Excavator Bucket Toe Angle Control for Lower Reaction Force
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Solution Overview
Problem
Existing excavators face a challenge in reducing excavation reaction force without compromising the excavation amount, as they typically address high excavation reaction forces by raising the boom, which can lead to reduced excavation efficiency.
Innovation Solution
An excavator system equipped with an attitude detecting device and a control device that adjusts the bucket toe angle based on the attachment's attitude, excavation ground shape, and operator input, allowing for real-time control of the bucket's angle to manage excavation reaction force while maintaining excavation efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If the boom is raised to reduce excavation reaction force, then the excavation reaction force is reduced, but the excavation amount decreases
Solution Approach 1:
The bucket toe angle is dynamically adjusted during excavation operations based on real-time detection of attachment attitude and ground shape information. The control device modifies the bucket toe angle from its initial set value according to the detected excavation conditions, allowing the system to adaptively optimize both excavation reaction force and excavation amount rather than using a fixed angle throughout operation.
Solution Approach 2:
The system changes the parameter of bucket toe angle based on detected excavation conditions. By detecting the attachment attitude (boom angle, arm angle, bucket angle) and ground shape, the control device calculates and adjusts the optimal bucket toe angle, transforming the excavation process from using a fixed parameter to using a dynamically changed parameter that optimizes both force reduction and productivity.
2Device complexity
If the bucket toe angle is fixed, then the control system is simple, but the excavation efficiency cannot be optimized for varying ground conditions
Solution Approach 1:
The system implements feedback control by detecting the attachment attitude during excavation and using this information to adjust the bucket toe angle. The attitude detecting device continuously monitors boom angle, arm angle, and bucket angle, and the control device uses this feedback along with ground shape information to calculate and apply the optimal bucket toe angle, creating a closed-loop control system that optimizes excavation efficiency.
Solution Approach 2:
The control device calculates and sets the bucket toe angle in advance based on detected ground shape information and initial attachment attitude before the excavation operation begins. This preliminary determination of the optimal angle allows the excavation to start with optimized parameters, and the angle can be further adjusted during operation as conditions change.
Data Source
AI summary
An excavator includes a lower traveling body; an upper turning body mounted on the lower traveling body; an attachment attached to the upper turning body; an attitude detecting device configured to detect an attitude of the attachment including a bucket; and a control device configured to control a toe angle of a toe of the bucket with respect to an excavation ground, based on a transition of the attitude of the attachment, information relating to a present shape of the excavation ground, and an operation content of an operation device relating to the attachment.