CN201317946Y - Excavating and loading combinational machine - Google Patents

Abstract

The utility model discloses an excavating and loading combination machine, which comprises an operating platform and a mechanical arm mechanism; the mechanical arm mechanism comprises a lower boom, an upper boom, a stick and a The quick-change device; the lower arm, the upper arm and the arm are driven by their respective hydraulic cylinders; the arm and the upper arm are each provided with a mutually cooperating arm safety locking device; the The boom and the lower boom are also respectively provided with boom safety locking devices that cooperate with each other; the excavation and loading combination machine is also provided with a motion controller; the motion controller communicates with the hydraulic cylinder through the driving device connect. The excavating and loading combined machine is different from common standard excavating loaders, has excavator working mode and loader working mode, and can realize automatic switching between the two working modes.

Description

A digging and loading combination machine

technical field

The utility model belongs to the field of electromechanical integration and relates to a digging and loading combination machine.

Background technique

Backhoe loaders are commonly known as "busy at both ends". Because of its unique structure, the front end is a loading device and the rear end is an excavating device. On the job site, you can transition from loader to excavator operator role with just a turn of the seat. Backhoe loaders are mainly used in urban and rural road construction and maintenance, cable laying, electric power and airport engineering, municipal construction, farmland water conservancy construction, rural residential construction, mountain extraction and various construction projects engaged in by various small construction teams . It can be equipped with a variety of working devices and auxiliary tools to perform various operations such as excavation, shoveling, road surface breaking, site leveling, trench digging, and pipeline laying.

The backhoe loader involved in this article is a brand-new machine, which is different from the ordinary "both ends busy". Its two working devices are not located at both ends of the car body, but at one end of the car body. The two working devices The switching is realized through the deformation of the control structure (folding or opening), that is, the machine has two working modes: excavator working mode and loader working mode. Under normal circumstances, the machine is an ordinary hydraulic excavator. According to construction needs, when the loading function is required, the control system will operate the excavator to fold and transform into a loader. Therefore, it can complete all the functions of ordinary "two-handed". However, because its loader function is deformed on the basis of the excavator chassis, its function is more flexible and powerful compared with the ordinary "two-headed busy": one can realize two functions without turning the seat , Second, in the loader mode, it has the function of slewing loading, and third, it has a wider field of view when digging; fourth, in the loader mode, it has the function of deflection loading.

With the diversification of the machine's functions, its operation is also relatively complicated, and the operator must carry out long-term training to complete high-quality work and have high work efficiency. Therefore, improving the degree of mechatronics of the backhoe loader and realizing partial automation of the backhoe loader is the most ideal solution to the above problems.

Utility model content

The technical problem to be solved in the utility model is to aim at the shortcomings of the existing loaders and excavators, and proposes a digging and loading combined machine, which can realize automatic switching between the two working modes of the loader and the excavator.

The technical scheme that the utility model adopts for solving the problems of the technologies described above is:

An excavating and loading combination machine, characterized in that it includes an operating platform and a mechanical arm mechanism; the operating platform is connected to the mechanical arm mechanism;

The mechanical arm mechanism includes a lower boom, an upper boom, a stick and a quick change device for loading and unloading buckets or loading buckets; the lower boom, upper boom, stick and quick change device are connected in sequence The lower boom is connected to the operating platform; the operating platform includes a wheel crawler mechanism and a driving device located at the bottom of the body and an operating room located on the wheel crawler mechanism;

The lower boom, upper boom and stick are all driven by respective hydraulic cylinders;

The end of the stick close to the quick-change device and the end of the upper boom close to the lower boom are each provided with a stick safety locking device that cooperates with each other. The stick safety locking device mainly includes: 1) located at The pin shaft (13) on the end of the stick close to the quick change device, the pin shaft (13) is connected to the stick in a consolidated manner, and no relative displacement can occur; 2) The locking device located on the upper boom close to the lower boom ( 12), the locking device (12) is used in conjunction with the pin shaft (13), the locking device (12) of the lower boom is designed with a predetermined position (19), when the pin shaft (13) moves to the When the predetermined position (19) is reached, the pin shaft (20) (see Figure 8) of the locking device (12) of the lower boom extends out to lock the pin shaft (13), thereby locking the arm and making the arm and arm The upper boom cannot move relative to each other.

