Excavator Brake Release Timing for Boom and Arm Position Stability
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Solution Overview
Problem
Existing brake control systems in excavators fail to consider the torque due to the self-weight of working apparatuses, leading to unintended falling and sagging during brake release.
Innovation Solution
A method and device for controlling excavator brakes by determining a standby torque value and comparing it with the motor torque value to set an appropriate brake release timing, using apparatus status information including weight and position data to prevent unwanted movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the brake is released before the motor torque value reaches the standby torque value, then the brake release timing is early and operation is smooth, but the working apparatus falls and sags due to insufficient torque to support self-weight
Solution Approach 1:
The control device calculates the standby torque value in advance based on apparatus status information (weight and position) before brake release. This preliminary calculation allows the system to determine the exact torque threshold needed to support the working apparatus self-weight, ensuring the brake is released at the precise moment when motor torque equals standby torque, preventing falling and sagging while enabling smooth operation.
2Reliability
If the brake release timing is delayed until motor torque exceeds standby torque, then position stability is maintained, but operation efficiency and responsiveness are reduced
Solution Approach 1:
The control device continuously monitors the motor torque value and compares it with the pre-calculated standby torque value. When the motor torque value reaches or exceeds the standby torque value, the control device immediately triggers brake release. This real-time feedback mechanism ensures position stability is maintained while enabling rapid and efficient operation response.
3Device complexity
If the brake control system does not consider torque due to self-weight, then the control system is simple, but unintended falling and sagging of working apparatus occurs
Solution Approach 1:
The control device performs preliminary calculation of the standby torque value based on apparatus status information (weight and position of boom, arm, and bucket) before brake release. This advance preparation allows the simple control system to incorporate self-weight torque considerations without adding complex hardware, ensuring accurate position control and preventing falling and sagging.
Data Source
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AI summary
According to an embodiment, disclosed are obtaining apparatus status information including weight information and position information for one or more working apparatuses including at least one of a boom, an arm, and a bucket included in the excavator; obtaining a demand for controlling an electric motor that provides power to movement of one or more working apparatuses; determining a motor torque value for the electric motor as the demand is obtained; determining a standby torque value required for the one or more working apparatuses to maintain current position state by using the apparatus status information; determining a brake release timing for releasing the brake that restricts the movement of the one or more working apparatuses based on a comparison result of the motor torque value and the standby torque value; and a method for controlling the one or more working apparatuses according to the demand by releasing the brake based on the brake release timing, and a device and a recording medium for practicing the method.