Excavator and excavating mechanism thereof

Abstract

The excavating mechanism comprises a bucket rod, a bucket, a power cylinder, a rocker, a connecting rod, a swing rod and an angle sensor, the first end of the rocker is hinged to the bucket rod, the second end of the rocker is hinged to a piston rod, the first end of the connecting rod is hinged to the second end of the rocker, the second end of the connecting rod is hinged to the bucket, and the swing rod is slidably arranged on the bucket rod. The first end of the swing rod is hinged to the rocker. The angle sensor is arranged at the second end of the swing rod. According to the excavating machine, the angle sensor is arranged at the second end of the swing rod so that the angle sensor can be away from the operation area of the bucket, and the safety and reliability of the angle sensor are improved.

Description

Technical Field

[0001] This application relates to excavating machinery technology, and more particularly to an excavator and its excavating mechanism. Background Technology

[0002] Excavating machinery often encounters underwater operation scenarios. In related technologies, the sensor used to detect the bucket angle is usually placed near the bucket on the boom. However, this location is in a high-risk area for excavation, which can easily damage the sensor and its wiring harness, affecting the construction. Utility Model Content

[0003] This application provides an excavation mechanism in which the position of the angle sensor is reasonably arranged to improve the safety and reliability of the angle sensor.

[0004] To achieve the above objectives, this application adopts the following technical solution:

[0005] The first aspect of this application provides an excavating mechanism, including a stick and a bucket hinged to one end of the stick. The excavating mechanism further includes: a power cylinder disposed on the stick and having a piston rod; a rocker arm, with a first end hinged to the stick and a second end hinged to the piston rod; a connecting rod, with a first end hinged to the second end of the rocker arm and the second end hinged to the bucket; a swing arm slidably disposed on the stick, with a first end hinged to the rocker arm; and an angle sensor disposed on the second end of the swing arm.

[0006] As an optional implementation, the swing arm has a sliding hole extending along its length; and the excavator further includes: a first fixing pin, which is fixed to the stick and engages with the sliding hole so that the swing arm is slidably mounted on the stick.

[0007] As an alternative implementation, the excavating mechanism is configured such that: the power cylinder drives the bucket to rotate about the hinge point between an extended state and a retracted state; and when the bucket is in the extended state, the first fixing pin abuts against the first end of the sliding hole near the first end of the swing arm; and when the bucket is in the retracted state, the first fixing pin abuts against the second end of the sliding hole near the second end of the swing arm.

[0008] As an alternative implementation, the excavating mechanism is configured such that when the bucket is in the retracted state, the maximum distance between the hinge point and the bucket is less than the distance between the hinge point and the second end.

[0009] As an optional implementation, the excavation mechanism further includes: a first cover plate disposed at the end of the first fixing pin to limit the swing arm.

[0010] As an alternative implementation, the first end of the pendulum is hinged to the middle of the rocker arm; or, the first end of the pendulum is hinged to the second end of the rocker arm.

[0011] As an alternative implementation, a drain trough is provided on the side of the swing arm facing the boom, with at least one end of the drain trough open to the outside of the swing arm to discharge debris from the swing arm.

[0012] As an alternative implementation, a support plate is provided on at least one side edge of the swing arm facing the boom, the support plate being used to protect the swing arm.

[0013] As an optional implementation, the excavation mechanism further includes: a second fixing pin, which passes through the rocker arm and the swing arm to hinge the rocker arm and the swing arm; and a second cover plate, which is disposed at the end of the second fixing pin and fixed to the swing arm to limit the second fixing pin.

[0014] A second aspect of this application provides an excavator including the excavation mechanism of any of the above.

[0015] In the excavation mechanism of this application, the bucket is hinged to one end of the stick, a power cylinder is mounted on the stick, the power cylinder has a piston rod, the first end of a rocker arm is hinged to the stick, the second end of the rocker arm is hinged to the piston rod, the first end of a connecting rod is hinged to the second end of the rocker arm, the second end of the connecting rod is hinged to the bucket, and a swing arm is slidably mounted on the stick, with its first end hinged to the rocker arm. Therefore, the second end of the swing arm is further away from the end of the stick, i.e., further away from the bucket. Thus, when the angle sensor is mounted on the second end of the swing arm, the angle sensor is further away from the working area of ​​the bucket, improving the safety and reliability of the angle sensor.