The end of the lower moving arm close to the console is provided with a safety locking device for the moving arm; the safety locking device for the moving arm cooperates with the connecting pin (16) between the upper moving arm and the arm; The position in the complete machine can be seen in Fig. 1 and Fig. 2); the safety locking device mainly includes: 1) the connecting pin shaft (16) of the upper boom and the stick, the end of the pin shaft is provided with a counterbore, 2) The safety locking device (15) of the lower boom is close to the console. The safety locking device (15) is used together with the connecting pin 16 to form the safety locking device of the upper boom. When the connecting pin (16 ) moves to the predetermined position 18 according to the set movement direction (this position can refer to Figure 1 and Figure 2), the locking pin 17 moves and extends into the counterbore of the connecting pin 16 to lock the upper boom .

The excavating and loading combination machine is also provided with a motion controller; the motion controller is connected with the hydraulic cylinder through a driving device. Each hydraulic cylinder is controlled by a corresponding multi-position directional valve, and each multi-position directional valve has a corresponding pilot valve control. The pilot valve is an electro-hydraulic proportional valve, and each electro-hydraulic proportional valve is controlled by the controller. Therefore, the motion controller outputs the corresponding digital quantity to control the pilot valve through its output port. Different digital quantities correspond to different speeds and forces, so as to control the action of multi-position reversing valves, and finally realize the control of each hydraulic pressure. Cylinder movement control.

The excavating and loading combined machine further includes an upper boom inclination sensor arranged on the upper boom, a lower boom inclination sensor arranged on the lower boom, an arm inclination sensor arranged on the arm, and an arm inclination sensor arranged on the bucket The output terminals of the upper bucket inclination sensor, the upper boom inclination sensor, the lower boom inclination sensor, the stick inclination sensor and the bucket inclination sensor are connected to the input of the motion controller.

The control method of the digging and loading combination machine includes the following steps:

1) Utilize the online planning function of the motion controller to determine the target trajectory of the backhoe loader and obtain the motion sequence of the working device, the working device being an upper boom, a lower boom, a stick and a bucket or a loading bucket;

2) Set the parameters of the starting point in the sequence and obtain the PWM (pulse width modulation) signal to control the pilot electro-hydraulic proportional valve, and then the pilot electro-hydraulic proportional valve controls the main valve to drive the action of each hydraulic cylinder of the working device;

3) Use the upper boom inclination sensor, the lower boom inclination sensor, the arm inclination sensor and the bucket inclination sensor to obtain the position and posture information of the working device, and transmit it to the motion controller through the bus, and the motion controller obtains the position and posture information of the working device After the new pose information, it is compared with the pose of the working device at the predetermined sequence point, and the control parameters are changed in real time through the automatic controller, and the real-time corrected control amount is obtained through the PWM output to control the action of the working device;

4) Repeat step 3) to control each sequence point until the automatic folding and automatic opening of the predetermined trajectory is fully realized. Convert to excavator mode.

The automatic controller adopts an adaptive PID algorithm, a neural network control algorithm, a fuzzy algorithm or a combination of the above algorithms. The adaptive PID control algorithm adopted in this patent is specifically an expert adaptive PID control algorithm, which is mainly composed of a model reference adaptive control system and an adjustable system, wherein the model reference adaptive control system is composed of a model controller and a reference object. The adjustable system is composed of a digital PID controller and an actual object; it can not only automatically identify the controlled process parameters, adapt to the changes of the controlled process parameters, but also has the simple structure and good robustness of the conventional PID controller.

The beneficial effects of the utility model have:

1) Install inclination sensors on the upper boom, lower boom, stick and bucket of the backhoe loader, which can observe the working attitude of the backhoe loader in real time, and provide the position and attitude information of the backhoe loader working device, which is convenient for the operator to compare Accurate operation, improve labor productivity.

2) The motion controller is connected with the monitoring system. The monitoring system can monitor, display and alarm the main parameters of the system, so that the operator can grasp the working status of the backhoe loader in time. The display connected to the motion controller can display the values of each port when the machine is working in real time, so that when the machine fails, the fault location can be quickly and conveniently found and repaired.

