Loading Machine Swing Control for Faster, Contact-Safe Tool Arrival
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Solution Overview
Problem
Existing loading machine control systems waste time in moving the work tool to a goal position due to delayed movement initiation, which affects work efficiency.
Innovation Solution
A control device for a loading machine that includes a swinging body, support, and work equipment with multiple link components, utilizing automated control to move the work tool from above a loading target to a goal position by outputting specific operation signals for swinging and actuating link components to expedite the process.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the work equipment is moved downward after the swinging body has swung to an angle at which the work equipment and the loading target do not overlap, then the loading target is protected from contact, but the work tool arrival time is delayed
Solution Approach 1:
The control device initiates downward movement of the work tool in advance during the swinging motion, before the swinging body reaches the angle where contact would be avoided. This preliminary action allows the work tool to start moving toward the goal position earlier, reducing arrival time while the control system ensures contact avoidance is maintained
Solution Approach 2:
The control device continuously monitors the swinging body angle and work tool position, using feedback to dynamically adjust the downward movement timing. This ensures that the work tool moves as early as possible while maintaining safe distance from the loading target throughout the swinging motion
2Productivity
If the work tool is moved quickly to the goal position, then work efficiency is improved, but the risk of contact with the loading target increases
Solution Approach 1:
The control device initiates downward movement of the work tool during the swinging motion itself, rather than waiting until the swing is complete. This preliminary action compresses the total time required to reach the goal position, improving productivity while the control system manages contact risk
Solution Approach 2:
The control device uses real-time feedback on swinging body angle and work tool position to dynamically control the downward movement. This feedback mechanism allows the system to move the work tool quickly when safe, and slow down or pause when approaching critical angles, thus improving productivity while maintaining safety
Data Source
AI summary
A movement control unit, during automated control, performs the processes below. The movement control unit outputs an operation signal for swinging a swinging body until a portion of the swinging body to which work equipment is attached faces a goal position. The movement control unit outputs an operation signal for upwardly actuating a first link component, which is one of multiple link components, when a work tool is positioned above a loading target. The movement control unit outputs an operation signal for downwardly actuating a second link component, which is one of the multiple link components, when the work tool is positioned above the loading target. The movement control unit outputs an operation signal for downwardly actuating the first link component and the second link component when the work tool is not positioned above the loading target.