[0016] Furthermore, in the excavation mechanism of this application, the power cylinder drives the bucket to rotate around the hinge point between an extended state and a retracted state. When the bucket is in the extended state, the first fixing pin abuts against the first end of the sliding hole near the first end of the swing arm. When the bucket is in the retracted state, the first fixing pin abuts against the second end of the sliding hole near the second end of the swing arm. When the bucket is in the retracted state, the maximum distance between the hinge point and the bucket is less than the distance between the hinge point and the second end. A circle with the hinge point between the bucket and the stick as the center and the maximum distance between the hinge point and the bucket as the radius is designated as the risk zone, and the second end is located outside this risk zone. Since the second end of the swing arm is further away from the bucket than the second end of the sliding hole, the second end of the swing arm is also outside this risk zone. The angle sensor located at the second end of the swing arm is also outside this risk zone. Therefore, when the bucket is in the extended state, the angle sensor is also outside this risk zone, further improving the safety and reliability of the angle sensor. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the excavation mechanism when the bucket is in the retracted state in one embodiment of this application;

[0019] Figure 2 This is a schematic diagram of the excavation mechanism when the bucket is in the deployed state in one embodiment of this application;

[0020] Figure 3 This is a schematic diagram of the excavation mechanism in another embodiment of this application;

[0021] Figure 4 This is a schematic diagram of the risk area of ​​the excavating mechanism when the bucket is in the deployed state in one embodiment of this application;

[0022] Figure 5 This is a schematic diagram of the risk area of ​​the excavating mechanism when the bucket is in the retracted state in one embodiment of this application;

[0023] Figure 6 This is a schematic diagram of the back structure of the swing arm in an excavation mechanism according to an embodiment of this application;

[0024] Figure 7 This is a schematic diagram of the state of an excavation mechanism according to one embodiment of this application;

[0025] Figure 8 This is a flowchart of a bucket angle detection method for an excavator according to an embodiment of this application.

[0026] Explanation of reference numerals in the attached figures:

[0027] 100, boom; 200, bucket; 210, hinge point; 300, power cylinder; 310, piston rod; 400, rocker arm; 500, connecting rod; 600, swing arm; 610, sliding hole; 612, first end; 614, second end; 620, sludge trough; 630, support plate; 700, angle sensor; 810, first fixing pin; 820, first cover plate; 830, second fixing pin; 840, second cover plate. Detailed Implementation

[0028] In existing technologies, excavating machinery often encounters underwater operation scenarios. In related technologies, the sensor used to detect the bucket angle is generally placed near the bucket on the boom. However, this position is in the risk area of ​​excavation, which can easily damage the sensor and its wiring harness, affecting the construction.

[0029] To overcome the deficiencies in the prior art, this application provides a digging mechanism in which the bucket is hinged to one end of the stick, a power cylinder is mounted on the stick and has a piston rod, a rocker arm with its first end hinged to the stick and its second end hinged to the piston rod, a connecting rod with its first end hinged to the second end of the rocker arm and its second end hinged to the bucket, and a swing arm slidably mounted on the stick with its first end hinged to the rocker arm. Therefore, the second end of the swing arm is further away from the end of the stick, i.e., further away from the bucket. Thus, when the angle sensor is mounted on the second end of the swing arm, the angle sensor is further away from the working area of ​​the bucket, improving the safety and reliability of the angle sensor.

[0030] The contents of this application will now be described in detail with reference to the accompanying drawings, so that those skilled in the art can more clearly and thoroughly understand the contents of this application. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this application. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0031] See Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of the excavation mechanism in one embodiment of this application when the bucket is in the retracted state. Figure 2 This is a schematic diagram of the digging mechanism in one embodiment of the present application when the bucket is in the deployed state. The present application provides a digging mechanism for an excavator, which may include a stick 100, a bucket 200, a power cylinder 300, a rocker arm 400, and a connecting rod 500.

[0032] The bucket 200 is hinged to one end of the stick 100. A power cylinder 300 is mounted on the stick 100 and has a piston rod 310. A rocker arm 400 has its first end hinged to the stick 100 and its second end hinged to the piston rod 310. A connecting rod 500 has its first end hinged to the second end of the rocker arm 400 and its second end hinged to the bucket 200.

[0033] The power cylinder 300 can drive the piston rod 310 to extend and retract back and forth. The piston rod 310 drives the rocker arm 400 to rotate around the stick 100. In turn, the rocker arm 400 drives the connecting rod 500 to rotate around the rocker arm 400. Then, the connecting rod 500 drives the bucket 200 to rotate around the stick 100, thereby realizing the expansion and contraction of the bucket 200.

