket 32;

[0220] (7) During the retraction and extension of the bucket 32, the third angle sensor 73 provides real-time feedback of angle information. When the third angle sensor 73 detects that the set threshold is about to be reached before the limit position, the display screen 94 displays a warning message to remind the driver to operate and control the third motor 61 to reduce torque and speed. When the limit position is reached, the third motor 61 is reduced to 0 speed and the third locking mechanism 63 is locked.

[0221] It can be understood that the limit positions and set thresholds in the above-mentioned control processes may be the same or different.

[0222] In summary, the loader 100 of this embodiment adopts an all-electric drive architecture, which can improve energy utilization, improve operating efficiency, and achieve zero emissions. In particular, the electric slewing mechanism (first slewing mechanism 4, second slewing mechanism 5 and third slewing mechanism 6) is used to replace the hydraulic system for steering and operating drive, which can save the layout space of the entire vehicle. At the same time, it can adapt to the harsh operating environment of the loader 100, meet the operating requirements of the loader 100 under complex operating conditions such as the variable operating mechanism and steering device and large load impact, and can realize kinetic energy recovery, improve the overall reliability and endurance, and, by setting an angle sensor and performing real-time angle feedback, it can realize steering, boom and bucket extreme position detection, early warning and speed control, and realize refined control of steering and operating processes.

[0223] The above description is merely an exemplary embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A loader (100), comprising: A vehicle body (1) comprises a front frame (11) and a rear frame (12), wherein the front frame (11) and the rear frame (12) are rotatably connected; An operating mechanism (3) comprises a boom (31) and a bucket (32), wherein a first end of the boom (31) is rotatably connected to the vehicle body (1), and the bucket (32) is rotatably connected to a second end of the boom (31); and The first slewing mechanism (4) comprises a first motor (41) and a first reducer (42); the first motor (41) is drivingly connected to the front frame (11) and / or the rear frame (12) via the first reducer (42) to drive the front frame (11) and the rear frame (12) to rotate relative to each other, thereby realizing the steering of the loader (100).

2. The loader (100) according to claim 1, comprises a first angle sensor (71), wherein the first angle sensor (71) detects a relative rotation angle between the front frame (11) and the rear frame (12).

3. The loader (100) according to claim 1 or 2, wherein the first slewing mechanism (4) further comprises a first locking mechanism (43), and the first locking mechanism (43) locks the first reducer (42).

4. The loader (100) according to claim 3, wherein the first locking mechanism (43) comprises a ratchet mechanism.

5. The loader (100) according to any one of claims 1 to 4, wherein the first slewing mechanism (4) is arranged at the connection between the front frame (11) and the rear frame (12).

6. The loader (100) according to any one of claims 1 to 5 further comprises at least one of a second slewing mechanism (5) and a third slewing mechanism (6), wherein the second slewing mechanism (5) comprises a second motor (51) and a second reducer (52), wherein the second motor (51) is drivably connected to the boom (31) via the second reducer (52) to drive the boom (31) to rotate relative to the vehicle body (1), and the third slewing mechanism (6) comprises a third motor (61) and a third reducer (62), wherein the third motor (61) is drivably connected to the bucket (32) via the third reducer (62) to drive the bucket (32) to rotate relative to the boom (31).

7. The loader (100) according to claim 6, wherein the loader (100) comprises a second angle sensor (72), which detects the rotation angle of the boom (31) relative to the vehicle body (1); and / or the loader (100) comprises a third angle sensor (73), which detects the rotation angle of the bucket (32) relative to the boom (31).

8. The loader (100) according to claim 6 or 7, wherein the second rotating mechanism (5) further includes a second locking mechanism (53), and the second locking mechanism (53) locks the second reducer (52); and / or the third rotating mechanism (6) includes a third locking mechanism (63) to lock the third reducer (62).

9. The loader (100) according to claim 8, wherein the second locking mechanism (53) and / or the third locking mechanism (63) comprises a ratchet mechanism.

10. The loader (100) according to any one of claims 7 to 9, wherein the second slewing mechanism (5) is arranged at the connection between the boom (31) and the vehicle body (1); and / or the third slewing mechanism (6) is arranged at the connection between the bucket (32) and the boom (31).

11. A method for controlling a loader (100) according to any one of claims 1 to 10, comprising: Detecting whether the steering wheel (21) of the loader (100) is turned to determine whether the loader (100) is turning; When the steering wheel (21) rotates, the first motor (41) is controlled to operate according to the rotation angle of the steering wheel (21) to drive the front frame (11) and the rear frame (12) to rotate relative to each other, thereby achieving the steering of the loader (100).

