CN112281940A

CN112281940A - Excavator and control method thereof

Info

Publication number: CN112281940A
Application number: CN202011119205.3A
Authority: CN
Inventors: 项伟; 徐乾秩; 周鹏举
Original assignee: Sany Heavy Machinery Ltd
Current assignee: Sany Heavy Machinery Ltd
Priority date: 2020-10-19
Filing date: 2020-10-19
Publication date: 2021-01-29
Anticipated expiration: 2040-10-19
Also published as: WO2022083186A1; EP4230803A1; EP4230803A4; CN112281940B

Abstract

The invention discloses an excavator and a control method of the excavator, and relates to the technical field of bucket control. This excavator includes: the detection device is used for detecting the motion data of the bucket or detecting the motion data of the boom cylinder, the bucket cylinder and the bucket cylinder; the controller is arranged on the machine body, is electrically connected with the detection device and is used for receiving the movement data and determining a preset action mode of the bucket oil cylinder when the bucket moves to a preset position, and the controller is further configured to control the bucket oil cylinder to stretch and retract according to the preset action mode so as to drive the bucket to move until the bucket moves to the preset position. This excavator passes through the cooperation of detection device and controller, when adjusting the angular position of scraper bowl, only needs the flexible of control scraper bowl hydro-cylinder a part to realize to can reduce the operation degree of difficulty, avoid appearing the operation incoordination, thereby guarantee that the scraper bowl carries out the efficiency and the quality of each item work.

Description

Excavator and control method thereof

Technical Field

The invention relates to the technical field of bucket control, in particular to an excavator and a control method of the excavator.

Background

In the prior art, a working device of an excavator generally comprises three main action components, namely a movable arm, an arm and a bucket, and when the angle of the bucket needs to be adjusted, the operation is generally realized by simultaneously controlling and coordinating the motion states of the movable arm, the arm and the bucket, so that the operation difficulty is high, and the situation of inconsistent actions or blanking caused by poor control of the angle of the bucket often occurs due to inexperienced excavator operating hands. Particularly, when some excavation objects are objects which are easy to lose like muddy water, when the movable arm and the bucket rod are controlled to move, a certain amount of materials are lost due to a small bad angle of the bucket, and excavation efficiency is affected.

Disclosure of Invention

The invention aims to provide an excavator and an excavator control method, which can be realized by controlling the extension and retraction of one part of a bucket oil cylinder when the angle position of a bucket is adjusted through the matching of a detection device and a controller, so that the operation difficulty can be reduced, the occurrence of operation incompatibility is avoided, and the efficiency and the quality of various operations of the bucket are ensured.

Embodiments of the invention may be implemented as follows:

in a first aspect, an embodiment of the present invention provides an excavator, where the excavator includes an excavator body, a power device, a bucket, and a bucket cylinder, where one end of the power device is connected to the excavator body, and the other end of the power device is hinged to the bucket and used for driving the bucket to move, and one end of the bucket cylinder is connected to the power device, and the other end of the bucket cylinder is in transmission connection with the bucket and used for driving the bucket to rotate relative to the power device; the excavator further includes:

the detection device is used for detecting the motion data of the bucket or the motion data of the power device and the bucket oil cylinder; the controller is arranged on the machine body, is electrically connected with the detection device and is used for receiving the movement data and determining a preset action mode of the bucket oil cylinder when the bucket moves to a preset position, and the controller is further configured to control the bucket oil cylinder to stretch and retract according to the preset action mode so as to drive the bucket to move until the bucket moves to the preset position.

In an alternative embodiment, the detection device comprises a horizontal angle sensor, wherein the horizontal angle sensor is arranged on the bucket and used for detecting the real-time position angle of the bucket;

the controller is electrically connected with the horizontal angle sensor and is configured to receive the real-time position angle and determine a preset action mode of the bucket cylinder when the bucket moves to the preset position, and the controller is further configured to control the bucket cylinder to stretch and retract according to the preset action mode so as to drive the bucket to move until the real-time position angle detected by the horizontal angle sensor is the position angle of the bucket at the preset position.