3) The working mode selection switch is adopted, and the intelligent position PID is used for control, and the PID algorithm can be changed in real time according to the position and posture of the working device, so as to realize automatic switching from digging mode to loader mode, and from loader mode to excavator mode, effectively reducing operation Complexity, improve work efficiency.

Description of drawings

Fig. 1, Fig. 2 are the installation structural diagram of sensor in the utility model and the excavator operating mode structural representation of this model;

Figure 3-Figure 7 is a schematic diagram of the entire process of converting the whole machine from the excavator mode to the loader mode;

Fig. 8 is the loader working mode of this model in the utility model;

Fig. 9 is a structural block diagram of the monitoring system of the present utility model;

Fig. 10 is a flowchart of the automatic switching system of the working mode of the utility model.

Detailed ways

Below in conjunction with accompanying drawing and specific embodiment the utility model is further described.

Example 1:

Referring to Figure 1, the model is in the excavator mode. At this time, the working device of the backhoe loader is equipped with an inclination sensor 2 on the lower boom 1, an inclination sensor 4 on the upper boom 3, and an inclination sensor 4 on the arm 5. The sensor 6, the inclination sensor 8 provided on the bucket 7, the lower boom 1, the upper boom 3, the stick 5, and the bucket 7 are respectively controlled by the corresponding boom hydraulic cylinder 9, upper boom hydraulic cylinder 10, stick Hydraulic cylinder 11, bucket hydraulic cylinder 14 are driven. It can be seen that compared with the conventional excavator, when the machine in the utility model is in the excavator mode, the working arm has four degrees of freedom, which is different from the three degrees of freedom of the standard excavator.

Referring to Figure 8, this model is in the loader working mode. Compared with Figure 1, it is formed by folding and deforming the working arm mechanism of the excavator in Figure 1. Its working principle is briefly described in the process shown in Figure 3 to Figure 7 (In order to draw clearly, only the figure of the working device is given), first, operate the quick change device 21, unload the excavation bucket 7, and start to fold; the stick hydraulic cylinder 11 in Fig. 1 is stretched out, and the stick 5 moves upward 3, the movement direction is shown by the arrow in Figure 3; the stick 5 and the upper boom 3 are folded together (as shown in Figure 4), and the pin 13 of the stick safety locking device moves until the stick is locked The predetermined position 19 of the device 12 is shown in Fig. 4; secondly, the hydraulic cylinder 10 of the upper boom is retracted, and the stick 5 and the upper boom 3 are folded together with the lower boom 1, and its movement direction is shown by the arrow in Fig. 4 , wherein the pin shaft 16 of the boom safety locking device moves to the predetermined position 18 of the boom locking device 15, and the state after being in place is shown in FIG. 5 . At this time, the pin shaft 20 of the arm locking device 12 is stretched out (the state before and after its extension can be seen by comparing Fig. 1 and Fig. 8), and the pin shaft 13 is locked, thereby locking the arm so that the arm is in contact with the arm. The upper boom cannot move relative to each other; the pin shaft 17 of the boom locking device moves into the counterbore of the pin shaft 16 to lock the upper boom so that relative movement cannot occur between the upper boom and the lower boom. See Figure 8 for the state after the arm safety locking device 12 is locked, and Figure 6 for the state after the boom safety locking device is locked (Figure 6 is the left view of Figure 5, and the relative positions of the pin shaft 17 and the pin shaft 16 are enlarged Part) in the enlarged part, its specific location is shown in Figure 1 and Figure 2 of the complete machine in the figure. At this time, the upper boom 3 and the stick 5 no longer move, and they are folded together with the lower boom 1 of the original excavator mode, and there is no relative movement between the three, as shown in Figures 5 and 6, the whole is used as a device For the boom in machine mode, its hydraulic cylinder 9 is still the driving mechanism of the boom in loading mode, and the drive unit moves in the direction shown by the arrow to the position shown in Figure 7. By operating the quick change device 21 again, the excavator The bucket 7 is replaced with a loading bucket, and its driving mechanism remains unchanged. At this point, the transformation of the working mode is completed. And from loading mode to digging mode, its working process is just the opposite process of the above actions.

