Shovel Control Device Excavation Reactive Force Feedback
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Solution Overview
Problem
Conventional shovels struggle to maintain consistent excavation amounts due to the bucket's underground operation, leading to inefficiencies and variations in work efficiency as the state of the bucket cannot be directly observed, affecting the control of excavation operations.
Innovation Solution
A control device for a shovel that calculates excavation reactive force, sets a target value based on this force, and supports subsequent operations to achieve consistent excavation amounts by adjusting hydraulic actuator operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the bucket operates underground during excavation, then the excavation function is achieved, but the state of the bucket cannot be directly observed leading to variations in excavation amount
Solution Approach 1:
The control device calculates excavation reactive force from hydraulic actuator data and uses this feedback to determine when the bucket is fully loaded, providing indirect observation of the underground bucket state to maintain consistent excavation amounts
Solution Approach 2:
The patent uses excavation reactive force as an intermediary parameter to indirectly measure the bucket loading state. Instead of directly observing the bucket, the system measures the reactive force transmitted through the hydraulic actuators during excavation operations
2Device complexity
If conventional control methods are used without excavation reactive force calculation, then the control system is simpler, but excavation amounts vary due to inability to observe bucket state
Solution Approach 1:
The control device uses existing sensor data from hydraulic actuators to calculate excavation reactive force, allowing the system to self-monitor its own operational state without requiring additional external observation equipment
Solution Approach 2:
The existing hydraulic actuator sensors serve dual purposes: controlling the excavation motion and providing data for calculating excavation reactive force to determine bucket loading state, eliminating the need for separate measurement systems
Data Source
AI summary
A control device for a shovel including a lower traveling body, an upper swivel body pivotably mounted on the lower traveling body, and an attachment attached to the upper swivel body. The control device for the shovel is configured to repeatedly calculate an excavation reactive force based on information related to an excavation operation performed by the attachment with respect to a constructing object at a work site, set a target value based on the excavation reactive force calculated during one or more excavation operations, each being the excavation operation, and support each excavation operation performed after the target value related to the excavation reactive force is set based on the target value related to the excavation reactive force.