In an alternative embodiment, the power plant includes a boom, an arm, a boom cylinder, and an arm cylinder;

the movable arm is arranged on the machine body, one end of the bucket rod is connected with the movable arm, the other end of the bucket rod is hinged with the bucket, one end of the movable arm oil cylinder is arranged on the machine body, the other end of the movable arm oil cylinder is in transmission connection with the movable arm and used for driving the movable arm to move, one end of the bucket rod oil cylinder is arranged on the movable arm, and the other end of the bucket rod oil cylinder is in transmission connection with the;

the controller is configured to calculate a preset telescopic amount of the bucket cylinder when the bucket is located at a preset position according to the real-time telescopic amounts of the boom cylinder and the arm cylinder, and control the bucket cylinder to stretch according to the preset telescopic amount.

In an alternative embodiment, the detection device includes a first stroke sensor, a second stroke sensor and a third stroke sensor, the first stroke sensor is disposed on the boom cylinder and used for detecting a real-time stretching amount of the boom cylinder, the second stroke sensor is disposed on the arm cylinder and used for detecting a real-time stretching amount of the arm cylinder, and the third stroke sensor is disposed on the bucket cylinder and used for detecting a real-time stretching amount of the bucket cylinder;

the controller is configured to calculate a preset telescopic amount of the bucket cylinder when the bucket is located at a preset position according to real-time telescopic amounts of the boom cylinder and the arm cylinder, and control the bucket cylinder to be telescopic according to the preset telescopic amount.

In an alternative embodiment, the preset position is a horizontal position or a fixed angle position.

In an optional embodiment, the excavator further comprises a first switch and a second switch which are arranged on the body, the first switch and the second switch are both electrically connected with the controller and used for sending instructions to the controller, the first switch is used for sending instructions to the controller that the bucket moves to the horizontal position, and the second switch is used for sending instructions to the controller that the bucket moves to the fixed angle position;

alternatively, the first and second electrodes may be,

the excavator further comprises a touch display screen, and the touch display screen is electrically connected with the controller and used for sending instructions to the controller.

In an alternative embodiment, the excavator further comprises a handle, and the first switch and the second switch are both disposed on the handle.

In an alternative embodiment, the handle comprises a first handle and a second handle, the first switch is disposed on the first handle, and the second switch is disposed on the second handle.

In an alternative embodiment, the first switch is disposed on a side portion of the first handle and the second switch is disposed on a top portion of the second handle;

alternatively, the first and second electrodes may be,

the first switch is arranged at the top of the first handle, and the second switch is arranged at the side of the second handle.

In a second aspect, an embodiment of the present invention provides a control method for an excavator according to any one of the preceding embodiments, including:

detecting the motion data of the power device and the bucket oil cylinder through a detection device; or detecting movement data of the bucket;

receiving the motion data through a controller, and determining a preset action mode of a bucket oil cylinder when the bucket is located at a preset position;

the controller controls the bucket oil cylinder to stretch and retract according to a preset action mode so as to drive the bucket to move until the bucket moves to a preset position.

The embodiment of the invention has at least the following advantages or beneficial effects:

the embodiment of the invention provides an excavator and a control method of the excavator; the excavator comprises an excavator body, a power device, a bucket and a bucket oil cylinder, wherein one end of the power device is connected with the excavator body, the other end of the power device is hinged with the bucket and used for driving the bucket to move, one end of the bucket oil cylinder is connected with the power device, and the other end of the bucket oil cylinder is in transmission connection with the bucket and used for driving the bucket to rotate relative to the power device; the excavator further includes: the detection device is used for detecting the motion data of the bucket or the motion data of the power device and the bucket oil cylinder; the controller is arranged on the machine body, is electrically connected with the detection device and is used for receiving the movement data and determining a preset action mode of the bucket oil cylinder when the bucket moves to a preset position, and the controller is further configured to control the bucket oil cylinder to stretch and retract according to the preset action mode so as to drive the bucket to move until the bucket moves to the preset position. This excavator passes through the cooperation of detection device and controller, when adjusting the angular position of scraper bowl, only needs the flexible of control scraper bowl hydro-cylinder a part to realize to can reduce the operation degree of difficulty, avoid appearing the operation incoordination, thereby guarantee that the scraper bowl carries out the efficiency and the quality of each item work.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic structural diagram of an excavator according to an embodiment of the present invention;

FIG. 2 is a schematic, fragmentary illustration of an excavator according to an embodiment of the present invention;

FIG. 3 is a schematic, fragmentary illustration of a second excavator provided in accordance with embodiments of the present invention;

fig. 4 is a schematic partial diagram of an excavator according to an embodiment of the present invention.

