Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Translation and lifting control method for loader accessory and loader
The invention relates to a loader, and aims to solve the problem that an accessory cannot automatically keep translating when a movable arm of an existing loader ascends and descends. The invention provides a loader accessory translation and lifting control method and a loader. The control method comprises the steps that the rotation angle corresponding relation between the rotation angle of a movable arm and the rotation angle of a rocker arm in the accessory translation and lifting process is determined according to the included angle of the rocker arm and the included angle of the movable arm before accessory translation and lifting; detecting a rocker arm included angle and a movable arm included angle in real time, calculating a current movable arm rotation angle, and determining a rocker arm target rotation angle according to the current movable arm rotation angle and a rotation angle corresponding relation; the controller controls the rotating bucket linkage main valve to enable the rotating angle of the rocker arm to approach the target rotating angle of the rocker arm. According to the method, the target rotation angle of the rocker arm is calculated before translation and lifting actions, the rotation angle of the rocker arm is directly controlled in the lifting process of the movable arm, and real-time calculation of the target angle of the rocker arm in the moving process of the movable arm is avoided. The method is easy and convenient to implement, improves program operation efficiency and ensures control effect.
本发明涉及装载机，为解决现有装载机动臂升降时属具不能自动保持平移的问题；提供一种装载机属具平移举升控制方法及装载机，其中控制方法步骤为：根据属具平移举升前的摇臂夹角和动臂夹角确定属具平移举升过程中动臂转动角度与摇臂转动角度的转动角度对应关系；实时检测摇臂夹角和动臂夹角，计算当前动臂转动角度，根据当前动臂转动角度和转动角度对应关系确定摇臂目标转动角度；控制器控制转斗联主阀使摇臂转动角度趋近摇臂目标转动角度。本发明在平移举升动作前即计算出摇臂目标转动角度，动臂举升过程中直接对摇臂转动角度进行控制，避免动臂运动过程中实时进行摇臂目标角度计算。实现简单方便，有利于提高程序运行效率，保证控制效果。
Translation and lifting control method for loader accessory and loader
The invention relates to a loader, and aims to solve the problem that an accessory cannot automatically keep translating when a movable arm of an existing loader ascends and descends. The invention provides a loader accessory translation and lifting control method and a loader. The control method comprises the steps that the rotation angle corresponding relation between the rotation angle of a movable arm and the rotation angle of a rocker arm in the accessory translation and lifting process is determined according to the included angle of the rocker arm and the included angle of the movable arm before accessory translation and lifting; detecting a rocker arm included angle and a movable arm included angle in real time, calculating a current movable arm rotation angle, and determining a rocker arm target rotation angle according to the current movable arm rotation angle and a rotation angle corresponding relation; the controller controls the rotating bucket linkage main valve to enable the rotating angle of the rocker arm to approach the target rotating angle of the rocker arm. According to the method, the target rotation angle of the rocker arm is calculated before translation and lifting actions, the rotation angle of the rocker arm is directly controlled in the lifting process of the movable arm, and real-time calculation of the target angle of the rocker arm in the moving process of the movable arm is avoided. The method is easy and convenient to implement, improves program operation efficiency and ensures control effect.
本发明涉及装载机，为解决现有装载机动臂升降时属具不能自动保持平移的问题；提供一种装载机属具平移举升控制方法及装载机，其中控制方法步骤为：根据属具平移举升前的摇臂夹角和动臂夹角确定属具平移举升过程中动臂转动角度与摇臂转动角度的转动角度对应关系；实时检测摇臂夹角和动臂夹角，计算当前动臂转动角度，根据当前动臂转动角度和转动角度对应关系确定摇臂目标转动角度；控制器控制转斗联主阀使摇臂转动角度趋近摇臂目标转动角度。本发明在平移举升动作前即计算出摇臂目标转动角度，动臂举升过程中直接对摇臂转动角度进行控制，避免动臂运动过程中实时进行摇臂目标角度计算。实现简单方便，有利于提高程序运行效率，保证控制效果。
Translation and lifting control method for loader accessory and loader
装载机属具平移举升控制方法及装载机
LUO JIANWEI (Autor:in) / HUANG JIAN (Autor:in) / TAO LINYU (Autor:in) / SUN JINQUAN (Autor:in) / CAI DENGSHENG (Autor:in)
21.04.2023
Patent
Elektronische Ressource
Chinesisch
IPC:
E02F
Baggern
,
DREDGING
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