Excavator Bucket Angle Control for Smooth Ground Penetration
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Solution Overview
Problem
Conventional hydraulic shovels that maintain a constant bucket angle during excavation struggle with smooth excavation when a large amount of earth and sand remains on the design surface, as the bucket tip fails to penetrate the ground effectively.
Innovation Solution
A shovel equipped with an attitude detection device to calculate a target angle based on the bucket's shape and target surface, combined with a control device to adjust the bucket's angle dynamically, ensuring smoother excavation by enhancing the bucket's ability to penetrate the ground.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the bucket angle is maintained at a constant angle, then the excavation work can be performed with stable control, but the claw tip fails to penetrate the ground effectively when a large amount of earth and sand remains on the design surface
Solution Approach 1:
The patent applies dynamics by transitioning from constant angle control to dynamic angle adjustment. The control device calculates a target angle based on the distance between the claw tip and the design surface, and the bucket angle is continuously adjusted according to this calculated target angle. This dynamic adjustment enables the claw tip to penetrate the ground effectively when earth and sand remain on the design surface, while maintaining stable control during excavation work.
2Productivity
If the bucket angle is adjusted dynamically to improve penetration, then the excavation work becomes smoother, but the control system complexity increases
Solution Approach 1:
The patent implements feedback control where the control device receives information about the distance between the claw tip and the design surface from the attitude detection device, calculates an appropriate target angle based on this feedback, and adjusts the bucket angle accordingly. This feedback mechanism enables smooth excavation with improved penetration while keeping the control logic relatively simple and straightforward.
Solution Approach 2:
The patent replaces complex mechanical angle adjustment mechanisms with a control device that calculates the target angle based on detected position information. Instead of using multiple mechanical linkages and actuators to achieve angle adjustment, the system uses electronic control to actuate the bucket, simplifying the overall control system while achieving smooth excavation.
Data Source
AI summary
A shovel includes a lower traveling body, an upper turning body turnably mounted on the lower traveling body, an attachment attached to the upper turning body, and an attitude detection device (a boom angle sensor, an arm angle sensor, a bucket angle sensor, a machine attitude sensor, and a turning angle sensor), and a controller configured to calculate a target angle related to a working angle formed by a plane or a line determined based on a shape of a bucket included in the attachment and a target surface. The controller changes the target angle in accordance with the attitude of the attachment and information relating to the target surface.