Icon: 100-an excavator; 101-a fuselage; 103-a bucket; 105-a bucket cylinder; 107-a boom; 109-boom cylinder; 111-a dipper; 113-bucket rod cylinder; 117-horizontal angle sensor; 119-a first handle; 121-a second handle; 123-a first switch; 125-a second switch; 127-boom cylinder stroke sensor; 129-dipper cylinder travel sensor; 133-controller.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. indicate an orientation or a positional relationship based on that shown in the drawings or that the product of the present invention is used as it is, this is only for convenience of description and simplification of the description, and it does not indicate or imply that the device or the element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.

Furthermore, the appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.

Fig. 1 is a schematic structural diagram of an excavator 100 according to the present embodiment. Referring to fig. 1, the present embodiment provides an excavator 100, which specifically includes a body 101, a power device, a bucket 103 and a bucket cylinder 105.

In detail, the power device is disposed on the body 101, and one end of the power device is fixedly connected to the body 101, and the other end of the power device is hinged to the bucket 103, so as to drive the bucket 103 to move in space. The power plant specifically includes a boom 107, an arm 111, a boom cylinder 109, and an arm cylinder 113. The movable arm 107 is arranged on the body 101, one end of the arm 111 is connected with the movable arm 107, the other end of the arm is hinged to the bucket 103, one end of the arm cylinder 109 is arranged on the body 101, the other end of the arm cylinder is in transmission connection with the movable arm 107 and used for driving the movable arm 107 to move, one end of the arm cylinder 113 is arranged on the movable arm 107, and the other end of the arm cylinder is in transmission connection with the arm 111 and used for driving the arm 111 to move so as to drive. The engagement of the boom 107, the arm 111, the boom cylinder 109, and the arm cylinder 113 allows the bucket 103 to perform work such as excavation at various positions.

In detail, one end of the bucket cylinder 105 is connected with the power device, and the other end of the bucket cylinder is in transmission connection with the bucket 103, so as to drive the bucket 103 to rotate relative to the power device, so that the angle position of the bucket 103 relative to the power device is adjustable, and the position angle of the bucket 103 is conveniently adjusted, so as to meet the operation requirements of the bucket 103 on each angle position, for example, when materials are already contained in the bucket 103, the bucket 103 needs to be ensured to be horizontal, so as to avoid the occurrence of phenomena such as blanking.

In the prior art, the adjustment of the angle position of the bucket 103 is often completed through the cooperative matching of the movable arm 107, the arm 111 and the bucket 103, the operation is complex and not beneficial to novice operation, and when some excavation objects are objects which are easy to lose like muddy water, and when the movable arm 107 and the arm 111 are controlled to move, the angle of the bucket 103 is slightly poor, so that a certain amount of material is lost, and the excavation efficiency is affected. Thus, the present embodiment improves the structure of the excavator 100 by adding the detection device for detecting the movement data of the bucket 103 or the movement data of the power unit (i.e., the boom cylinder 109 and the arm cylinder 113) and the bucket cylinder 105 and the controller 133; the controller 133 is disposed on the body 101, electrically connected to the detecting device, and configured to receive the motion data and determine a preset motion mode of the bucket cylinder 105 when the bucket 103 moves to a preset position, and the controller 133 is further configured to control the bucket cylinder 105 to extend and retract according to the preset motion mode to drive the bucket 103 to move until the bucket 103 moves to the preset position. When the angle position of the bucket 103 is adjusted through the arrangement and the matching of the detection device and the controller 133, the adjustment can be realized by controlling the extension and retraction of one part of the bucket cylinder 105, so that the operation difficulty can be reduced, the occurrence of operation incoordination can be avoided, and the efficiency and the quality of each work of the bucket 103 can be ensured. The modified parts of the excavator 100 will be described in detail below, but the unmodified parts are the same as the existing excavator 100 in structure, and the detailed description of the embodiment is omitted.

FIG. 2 is a schematic diagram of a portion of the excavator 100 according to the present embodiment; fig. 3 is a schematic partial diagram of the excavator 100 according to the present embodiment. Referring to fig. 2 and 3, in the present embodiment, the detecting device may be specifically selected as a horizontal angle sensor 117. And the horizontal angle sensor 117 is disposed on a sidewall of the bucket 103 for detecting a real-time position angle of the bucket 103, so as to know a specific position state of the bucket 103. When the detection device is the horizontal angle sensor 117, the controller 133 is electrically connected to the horizontal angle sensor 117, and the controller 133 is configured to receive the real-time position angle and determine a preset motion pattern of the bucket cylinder 105 when the bucket 103 moves to the preset position, so as to facilitate subsequent control of the bucket cylinder 105. After the preset action mode is determined, the controller 133 is configured to control the bucket cylinder 105 to extend and retract according to the preset action mode to drive the bucket 103 to move until the real-time position angle detected by the horizontal angle sensor 117 is the position angle of the bucket 103 at the preset position, so that the bucket 103 is kept at the preset position in real time.