12. The control method according to claim 11, wherein according to the rotation angle of the steering wheel (21), controlling the first motor (41) to operate comprises: determining a target rotation speed of the first motor (41) according to the rotation angle of the steering wheel (21); Performing PID calculation based on the target speed of the first motor (41) and the current speed of the first motor (41) to obtain the output torque of the first motor (41); Calculating the current power of the first motor (41) based on the current speed and current torque of the first motor (41), and determining whether the current power of the first motor (41) is less than the maximum power of the first motor (41); When the current power of the first motor (41) is less than the maximum power of the first motor (41), controlling the first motor (41) to operate according to the calculated output torque of the first motor (41); When the current power of the first motor (41) is greater than or equal to the maximum power of the first motor (41), the first motor (41) is controlled to operate according to a torque calculated based on the maximum power of the first motor (41) and the current rotation speed of the first motor (41).

13. The control method according to claim 11 or 12, wherein according to the rotation angle of the steering wheel (21), controlling the first motor (41) to operate comprises: Real-time detection of the relative rotation angle between the front frame (11) and the rear frame (12); When the actual value of the relative rotation angle between the front frame (11) and the rear frame (12) reaches the difference between the limit value of the relative rotation angle between the front frame (11) and the rear frame (12) and a preset value, the first motor (41) is controlled to start decelerating, and when the actual value of the relative rotation angle between the front frame (11) and the rear frame (12) reaches the limit value of the relative rotation angle between the front frame (11) and the rear frame (12), the first motor (41) is controlled to decelerate to 0.

14. The control method according to any one of claims 11 to 13, comprising: Detecting whether the handle (23) of the loader (100) moves in a first direction to determine whether the movable arm (31) is raised or lowered; When the handle (23) moves along the first direction, the second motor (51) of the loader (100) is controlled to operate according to the displacement of the handle (23) along the first direction, so as to drive the movable arm (31) to rotate and rise and fall.

15. The control method according to claim 14, wherein according to the displacement of the handle (23) along the first direction, controlling the second motor (51) of the loader (100) to operate comprises: determining a target rotation speed of the second motor (51) according to the displacement of the handle (23) along the first direction; Performing PID calculation based on the target speed of the second motor (51) and the current speed of the second motor (51) to obtain the output torque of the second motor (51); Calculating the current power of the second motor (51) based on the current speed and current torque of the second motor (51), and determining whether the current power of the second motor (51) is less than the maximum power of the second motor (51); When the current power of the second motor (51) is less than the maximum power of the second motor (51), controlling the second motor (51) to operate according to the calculated output torque of the second motor (51); When the current power of the second motor (51) is greater than or equal to the maximum power of the second motor (51), the second motor (51) is controlled to operate according to a torque calculated based on the maximum power of the second motor (51) and the current rotation speed of the second motor (51).

16. The control method according to claim 15, wherein when the handle (23) moves along the first direction to cause the boom (31) to fall, a PID calculation is performed based on the target speed of the second motor (51) and the current speed of the second motor (51), and the output torque of the second motor (51) obtained is the braking torque.

17. The control method according to any one of claims 11 to 16, wherein according to the displacement of the handle (23) along the first direction, controlling the second motor (51) of the loader (100) to operate comprises: Real-time detection of the rotation angle of the movable arm (31); When the actual value of the rotation angle of the movable arm (31) reaches the difference between the limit value of the rotation angle of the movable arm (31) and a preset value, the second motor (51) is controlled to start decelerating, and when the actual value of the rotation angle of the movable arm (31) reaches the limit value of the rotation angle of the movable arm (31), the second motor (51) is controlled to decelerate to 0.

18. The control method according to any one of claims 11 to 17, comprising: detecting whether the handle (23) of the loader (100) moves in a second direction to determine whether the bucket (32) is retracted or released; When the handle (23) moves along the second direction, the third motor (61) of the loader (100) is controlled to operate according to the displacement of the handle (23) along the second direction, so as to drive the bucket (32) to rotate and be retracted or extended.

19. The control method according to claim 18, wherein according to the displacement of the handle (23) along the second direction, controlling the third motor (61) of the loader (100) to operate comprises: determining a target rotation speed of the third motor (61) according to the displacement of the handle (23) along the second direction; Based on the target speed of the third motor (61) and the current speed of the third motor (61), a PID calculation is performed to obtain the output torque of the third motor (61); Calculating the current power of the third motor (61) based on the current speed and current torque of the third motor (61), and determining whether the current power of the third motor (61) is less than the maximum power of the third motor (61); When the current power of the third motor (61) is less than the maximum power of the third motor (61), controlling the third motor (61) to operate according to the calculated output torque of the third motor (61); When the current power of the third motor (61) is greater than or equal to the maximum power of the third motor (61), the third motor (61) is controlled to operate according to a torque calculated based on the maximum power of the third motor (61) and the current rotation speed of the third motor (61).

20. The control method according to claim 19, wherein according to the displacement of the handle (23) along the second direction, controlling the third motor (61) of the loader (100) to operate comprises: detecting the rotation angle of the bucket (32) in real time; When the actual value of the rotation angle of the bucket (32) reaches the difference between the limit value of the rotation angle of the bucket (32) and a preset value, the third motor (61) is controlled to start decelerating, and when the actual value of the rotation angle of the bucket (32) reaches the limit value of the rotation angle of the bucket (32), the third motor (61) is controlled to decelerate to 0.

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