[0034] In this embodiment, since the second end of the rocker arm 400 is hinged to the piston rod 310 and the first end of the connecting rod 500 is hinged to the second end of the rocker arm 400, the second end of the rocker arm 400, the end of the piston rod 310, and the first end of the connecting rod 500 can share a common hinge axis.

[0035] In some embodiments, the digging mechanism may further include a swing arm 600 and an angle sensor 700. The swing arm 600 is slidably disposed on the boom 100, and a first end of the swing arm 600 is hinged to a rocker arm 400. The angle sensor 700 is disposed on a second end of the swing arm 600.

[0036] In this embodiment, the rocker arm 600 is slidably disposed on the stick 100, and the first end of the rocker arm 600 is hinged to the rocker arm 400. When the bucket 200 is driven to rotate, the power cylinder 300 drives the piston rod 310 to extend and retract back and forth, and the piston rod 310 drives the rocker arm 400 to rotate around the stick 100. At this time, the rocker arm 400 can pull or push the rocker arm 600 to slide on the stick 100.

[0037] Since the swing arm 600 is slidably mounted on the boom 100 and the first end of the swing arm 600 is hinged to the rocker arm 400, the second end of the swing arm 600 is further away from the end of the boom 100, that is, the second end of the swing arm 600 is further away from the bucket 200. Thus, when the angle sensor 700 is mounted on the second end of the swing arm 600, the angle sensor 700 is further away from the working area of ​​the bucket 200, which improves the safety and reliability of the angle sensor 700.

[0038] See Figure 1 and Figure 2 In some embodiments, the first end of the rocker arm 600 may be hinged to the middle of the rocker arm 400.

[0039] See Figure 3 , Figure 3 This is a schematic diagram of the excavation mechanism in another embodiment of this application. In another embodiment, the first end of the rocker arm 600 can also be hinged to the second end of the rocker arm 400. Since the second end of the rocker arm 400, the end of the piston rod 310, and the first end of the connecting rod 500 can share a common hinge axis, the structure can be simplified and the number of parts can be reduced.

[0040] See Figures 1 to 3 In some embodiments, the swing arm 600 has a sliding hole 610 extending along its length. The digging mechanism may also include a first fixing pin 810, which is fixed to the boom 100 and engages with the sliding hole 610 to allow the swing arm 600 to be slidably disposed on the boom 100.

[0041] When the bucket 200 is driven to rotate, the piston rod 310 of the power cylinder 300 extends and retracts, driving the rocker arm 400 to rotate around the stick 100. At this time, the rocker arm 400 can pull or push the swing arm 600 to slide on the stick 100. Since the first fixing pin 810 is slidably set in the sliding hole 610, the first fixing pin 810 plays a restraining role on the swing arm 600.

[0042] Furthermore, the power cylinder 300 drives the bucket 200 to rotate about the hinge point 210 between the extended and retracted states. See also Figure 2 When the bucket 200 is in the extended state, the first fixing pin 810 abuts against the first end 612 of the sliding hole 610 near the first end of the rocker arm 600. See also Figure 1 When the bucket 200 is in the retracted state, the first fixing pin 810 abuts against the second end 614 of the sliding hole 610 near the second end of the rocker arm 600.

[0043] In some specific embodiments, the hinge point 210 between the stick 100 and the bucket 200 is close to the opening of the bucket 200, and the hinge point 210 between the connecting rod 500 and the bucket 200 is located on the back of the bucket 200.

[0044] When the bucket 200 is in the extended state, the piston rod 310 of the power cylinder 300 is fully retracted, pulling the rocker arm 400 and connecting rod 500 to move to the back of the bucket 200, so that the bucket 200 is fully extended.

[0045] As the piston rod 310 of the power cylinder 300 gradually extends, the piston rod 310 drives the rocker arm 400 to rotate towards the end of the stick 100. The rocker arm 400 drives the connecting rod 500 to pass over the end of the stick 100 and push the bucket 200 out in the direction of piston rod 310 retraction, so that the bucket 200 gradually retracts. Finally, when the piston rod 310 is fully extended, the bucket 200 is in the retracted state.

[0046] In this embodiment, when the bucket 200 is in the extended state, the first fixing pin 810 abuts against the first end 612 of the sliding hole 610 near the first end of the rocker arm 600, and the first end 612 is the end of the sliding hole 610 near the bucket 200. When the bucket 200 is in the retracted state, the first fixing pin 810 abuts against the second end 614 of the sliding hole 610 near the second end of the rocker arm 600, and the second end 614 is the end of the sliding hole 610 away from the bucket 200. This design allows the sliding hole 610 to also serve a limiting function when the bucket 200 is in the extended and retracted states.