It should be noted that, in the present embodiment, the preset position may be a horizontal position, and may also be a fixed angle position. Here, the fixed angular position means that the bucket 103 is fixed at an arbitrary angle other than the horizontal position and does not change. Of course, in other embodiments, the selection of the preset position may also be adjusted, and this embodiment is not limited.

In detail, referring to fig. 2 again, in the present embodiment, when the preset position is the horizontal position, in order to prevent the material from falling when the excavator transfers the material, the bucket 103 must be kept in the horizontal state as far as possible, that is, the bucket needs to be kept in the horizontal position. At this time, by setting the horizontal angle sensor 117, data of a real-time position angle of the bucket 103 in the horizontal direction can be acquired in real time, and the data of the real-time position angle can be transmitted to the controller 133. The controller 133, after receiving the real-time position angle data, can determine the specific angle of the bucket 103 at that time, and calculate the preset action mode of the bucket cylinder 105 when the bucket 103 is adjusted to be horizontal (i.e., how the bucket cylinder 105 extends and retracts to reach the preset position); when the controller 133 determines how to adjust, it may send an action command to the bucket cylinder 105, and after receiving the command, the bucket cylinder 105 extends and retracts according to a preset action mode to drive the bucket 103 to move until the horizontal angle sensor 117 detects the horizontal position of the bucket 103. That is, by such an arrangement, when bucket 103 needs to be kept horizontal, bucket cylinder 105 can be controlled to extend and retract by horizontal angle sensor 117 provided on bucket 103 in cooperation with controller 133, so that bucket 103 is adjusted to the horizontal position. That is, with this arrangement, the horizontal position of the bucket 103 can be ensured only by adjusting the extension and retraction of the bucket cylinder 105, and the driving cooperation between the boom cylinder 109 and the arm cylinder 113 is not required, so that the work load can be reduced, the operation can be made simpler and more convenient, and the work efficiency and quality can be ensured.

In detail, referring to fig. 3, when the preset position is a fixed angle position, under some working conditions, it is required that the bucket 103 always keeps a certain angle with the horizontal plane, which can be realized by this function. The specific operation process comprises the following steps: the target position angle is recorded, for example, by detecting the target position angle when the bucket 103 is at the preset position by the horizontal angle sensor 117, and then the information of the target position angle is transmitted to the controller 133. The controller 133 records the information of the position angle at this time, and sets it as the target position angle. Then, when the angle of the bucket 103 changes due to the movement of the boom 107 and the arm 111, the controller 133 may send a predetermined movement signal to the bucket cylinder 105 to move to the target position angle, so that the bucket 103 may be always kept at the predetermined angle with respect to the horizontal plane. That is, when the preset position is the fixed angle position, the information that the bucket 103 is located at the target position angle needs to be collected first, and then the information is used as the target angle information, so that when the position of the bucket 103 deviates from the target angle information, the controller 133 controls the bucket cylinder 105 to drive the bucket 103 to move. Through the arrangement, the adjustment of any position of the bucket 103 can be realized by controlling the extension and retraction of one bucket oil cylinder 105, so that the operation difficulty can be reduced, the occurrence of operation incoordination is avoided, and the efficiency and the quality of various operations of the bucket 103 are ensured.

Fig. 4 is a schematic partial diagram of the excavator 100 according to the present embodiment. Referring to fig. 4, since the bucket 103 needs to contact an excavation object when working, the sensor provided thereon is easily damaged, and the wiring needs to be specially protected, and the functional stability is easily affected by the working condition. Thus, in the present embodiment, detection means may be further provided to the boom cylinder 109, the arm cylinder 113, and the bucket cylinder 105 as needed for detecting the real-time expansion and contraction amounts of the boom cylinder 109, the arm cylinder 113, and the bucket cylinder 105. At this time, the controller 133 is configured to calculate a preset expansion amount of the bucket cylinder 105 when the bucket 103 is located at a preset position based on the real-time expansion amounts of the boom cylinder 109 and the arm cylinder 113, and to control the bucket cylinder 105 to expand and contract according to the preset expansion amount. That is, by such an arrangement, it is not necessary to control the boom 107, the arm 111, and the bucket 103 to move to the preset positions at the same time, and it is only necessary to adjust the bucket 103 to the preset position when the positions of the boom 107 and the arm 111 are fixed, thereby effectively simplifying the operation procedure.

