Boom Swing Control for Bucket Height During Loading Conveyance
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Solution Overview
Problem
Existing loading machine control devices can cause operators to feel uncomfortable due to the specific trajectory the bucket must follow from the excavation complete position to the dirt dumping position, which involves an interference avoiding position.
Innovation Solution
A work machine equipped with an upper swing body, a working device with a boom, arm, and bucket, a posture detecting device, an object detecting device, and a control device that calculates an allowable range for the bucket's height movement and controls the boom's turn operation to maintain this range during the convey operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the bucket position is low with respect to the loaded machine, then the front work device does not interfere with the loaded machine, but the conveyed target object cannot be effectively loaded
Solution Approach 1:
The patent applies dynamics by making the boom height dynamically adjustable during the convey operation. The control device automatically raises or lowers the bucket height based on real-time detection of the loaded machine's position and the swing angle, allowing the system to adapt the bucket trajectory to avoid interference while maintaining loading efficiency.
Solution Approach 2:
The patent implements feedback through the object detecting device that continuously monitors the loaded machine's position and the posture detecting device that tracks the swing angle. This feedback information is fed to the control device, which automatically adjusts the boom height to optimize the convey trajectory, resolving the contradiction between interference avoidance and loading efficiency.
2Productivity
If the bucket position is high with respect to the loaded machine, then the convey operation is efficient, but the dumped target object damages the loaded machine
Solution Approach 1:
The system dynamically adjusts the bucket height during the operation based on real-time conditions. The control device calculates the optimal height range by considering the swing angle and loaded machine position, automatically lowering the bucket before dumping to prevent damage while maintaining efficient convey operation.
Solution Approach 2:
The patent applies preliminary action by automatically adjusting the bucket height in advance before the dumping operation. The control device predicts the potential damage risk based on the current trajectory and swing angle, and proactively modifies the boom position to ensure safe dumping, preventing harm before it occurs.
3Ease of operation
If automatic control is implemented to avoid interference, then the operator's workload is reduced, but the operator feels uncomfortable due to the fixed trajectory
Solution Approach 1:
The patent resolves this contradiction by making the automatic control system dynamic rather than fixed. The control device continuously adjusts the bucket trajectory based on real-time feedback from detection devices, allowing the system to adapt to different operating conditions and operator preferences while maintaining automatic interference avoidance.
Solution Approach 2:
The system changes operational parameters dynamically by adjusting the boom height based on swing angle and loaded machine position. This parameter adaptation allows the automatic control to provide flexible trajectories that maintain ease of operation while avoiding the discomfort of rigid fixed paths.
Data Source
AI summary
Provided is a work machine that allows assisting a loading work without giving uncomfortable feeling to an operator. The control device 40 of the work machine 1 includes an allowable range calculation section 46 that calculates an allowable range indicating a range in which the front work device 2 is movable in a height direction allowed in a swing operation; an operation determining section 45 that determines whether the work machine 1 is under a convey operation; and an operation control section 4 that controls a turn operation of a boom 8 such that the position of the front work device 2 in the height direction remains within the allowable range when the work machine 1 is determined to be under the convey operation.