[0047] Furthermore, when the bucket 200 is in the retracted state, the maximum distance between the hinge point 210 and the bucket 200 is less than the distance between the hinge point 210 and the second end 614.

[0048] Combination Figure 4 and Figure 5 As can be seen from the above analysis, when the piston rod 310 is fully extended, the bucket 200 is in the retracted state; when the piston rod 310 is fully retracted, the bucket 200 is in the extended state. Therefore, compared to the extended state, when the bucket 200 is in the retracted state, the swing arm 600 is closer to the bucket 200.

[0049] In this embodiment, when the bucket 200 is in the retracted state, the maximum distance between the hinge point 210 and the bucket 200 is less than the distance between the hinge point 210 and the second end 614.

[0050] In other words, a circle with the hinge point 210 between the bucket 200 and the stick 100 as its center and the maximum distance between the hinge point 210 and the bucket 200 as its radius is designated as the risk zone, and the second end 614 is located outside this risk zone. The second end of the swing arm 600 is further away from the bucket 200 than the second end 614 of the sliding hole 610; therefore, the second end of the swing arm 600 is also outside this risk zone. The angle sensor 700, located at the second end of the swing arm 600, is also outside this risk zone. Thus, with the bucket 200 in the extended state and the angle sensor 700 also outside this risk zone, the safety and reliability of the angle sensor 700 are further improved.

[0051] In some embodiments, the excavation mechanism may further include a first cover plate 820 disposed at the end of the first fixing pin 810 to define the swing arm 600.

[0052] The outline of the first cover plate 820 protrudes from the sliding hole 610. For example, the first cover plate 820 can be set as a circle with a diameter larger than the width of the sliding hole 610. When installing the swing arm 600, the first fixing pin 810 is inserted through the sliding hole 610 of the swing arm 600, and the first cover plate 820 is installed at the end of the first fixing pin 810 by fasteners. This can prevent the swing arm 600 from detaching from the boom 100.

[0053] See Figure 6 , Figure 6 This is a schematic diagram of the back structure of the swing arm in an excavation mechanism according to one embodiment of this application. In some embodiments, a sludge trough 620 is provided on the side of the swing arm 600 facing the boom 100, and at least one end of the sludge trough 620 is open to the outside of the swing arm 600 to discharge debris on the swing arm 600.

[0054] Since the swing arm 600 is slidably mounted on the boom 100, the gap between the swing arm 600 and the boom 100 is relatively small. Debris between them needs to be discharged promptly to ensure the smooth operation of the swing arm 600. In this embodiment, a drain trough 620 is provided on the side of the swing arm 600 facing the boom 100. At least one end of the drain trough 620 is open to the outside of the swing arm 600. This allows debris such as mud and sewage that could affect the normal operation of the swing arm 600 to be discharged promptly through the drain trough 620, improving the stability and reliability of the swing arm 600.

[0055] In addition, the opening of the drain trough 620 can be set near the first end of the swing arm 600. Firstly, this position is far away from the angle sensor 700, so the discharged debris will not affect the angle sensor 700. Secondly, the opening of the drain trough 620 is generally facing downwards at this position, making it easier to discharge sewage.

[0056] See Figure 6 In some embodiments, the edge of the swing arm 600 facing at least one side of the boom 100 is provided with a support plate 630, which is used to protect the swing arm 600.

[0057] Specifically, support plates 630 can be formed on both sides of the swing arm 600. In this way, the two support plates 630 can effectively resist side impacts on both sides of the swing arm 600, thereby improving the stability and reliability of the swing arm 600.

[0058] In some embodiments, the digging mechanism may further include a second fixing pin 830 and a second cover plate 840. The second fixing pin 830 passes through the rocker arm 400 and the swing arm 600 to hinge the rocker arm 400 and the swing arm 600. The second cover plate 840 is disposed at the end of the second fixing pin 830 and fixed to the swing arm 600 to limit the second fixing pin 830.

[0059] The outline of the second cover plate 840 protrudes from the sliding hole 610. For example, the second cover plate 840 can be configured as a circle with a diameter larger than the width of the sliding hole 610. When installing the rocker arm 600, the second pin can pass through the rotation holes of the rocker arm 400 and the rocker arm 600. The second fixing pin 830 is installed at the end of the second fixing pin 830 and fixed to the rocker arm 600 by fasteners to lock the second fixing pin 830 in the rotation holes of the rocker arm 400 and the rocker arm 600, preventing the second fixing pin 830 from coming out.

