Excavator Swing Control for Bucket Clearance During Loading
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Solution Overview
Problem
Existing work machines, such as hydraulic excavators, experience operator discomfort due to deviations between intended and actual operations during loading operations, particularly when avoiding interference with the loaded machine, leading to potential damage and the need for continuous bucket operation to prevent interference.
Innovation Solution
A work machine equipped with a controller that computes and controls the height and swing positions to avoid interference, decelerates the swing operation at a specific point, and coordinates the lifting and swinging movements to ensure smooth passage to the dumping position, reducing operator discomfort.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If the bucket position is kept low during transportation operation, then interference with the loaded machine is avoided, but the bucket may collide with the loaded machine when swinging
Solution Approach 1:
The control device performs preliminary action by automatically raising the bucket to a predetermined height before the swinging operation begins. This preliminary height adjustment ensures that the bucket will not interfere with the loaded machine during the subsequent swinging motion, while eliminating the need for the operator to manually coordinate bucket height with swing timing.
2Object-affected harmful factors
If the bucket position is raised high during transportation operation, then interference with the loaded machine is prevented, but the loaded machine may be damaged by impact from falling earth and sand
Solution Approach 1:
The control device applies local quality by raising the bucket to a specific predetermined height that is sufficient to clear the loaded machine during swinging, but not excessively high. This optimized height adjustment prevents both interference with the loaded machine and excessive drop height that would cause impact damage, achieving a locally optimized solution.
3Object-affected harmful factors
If the operator manually coordinates swing operation with bucket position, then interference and damage can be avoided, but operator skill and attention are required increasing operational complexity
Solution Approach 1:
The control device implements self-service by automatically performing the bucket height adjustment function that previously required operator skill and attention. The control device detects the swinging operation and autonomously raises the bucket to the predetermined height, eliminating the need for operator coordination and reducing operational complexity while maintaining safety.
Data Source
AI summary
Operations of an upper swing structure and a front work device are controlled such that a swing operation of the upper swing structure starts after a work tool starts only a lifting operation. The lifting operation and the swing operation are performed until the work tool reaches a height position of a passing position and only the swing operation is performed after the work tool reaches the height position of the passing position. The swing operation of the upper swing structure starts to decelerate at a swing deceleration start position, and only the swing operation is performed until the work tool reaches a swing position of the passing position to pass through the passing position. Accordingly, it is possible to reduce the discomfort feeling of an operator while realizing interference prevention at the time of a loading operation and a stop during the loading operation.