Excavator Manipulator Based on Position Control

Abstract

The invention provides an excavator control device based on position control. An excavator bucket angular displacement sensor, a bucket rod angular displacement sensor and a movable arm angular displacement sensor are used for measuring excavator bucket angular displacement sensor measuring angles, bucket rod angular displacement sensor measuring angles and movable arm angular displacement sensor measuring angles. A display controller is used for receiving the work mode selected by a driver, displaying the positions of cross handles, the position of the excavator bucket angular displacement sensor, the position of the bucket rod angular displacement sensor and the position of the movable arm angular displacement sensor to the driver, and calculating the control instructions to pilot electromagnetic valves of an excavator bucket, a bucket rod and a movable arm so as to control the corresponding pilot electromagnetic valves. According to the excavator control device based on position control, the bucket rod and the movable arm can be subjected to compound control only through simple operation, so that the hinge joints of the excavator bucket are horizontally kept or longitudinally kept, or an included angle is formed between bucket teeth of the excavator bucket and a bottom plane, and the control steps for conducting complex action by the driver of an excavator are greatly simplified.

Description

technical field [0001] The invention relates to an excavator operating device. Background technique [0002] like figure 1 As shown, a conventional excavator includes six working devices, which are respectively a bucket 1, a stick 2, a boom 3, a slewing device 4, a left traveling device 5 and a right traveling device 6; figure 2 As shown, the driver controls the above-mentioned six working devices respectively by operating two cross handles and two pedals. The left and right tilt of the left cross handle 11 is used to control the rotation of the turning device 4 around the rotation axis 7. The left cross handle The forward and backward inclination of 11 is used to control the movement of the stick 2, the left and right inclination of the right cross handle 12 is used to control the movement of the bucket 1 around the bucket hinge point 9, and the front and rear inclination of the right cross handle 12 is used to control the movement of the boom 3, The front and rear incli...

AI Technical Summary

Problems solved by technology

Such a control method maps the three-dimensional movement of the joystick to the two-dimensional movement of the working device, which is not intuitive for a beginner: it is okay if it is only a single action, but it is difficult for the driver to perform a compound action. Coordinate several actions

[0005] In summary, the traditional excavator operation method is not intuitive, and it is difficult for the driver to coordinate and control several devices at the same time; however, almost all actions of the excavator require several working devices to be combined in one work, which is Traditional manipulation needs to be simplified

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