In detail, the detection means includes a first stroke sensor, a second stroke sensor, and a third stroke sensor. The first stroke sensor is disposed at the boom cylinder 109, that is, the boom cylinder stroke sensor 127, and may be configured to detect a real-time expansion amount of the boom cylinder 109. The second stroke sensor is disposed on arm cylinder 113, i.e., arm cylinder stroke sensor 129, which can be used to detect the real-time amount of extension and retraction of arm cylinder 113. The third stroke sensor is disposed on the bucket cylinder 105, that is, the stroke sensor of the bucket cylinder 105, and is configured to detect a real-time expansion amount of the bucket cylinder 105.

Therefore, the position of the excavator boom 107 and the arm 111 at this time can be calculated by the boom cylinder stroke sensor 127 and the arm cylinder stroke sensor 129. When the positions of the boom 107 and the arm 111 are determined, the only solution within the stroke range of the bucket cylinder 105 at this time is to make the bucket 103 be at a preset position, which may be a horizontal position or a fixed angle position. By this principle, when the working device is operated, the boom cylinder stroke sensor 127 and the arm cylinder stroke sensor 129 can transmit real-time stroke values of the boom cylinder 109 and the arm cylinder 113 to the controller 133. After the controller 133 receives the real-time stroke data of the boom cylinder 109 and the arm cylinder 113, it can calculate how much the stroke of the bucket cylinder 105 (i.e., the preset expansion amount of the bucket cylinder 105) needs to be reached to move to the horizontal position or the fixed angle position according to the preset formula. And sets this preset amount of extension and retraction as the operation target value of the bucket cylinder 105. Then, the controller 133 controls the bucket cylinder 105 to extend and retract according to the preset extension and retraction amount, and the bucket cylinder sensor detects in real time to realize the function of constantly keeping the bucket 103 horizontal or fixing the angle.

Of course, in other embodiments, the horizontal angle sensor 117 may be disposed on the bucket 103, or stroke sensors may be disposed on the boom cylinder 109, the arm cylinder 113, and the bucket cylinder 105, respectively, so that the position of the bucket 103 is adjusted more conveniently, which is not limited in this embodiment.

Referring to fig. 2 to 4 again, in the present embodiment, no matter what kind of sensor is used in the detection device, in the present embodiment, for the convenience of the operation of the operator such as the driver or the worker, the first switch 123 and the second switch 125 may be disposed on the main body 101. The first switch 123 and the second switch 125 are electrically connected to the controller 133 and are used for sending a command to the controller 133, the first switch 123 is used for sending a command to the controller 133 to move the bucket 103 to a horizontal position, and the second switch 125 is used for sending a command to the controller 133 to move the bucket 103 to a fixed angle position. Through the setting of first switch 123 and second switch 125, can be convenient for operating personnel to regulate and control scraper bowl 103, and realize the adjustment of two positions respectively through two switches, also can be convenient for operating personnel distinguish, avoid taking place to obscure. Of course, in other embodiments, the first switch 123 and the second switch 125 may be replaced by a touch display screen, and the touch display screen is electrically connected to the controller 133 for sending instructions to the controller 133.

Preferably, the excavator 100 further includes a handle, which is an original handle for the excavator 100 to perform the excavating operation, that is, in this embodiment, the first switch 123 and the second switch 125 may be integrated with the handle to facilitate the operation of the operator.

Further preferably, since the excavator 100 generally includes two handles, in order to facilitate operator differentiation, the handles may be divided into a first handle 119 and a second handle 121, and the first switch 123 is disposed on the first handle 119 and the second switch 125 is disposed on the second handle 121. Through setting up like this, when operating personnel need adjust the angular position of scraper bowl 103, then the accessible corresponds the handle of position go on can to liberation a handle control object, a handle only controls a part and gets the purpose when realizing the material transfer, and the operation is simple more accurate, avoids causing the emergence of the blanking condition because of scraper bowl 103 angular control is not good.

