Working Machine Arm Cylinder Stroke Control for Boom Collision Prevention
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Solution Overview
Problem
Existing backhoe machines face challenges in maintaining a consistent shortest trajectory distance between the boom cylinder and the working tool's turn trajectory, leading to potential interference and reduced operational efficiency when the boom changes position.
Innovation Solution
A controller device is implemented to set the allowable-stroke range of the arm cylinder based on the boom's turn position, ensuring the shortest trajectory distance remains at a predetermined value, even when the boom moves away from its reference position, thereby preventing interference and enhancing operational flexibility.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the arm cylinder stroke range is kept constant regardless of boom position, then the structure is simple, but the working tool may collide with the boom cylinder
Solution Approach 1:
The allowable stroke range of the arm cylinder is made dynamic by adjusting it according to the boom's turn position. The controller device continuously monitors the boom position and modifies the arm cylinder's maximum and minimum stroke positions accordingly, ensuring the working tool maintains a safe distance from the boom cylinder throughout operation.
Solution Approach 2:
The stroke range parameters of the arm cylinder are changed based on the boom's angular position. The controller device calculates appropriate minimum and maximum stroke positions as functions of the boom turn angle, dynamically adjusting these parameters to prevent collision while maximizing operational flexibility.
2Reliability
If the arm cylinder stroke range is limited to prevent collision, then safety is improved, but operational flexibility is reduced
Solution Approach 1:
The system dynamically adjusts the arm cylinder's allowable stroke range based on the boom's real-time position. When the boom is in positions that create collision risk, the stroke range is constrained; when the boom position allows greater freedom, the stroke range is expanded, thereby maintaining both safety and operational flexibility.
Solution Approach 2:
The controller device receives feedback about the boom's turn position and uses this information to adjust the arm cylinder's stroke limits. This closed-loop control ensures that the working tool remains at a safe distance from the boom cylinder while allowing maximum operational freedom within the safe zone.
3Length of moving object
If the shortest trajectory distance varies with boom position, then the arm can reach further positions, but collision risk increases
Solution Approach 1:
The minimum stroke position parameter of the arm cylinder is adjusted as a function of the boom's turn position. This dynamic parameter change ensures that even when the arm reaches extended positions, the working tool maintains a predetermined safe distance from the boom cylinder, preventing collision while maximizing reach.
Data Source
AI summary
A working machine includes a controller device to set an allowable-stroke range of the arm cylinder moving the arm toward the boom depending on a turn position of the boom such that a shortest trajectory distance that is a shortest distance between the boom cylinder and a turn trajectory of the tip end portion of the bucket is kept at a predetermined value even when the turn position of the boom changes, in a case where the boom is turned in a direction separating from a boom reference position.