Referring to Fig. 9, Fig. 9 is a block diagram of the monitoring system of the present invention. The monitoring system of the utility model includes a monitoring processor, a memory, a watchdog, a display screen, a voice alarm, a photoelectric isolation circuit, a high-speed photoelectric isolation circuit, a counter, a filter, a communication circuit, a motion controller, and an inclination angle of the upper boom. The sensor, the lower boom inclination sensor, the arm inclination sensor, the bucket inclination sensor, and the monitoring processor are respectively connected with the memory, the watchdog, the display screen, the voice alarm, the counter, the filter and the communication circuit. The photoelectric isolation circuit is connected with the filter, and the position information of the upper arm inclination sensor, the lower arm inclination sensor, the arm inclination sensor and the bucket inclination sensor is transmitted to the motion controller through the bus, and then sent to the monitoring processor through the communication circuit , sent to the display screen after processing. Various switching signals are sent to the monitoring processor for processing after passing through the photoelectric isolation circuit and filter.

The utility model can display the pressure, temperature and liquid level values of each node in real time when the machine is working, and can also realize automatic control to a certain extent. Realized the monitoring, display and alarm of the main parameters of the system, including: fuel level, oil pressure, water temperature, oil temperature, low battery voltage, high engine water temperature, low fuel oil, filter clogging, abnormal air filter, hydraulic pressure The oil temperature is too high, the oil pressure is too low, the oil temperature is too high, the water level is too low, etc. At the same time, the fault diagnosis function of the monitoring processor can display the value of each port when the machine is working in real time, so that when the machine fails, the fault location can be quickly and conveniently found and repaired.

Referring to Fig. 10, Fig. 10 is a flow chart of the automatic switching system of working modes in the utility model. The working device in the excavation mode is treated as a multi-degree-of-freedom robot, and the inclination sensor 2 installed on the boom 1 of the working device is used. The inclination sensor 4 is installed on the upper boom 3, and the inclination sensor 6 is installed on the arm 5. The inclination sensor 8 provided on the bucket 7 determines the pose of the working device, and the signals of the four inclination sensors are transmitted to the onboard motion controller through the bus. Using the online planning function of the motion controller, after determining the target trajectory, according to Kinematics and dynamics planning Obtain the motion sequence of the working device, namely the boom 1, upper boom 3, and stick 5, set parameters for a point in the sequence and obtain a PWM signal to control the pilot electro-hydraulic proportional valve, and then the pilot electro-hydraulic proportional valve is controlled by the pilot The hydraulic proportional valve controls the main valve, drives each hydraulic cylinder, and detects the error in the motion process in real time to form a feedback. Due to the large inertia of the machine working device, strong nonlinearity of the hydraulic system, and uncertain control model parameters, according to the position and posture of the working device and adopt The adaptive PID algorithm changes the control parameters in real time, and the real-time corrected control quantity is obtained through the PWM output. The action of the working device will cause the values of the three inclination sensors to change and be transmitted in real time through the bus to form real-time feedback. In this way, each sequence point is controlled as above to complete the folding process (switching from excavator mode to loading machine mode), the unfolding process (switching from loader mode to excavator mode), and the automatic switching of the working mode can be realized by pressing a button.

Claims (2)

1. An excavating and loading combined machine is characterized in that it comprises an operating platform and a mechanical arm mechanism; the operating platform is connected with the mechanical arm mechanism; The mechanical arm mechanism includes a lower boom, an upper boom, a stick and a quick change device for loading and unloading buckets or loading buckets; the lower boom, upper boom, stick and quick change device are connected in sequence ; The lower boom is connected with the operating platform; The lower boom, upper boom and stick are all driven by respective hydraulic cylinders; The end of the stick close to the quick-change device and the end of the upper arm close to the lower arm are each provided with mutually cooperating stick safety locking devices; The end of the lower boom close to the console is provided with a safety locking device for the boom; the safety locking device for the boom cooperates with the connecting pin of the upper boom and the stick; The excavating and loading combination machine is also provided with a motion controller; the motion controller is connected with the hydraulic cylinder through a driving device. 2. The excavating and loading combination machine according to claim 1, further comprising a lower boom inclination sensor arranged on the lower boom, an upper boom inclination sensor arranged on the upper boom, and an upper boom inclination sensor arranged on the stick. The arm inclination sensor, the bucket inclination sensor arranged on the bucket, the output terminals of the lower arm inclination sensor, the upper arm inclination sensor, the arm inclination sensor and the bucket inclination sensor are connected to the motion controller input terminal.

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