[0060] See Figure 7 and Figure 8 , Figure 7 This is a schematic diagram of the state of an excavation mechanism according to one embodiment of this application. Figure 8 This is a flowchart of a bucket angle detection method for an excavator according to an embodiment of this application.

[0061] This application also provides a method for detecting the bucket angle of an excavating mechanism, wherein the excavating mechanism is the excavating mechanism in any of the above embodiments.

[0062] To facilitate the description of the bucket angle detection method in this embodiment, the points in the excavation mechanism are defined. Let A be the hinge point between the rocker arm 400 and the connecting rod 500, B be the hinge point between the rocker arm 400 and the stick 100, C be the hinge point between the rocker arm 400 and the swing arm 600, D be the hinge point between the stick 100 and the bucket 200, E be the hinge point between the connecting rod 500 and the bucket 200, F be the point furthest from point D on the bucket 200, and G be any point on the swing arm 600.

[0063] This bucket angle detection method can be achieved through the following steps:

[0064] Step S910: Obtain ∠CGB and ∠CGD.

[0065] Step S920: Based on the distance between CG, the distance between GD, and ∠CGD, obtain the distance between CD.

[0066] Step S930: Based on the distances between C and B, BD and CD, obtain ∠CBD.

[0067] Step S940: Based on the distances between AB, AC, and BC, obtain ∠CBA.

[0068] Step S950: Based on ∠CBD and ∠CBA, obtain ∠ABD. Combining the distance between AB and the distance between BD, the distance between AD can then be obtained.

[0069] Step S960: Obtain ∠ADE based on the distances between AD, DE, and EA.

[0070] Step S970: Obtain ∠BDF based on ∠ADE and ∠EDF.

[0071] In step S910, ∠CGB and ∠CGD change continuously with the movement of the pendulum 600, and ∠CGB and ∠CGD can be measured by the angle sensor 700 on the pendulum 600.

[0072] In step S920, the distances between CG and GD are both fixed angles, pre-recorded in memory after the excavator leaves the factory. The distance between CD can be obtained using the law of cosines. Specifically, |CD|=(|CG| 2 +|GD| 2 -2×|CG|×|GD|×cos∠CGD) 1 / 2 .

[0073] In step S930, since the distances between CB and BD are fixed values, they are pre-recorded in the memory after the excavator leaves the factory. The distance between CD is obtained in step S920. ∠CBD is obtained using the sine or cosine theorem. For example, when using the cosine theorem to find ∠CBD, ∠CBD = arccos[(|CB| 2 +|BD| 2 -|CD| 2 ) / 2×|CB|×|BD|。

[0074] In step S940, the distances between AB, AC, and BC are all fixed values, which can be pre-recorded in the memory after the excavator leaves the factory. ∠CBA is obtained using the sine or cosine theorem. For example, when using the cosine theorem to find ∠CBA, ∠CBA = arccos[(|CB| 2 +|BA| 2 -|AC| 2 ) / 2×|CB|×|BA|.

[0075] In step S950, ∠ABD = ∠CBD - ∠CBA. The distance between AD is found using the Law of Sines or the Law of Cosines. For example, when using the Law of Cosines to find AD, |AD| = (|AB|). 2 +|BD| 2 -2×|AB|×|BD|×cos∠ABD) 1 / 2 .

[0076] In step S960, in △ADE, the distances between AD, DE, and EA are all known. ∠ADE can be calculated using the Law of Sines or the Law of Cosines. For example, when using the Law of Cosines to calculate ∠ADE, ∠ADE = arccos[(|AD| 2 +|DE| 2 -|AE| 2 ) / 2×|AD|×|DE|.

[0077] In step S970, since the sum of ∠ADE, ∠EDF, and ∠BDF is 2π (360°), then ∠BDF = 2π - ∠EDF - ∠ADE. Therefore, ∠BDF can be used to measure the pitch angle of the bucket.

[0078] In other words, the excavator based on this embodiment, after setting up the swing arm 600 and placing the angle sensor 700 at the second end of the swing arm 600, not only can the safety and reliability of the angle sensor 700 be improved, but it can also assist in detecting the bucket angle.

[0079] This application provides an excavator, which generally includes a traveling device, a boom, a boom hydraulic cylinder, etc. The boom is mounted on the traveling device, the stick 100 is connected to the boom, and the boom hydraulic cylinder is disposed on the boom and is used to drive the stick 100 to perform pitching motion.