Further, in order to avoid the interference of the function with the normal digging and discharging actions, the first switch 123 may be disposed at the side of the first handle 119, and the second switch 125 may be disposed at the top of the second handle 121, on the premise that the function is set to be manually turned on. The first switch 123 and the second switch 125 are similar to horn buttons, and when the handle is operated, the handle is opened by lightly pressing with fingers and is released to be closed, so that the operation is convenient. Of course, in other embodiments, the first switch 123 may be disposed on the top of the first handle 119, and the second switch 125 may be disposed on the side of the second handle 121, which is not limited in this embodiment.

The present embodiment further provides a control method of the excavator 100, which specifically includes:

s1: detecting the motion data of the power device and the bucket cylinder 105 through a detection device; alternatively, the movement data of the bucket 103 is detected;

s2: receiving the motion data through the controller 133, and determining a preset motion mode of the bucket cylinder 105 when the bucket 103 is located at a preset position;

s3: the controller 133 controls the bucket cylinder 105 to extend and contract according to a preset action mode so as to drive the bucket 103 to move until the bucket 103 moves to a preset position.

In detail, when the detecting device is the horizontal angle sensor 117, the real-time position angle of the bucket 103 can be detected by the horizontal angle sensor 117, and then the controller 133 receives the angle information and determines the preset action mode of the bucket cylinder 105 when the bucket 103 moves to the preset position; finally, the controller 133 controls the bucket cylinder 105 to extend and retract according to a preset action mode to drive the bucket 103 to move until the real-time position angle detected by the horizontal angle sensor 117 is the position angle of the bucket 103 at the preset position.

In detail, when the detection means is a cylinder stroke sensor, the boom cylinder stroke sensor 127 and the arm cylinder stroke sensor 129 may transmit real-time stroke values of the boom cylinder 109 and the arm cylinder 113 to the controller 133. After the controller 133 receives the real-time stroke data of the boom cylinder 109 and the arm cylinder 113, it can calculate how much the stroke of the bucket cylinder 105 (i.e., the preset expansion amount of the bucket cylinder 105) needs to be reached to move to the horizontal position or the fixed angle position according to the preset formula. And sets this preset amount of extension and retraction as the operation target value of the bucket cylinder 105. And then the controller 133 controls the bucket cylinder 105 to extend and contract according to the preset extension and contraction amount.

The principles and flow of the excavator 100 and the control method of the excavator 100 according to the embodiments of the present invention are described in detail as follows:

when the detecting device is the horizontal angle sensor 117, the horizontal angle sensor 117 can be used to detect the real-time position angle of the bucket 103, and then the detected value is transmitted to the controller 133, and the controller 133 determines the preset action mode of the bucket cylinder 105 when the bucket 103 moves to the preset position according to the detected value, so as to facilitate the subsequent control of the bucket cylinder 105. After the preset action mode is determined, the controller 133 controls the bucket cylinder 105 to extend and retract according to the preset action mode to drive the bucket 103 to move to the preset position.

Similarly, when the detection device is a cylinder stroke sensor, the movement stroke of boom cylinder 109 is detected by boom cylinder stroke sensor 127, and the movement stroke of arm cylinder 113 is detected by arm cylinder stroke sensor 129. And transmits real-time stroke values of the boom cylinder 109 and the arm cylinder 113 to the controller 133. After the controller 133 receives the real-time stroke data of the boom cylinder 109 and the arm cylinder 113, it may calculate that the stroke of the bucket cylinder 105 needs to reach the preset position according to a preset formula. And sets this preset amount of extension and retraction as the operation target value of the bucket cylinder 105. And then the controller 133 controls the bucket cylinder 105 to extend and contract according to the preset extension and contraction amount.

In the above process, no matter what kind of sensor is selected for the control device, through the cooperation of the sensor and the controller 133, when the angle position of the bucket 103 is adjusted, the control can be realized by controlling the extension and retraction of one part of the bucket cylinder 105, so that the operation difficulty can be reduced, the occurrence of the operation incoordination can be avoided, and the efficiency and the quality of each work of the bucket 103 can be ensured.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. The excavator is characterized by comprising an excavator body, a power device, a bucket and a bucket oil cylinder, wherein one end of the power device is connected with the excavator body, the other end of the power device is hinged with the bucket and used for driving the bucket to move, one end of the bucket oil cylinder is connected with the power device, and the other end of the bucket oil cylinder is in transmission connection with the bucket and used for driving the bucket to rotate relative to the power device; the excavator further includes:

the detection device is used for detecting the motion data of the bucket or detecting the motion data of the power device and the bucket oil cylinder; the controller set up in the fuselage, and with detection device electricity is connected, be used for receiving the motion data, and confirm when the scraper bowl moves to preset position the preset action mode of scraper bowl hydro-cylinder, just the controller still be configured as according to preset action mode control the scraper bowl hydro-cylinder is flexible in order to drive the scraper bowl motion, until the scraper bowl moves to preset position.

