Excavator Attachment Control for Deep Excavation Load Management
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Solution Overview
Problem
Existing shovels raise the boom during deep excavation to reduce excavation reaction force, which can inadvertently increase the force instead, leading to inefficiencies and potential interruption of deep excavation operations.
Innovation Solution
A shovel equipped with a posture detecting device, instability detecting device, and control device that adjusts the excavation attachment's posture by opening the arm or bucket during deep excavation when the excavation load exceeds a predetermined value, allowing for more precise control of excavation depth and reaction force.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If the boom is raised to reduce excavation depth during deep excavation, then the excavation depth is reduced, but the excavation reaction force increases
Solution Approach 1:
The control device segments the excavation attachment control into different strategies based on excavation depth. For deep excavation (when boom angle ≤ threshold), it controls the arm opening/closing instead of the boom raising/lowering. For normal excavation, it uses conventional boom control. This segmentation resolves the contradiction by applying different control mechanisms to different operational regimes.
Solution Approach 2:
The control device dynamically switches between different control strategies based on real-time detection of excavation depth (via boom angle sensor) and excavation load. When deep excavation is detected, it transitions from boom-raising control to arm-opening control, adapting the control approach to the current operational conditions to avoid increasing reaction force.
2Force
If the boom is raised automatically when excavation reaction force exceeds the upper limit, then the excavation reaction force is reduced, but deep excavation cannot be continued reducing work efficiency
Solution Approach 1:
The control device applies different control actions to different parts of the excavation attachment based on the operational context. During deep excavation, it specifically controls the arm (local component) opening/closing while allowing the boom to maintain its position, rather than globally raising the boom. This localized control reduces reaction force without interrupting deep excavation operations, maintaining work efficiency.
Solution Approach 2:
The control device changes the control parameters and target components based on excavation depth. When deep excavation is detected (boom angle ≤ threshold), it changes from controlling boom height to controlling arm opening degree. This parameter change allows the system to manage excavation reaction force through arm positioning rather than depth reduction, preserving deep excavation capability and work efficiency.
3Force
If the arm or bucket is opened to reduce excavation load, then the excavation reaction force is reduced, but the posture control complexity increases
Solution Approach 1:
The control device executes preliminary actions by proactively detecting deep excavation conditions (via boom angle threshold) and preemptively adjusting the arm opening degree before the excavation reaction force becomes excessive. The instability detection device monitors upper turning body stability in advance, allowing the system to take preventive control actions that simplify the overall control strategy by avoiding reactive corrections.
Solution Approach 2:
The control device uses feedback from the posture detection device (boom angle, arm angle, bucket angle sensors) and instability detection device (upper turning body stability) to continuously monitor excavation conditions. This feedback mechanism enables automatic adjustment of arm opening degree during deep excavation, managing excavation reaction force through closed-loop control without requiring complex manual intervention or overly sophisticated control algorithms.
Data Source
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AI summary
A shovel according to an embodiment of the present invention includes a lower traveling body (1), an upper turning body (3) mounted on the lower traveling body (1), an excavation attachment attached to the upper turning body (3), a posture detecting device (M1) configured to detect the posture of the excavation attachment, a cylinder pressure sensor (S1) configured to detect information on the instability of the upper turning body (3) due to an excavation load, and a controller (30) configured to correct the posture of the excavation attachment. The controller (30) is configured to open an arm (5) or a bucket (6) of the excavation attachment in response to determining, based on the outputs of the posture detecting device (M1) and the cylinder pressure sensor (S1), that the excavation load during deep excavation is more than or equal to a predetermined value.