[0080] It should be noted that the terms "one embodiment," "embodiment," "exemplary embodiment," "some embodiments," etc., mentioned in the specification indicate that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Moreover, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not, is within the knowledge scope of those skilled in the art.

[0081] Generally speaking, terms should be understood at least in part by their use in context. For example, at least in part by context, the term "one or more" as used in the text can be used to describe any feature, structure, or characteristic of the singular meaning, or a combination of features, structures, or characteristics of the plural meaning. Similarly, at least in part by context, terms such as "a" or "the" can also be understood to convey either singular or plural usage.

[0082] It should be readily understood that the terms “on,” “above,” and “on top of” in this application should be interpreted in the broadest possible sense, such that “on” means not only “directly on something” but also “on something” with an intermediate feature or layer therebetween, and that “above” or “on top of” means not only “on something” but also “on something” without an intermediate feature or layer therebetween (i.e., directly on something).

[0083] Furthermore, for ease of explanation, spatially relative terms such as "below," "below," "under," "above," and "above" may be used to describe the relationship of one element or feature relative to other elements or features as shown in the figures. Spatially relative terms are intended to encompass different orientations of the device in use or operation other than those shown in the figures. The device may have other orientations (rotated 90° or in other orientations), and the spatially relative descriptive terms used herein may be interpreted accordingly.

[0084] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. An excavating mechanism, comprising a boom (100) and a bucket (200) hinged to one end of the boom (100), characterized in that, The excavation mechanism also includes: A power cylinder (300) is disposed on the boom (100) and has a piston rod (310); A rocker arm (400), the first end of which is hinged to the stick (100) and the second end of which is hinged to the piston rod (310); A connecting rod (500), the first end of which is hinged to the second end of the rocker arm (400), and the second end is hinged to the bucket (200); A swing arm (600) is slidably disposed on the boom (100), and the first end of the swing arm (600) is hinged to the rocker arm (400); An angle sensor (700) is disposed at the second end of the swing arm (600).

2. The excavating mechanism according to claim 1, characterized in that, The rocker arm (600) has a sliding hole (610) extending along its length; and, The excavation mechanism also includes: A first fixing pin (810) is fixed to the stick (100) and engages with the sliding hole (610) so that the swing arm (600) is slidably disposed on the stick (100).

3. The excavating mechanism according to claim 2, characterized in that, The excavation mechanism is configured as follows: The power cylinder (300) drives the bucket (200) to rotate about the hinge point (210) between the extended and retracted states; and, When the bucket (200) is in the unfolded state, the first fixing pin (810) abuts against the first end (612) of the sliding hole (610) near the first end of the swing arm (600); When the bucket (200) is in the retracted state, the first fixing pin (810) abuts against the second end (614) of the sliding hole (610) near the rocker arm (600).

4. The excavating mechanism according to claim 3, characterized in that, The excavation mechanism is configured as follows: When the bucket (200) is in the retracted state, the maximum distance between the hinge point (210) and the bucket (200) is less than the distance between the hinge point (210) and the second end (614).

5. The excavating mechanism according to claim 2, characterized in that, Also includes: A first cover plate (820) is disposed at the end of the first fixing pin (810) to limit the rocker arm (600).

6. The excavating mechanism according to any one of claims 1 to 5, characterized in that, The first end of the rocker arm (600) is hinged to the middle of the rocker arm (400); or, The first end of the rocker arm (600) is hinged to the second end of the rocker arm (400).

7. The excavating mechanism according to any one of claims 1 to 5, characterized in that, A drain trough (620) is provided on the side of the swing arm (600) facing the boom (100), and at least one end of the drain trough (620) is open to the outside of the swing arm (600) to discharge debris on the swing arm (600).

8. The excavating mechanism according to any one of claims 1 to 5, characterized in that, The swing arm (600) has a support plate (630) on at least one side edge facing the stick (100), and the support plate (630) is used to protect the swing arm (600).

9. The excavating mechanism according to any one of claims 1 to 5, characterized in that, Also includes: A second fixing pin (830) passes through the rocker arm (400) and the swing arm (600) to hinge the rocker arm (400) and the swing arm (600); A second cover plate (840) is disposed at the end of the second fixing pin (830) and fixed to the rocker arm (600) to limit the second fixing pin (830).

10. An excavator, characterized in that, Includes the excavation mechanism as described in any one of claims 1 to 9.

Images