2. The excavator of claim 1 wherein:

the detection device comprises a horizontal angle sensor, and the horizontal angle sensor is arranged on the bucket and used for detecting the real-time position angle of the bucket;

the controller is electrically connected with the horizontal angle sensor, is configured to receive the real-time position angle and determines the preset action mode of the bucket cylinder when the bucket moves to the preset position, and is further configured to control the bucket cylinder to stretch and retract according to the preset action mode so as to drive the bucket to move until the real-time position angle detected by the horizontal angle sensor is the position angle of the bucket at the preset position.

3. The excavator of claim 1 wherein:

the power device comprises a movable arm, an arm, a movable arm oil cylinder and an arm oil cylinder;

the movable arm is arranged on the machine body, one end of the bucket rod is connected with the movable arm, the other end of the bucket rod is hinged with the bucket, one end of the movable arm oil cylinder is arranged on the machine body, the other end of the movable arm oil cylinder is in transmission connection with the movable arm and used for driving the movable arm to move, one end of the bucket rod oil cylinder is arranged on the movable arm, and the other end of the bucket rod oil cylinder is in transmission connection with the bucket rod and used for driving the bucket rod to move so as to;

the detection device is arranged in the movable arm oil cylinder, the arm oil cylinder and the bucket oil cylinder and used for detecting the real-time telescopic quantity of the movable arm oil cylinder, the arm oil cylinder and the bucket oil cylinder, and the controller is configured to calculate the bucket according to the real-time telescopic quantity of the movable arm oil cylinder and the arm oil cylinder and control the bucket oil cylinder to stretch according to the preset telescopic quantity when the bucket is located at the preset position.

4. The excavator of claim 3 wherein:

the detection device comprises a first stroke sensor, a second stroke sensor and a third stroke sensor, the first stroke sensor is arranged on the movable arm oil cylinder and used for detecting the real-time stretching amount of the movable arm oil cylinder, the second stroke sensor is arranged on the arm oil cylinder and used for detecting the real-time stretching amount of the arm oil cylinder, and the third stroke sensor is arranged on the bucket oil cylinder and used for detecting the real-time stretching amount of the bucket oil cylinder;

the controller is configured to calculate the preset telescopic amount of the bucket cylinder when the bucket is located at the preset position according to the real-time telescopic amounts of the boom cylinder and the arm cylinder, and control the bucket cylinder to be telescopic according to the preset telescopic amount.

5. The excavator according to any one of claims 1 to 4 wherein:

the preset position is a horizontal position or a fixed angle position.

6. The excavator of claim 5 wherein:

the excavator further comprises a first switch and a second switch which are arranged on the excavator body, the first switch and the second switch are electrically connected with the controller and used for sending instructions to the controller, the first switch is used for sending the instructions that the bucket moves to the horizontal position to the controller, and the second switch is used for sending the instructions that the bucket moves to the fixed angle position to the controller;

alternatively, the first and second electrodes may be,

7. The excavator of claim 6 wherein:

the excavator further comprises a handle, and the first switch and the second switch are arranged on the handle.

8. The excavator of claim 7 wherein:

the handle comprises a first handle and a second handle, the first switch is arranged on the first handle, and the second switch is arranged on the second handle.

9. The excavator of claim 8 wherein:

the first switch is arranged on the side part of the first handle, and the second switch is arranged on the top part of the second handle;

alternatively, the first and second electrodes may be,

10. A control method of an excavator according to any one of claims 1 to 9, comprising:

detecting the motion data of the power device and the bucket oil cylinder through the detection device; or, detecting movement data of the bucket;

receiving the motion data through the controller, and determining a preset action mode of the bucket oil cylinder when the bucket is located at the preset position;

and controlling the bucket oil cylinder to stretch and retract to drive the bucket to move through a controller according to the preset action mode until the bucket moves to a preset position.