EP4230803A1

EP4230803A1 - Excavator and control method for excavator

Info

Publication number: EP4230803A1
Application number: EP21881606.4A
Authority: EP
Inventors: Wei Xiang; Qianzhi XU; Pengju ZHOU
Original assignee: Sany Heavy Machinery Ltd
Current assignee: Sany Heavy Machinery Ltd
Priority date: 2020-10-19
Filing date: 2021-07-15
Publication date: 2023-08-23
Also published as: EP4230803A4; CN112281940B; WO2022083186A1; CN112281940A

Abstract

The present application relates to the technical field of bucket control, and discloses an excavator and a control method for the excavator. The excavator comprises: a detection device and a controller. The detection device is used to detect movement data of a bucket or used to detect a boom oil cylinder, a bucket oil cylinder, and movement data of the bucket oil cylinder. The controller is arranged on a machine body, is electrically connected to the detection device for use in receiving the movement data, and determines a preset action mode of the bucket oil cylinder when the bucket moves to a preset position. Moreover, the controller is further configured to control the bucket oil cylinder to extend or contract according to the preset action mode so as to drive the bucket to move until the bucket moves to the preset position. By means of the cooperation of the detection device and the controller, when adjusting the angular position of the bucket, the excavator merely needs to control the extension or contraction of one component of the bucket oil cylinder, which may reduce the difficulty of operation and prevent operation inconsistencies, thereby ensuring the efficiency and quality of various items of work performed by the bucket.

Description

CROSS-REFERENCE TO RELATED APPLICATION

The present application claims priority to Chinese Application No. 202011119205.3, filed on October 19, 2020 , entitled "Excavator and Control Method for Excavator", which is hereby incorporated by reference in its entirety.

TECHNICAL FIELD

The present application relates to the technical field of bucket control, in particular to an excavator and a method for controlling excavator.

BACKGROUND

In the related art, a working device of an excavator is usually composed of three main action parts: a luffing jib, a bucket rod and a bucket. When an angle of the bucket needs to be adjusted, it is usually need to control and coordinate movements of the luffing jib, the bucket rod and the bucket at a same time. In this way, it is difficult to operate, and inexperienced excavator operators often have uncoordinated movements, or a situation of falling materials may occur due to poor control for the angle of the bucket. Especially when some excavation objects are easily lost objects such as muddy water, when controlling the luffing jib and the bucket rod to operate, if the angle of the bucket is slightly inaccuracy, it may cause a certain amount of materials loss and affect excavation efficiency.

SUMMARY

An objective of the present application is to provide an excavator and a method for controlling excavator. Through a cooperation of a detection device and a controller, when adjusting an angle position of a bucket, it is only needed to control extension or contraction of a bucket cylinder, which can reduce difficulty of operation and avoid uncoordinated operation, and ensure efficiency and quality of various operations through the bucket.
Embodiments of the present application can be implemented as follows.
In a first aspect, embodiments of the present application provide an excavator. The excavator includes an excavator body, a power device, a bucket and a bucket cylinder. An end of the power device is connected to the excavator body, and another end of the power device is hinged with the bucket to drive the bucket to move. An end of the bucket cylinder is connected to the power device, and another end of the bucket cylinder is drivably connected to the bucket to drive the bucket to rotate relative to the power device. The excavator further includes:
a detection device and a controller; where the detection device is used for detecting movement data of the bucket or for detecting movement data of the power device and the bucket cylinder; and the controller is provided on the excavator body and electrically connected to the detection device, and is used for receiving the movement data and determining a preset action mode of the bucket cylinder through which the bucket moves to a preset position, and the controller is further configured to control the bucket cylinder to extend or contract according to the preset action mode to drive the bucket to move until the bucket moves to the preset position.
In an embodiment, the detection device includes a horizontal angle sensor which is provided on the bucket and is used for detecting a real-time position angle of the bucket.
The controller is electrically connected to the horizontal angle sensor, and the controller is configured to receive the real-time position angle and determine the preset action mode of the bucket cylinder through which the bucket moves to the preset position. The controller is further configured to control the bucket cylinder to extend or contract according to the preset action mode to drive the bucket to move until the real-time position angle detected by the horizontal angle sensor is equal to the position angle of the bucket at the preset position.
In an embodiment, the power device includes a luffing jib, a bucket rod, a luffing jib cylinder and a bucket rod cylinder.
The luffing jib is provided on the excavator body, an end of the bucket rod is connected to the luffing jib, and another end of the bucket rod is hinged with the bucket. An end of the luffing jib cylinder is provided on the excavator body, and another end of the luffing jib cylinder is drivably connected to the luffing jib to drive the luffing jib to move. An end of the bucket rod cylinder is provided on the luffing jib, and another end of the bucket rod cylinder is drivably connected to the bucket rod to drive the bucket rod to move to drive the bucket to move.
The detection device is provided on the luffing jib cylinder, the bucket rod cylinder and the bucket cylinder, and used for detecting a real-time amount of extension or contraction of the luffing jib cylinder, the bucket rod cylinder and the bucket cylinder. The controller is configured to calculate a preset amount of extension or contraction of the bucket cylinder through which the bucket is driven to the preset position according to the real-time amount of extension or contraction of the luffing jib cylinder and the bucket rod cylinder, and control the bucket cylinder to extend or contract according to the preset amount of extension or contraction.
In an embodiment, the detection device includes a first stroke sensor, a second stroke sensor and a third stroke sensor. The first stroke sensor is provided on the luffing jib cylinder to detect the real-time amount of extension or contraction of the luffing jib cylinder, the second stroke sensor is provided on the bucket rod cylinder to detect the real-time amount of extension or contraction of the bucket rod cylinder, and the third stroke sensor is provided on the bucket cylinder to detect the real-time amount of extension or contraction of the bucket cylinder.
The controller is configured to calculate the preset amount of extension or contraction of the bucket cylinder through which the bucket is driven to the preset position according to the real-time amount of extension or contraction of the luffing jib cylinder and the bucket rod cylinder, and to control the bucket cylinder to extend or contract according to the preset amount of extension or contraction.
In an embodiment, the preset position is a horizontal position or a fixed-angle position.
In an embodiment, the excavator further includes a first switch and a second switch which are provided on the excavator body. The first switch and the second switch are electrically connected to the controller and are used for sending instructions to the controller. The first switch is used for sending instructions to the controller for driving the bucket to move to the horizontal position, and the second switch is used for sending instructions to the controller for driving the bucket to move to the fixed-angle position;
or,
the excavator further includes a touch display screen which is electrically connected to the controller and is used for sending instructions to the controller.
In an embodiment, the excavator further includes a handle. The first switch and the second switch are both provided on the handle.
In an embodiment, the handle includes a first handle and a second handle, where the first switch is provided on the first handle and the second switch is provided on the second handle.
In an embodiment, the first switch is provided at a side of the first handle, and the second switch is provided at a top of the second handle;
or,
the first switch is provided at a top of the first handle, and the second switch is provided at a side of the second handle.
In a second aspect, embodiments of the present application provide a method for controlling any one of the excavators of the embodiments mentioned above, including:

detecting movement data of the power device and the bucket cylinder through the detection device; or, detecting movement data of the bucket;
receiving the movement data through the controller, and determining the preset action mode of the bucket cylinder through which the bucket moves to the preset position; and
controlling the bucket cylinder to extend or contract by the controller according to the preset action mode to drive the bucket to move until the bucket moves to the preset position.

The embodiments of the present application have at least the following advantages or beneficial effects.
The embodiments of the present application provide an excavator and a method for controlling excavator. The excavator includes an excavator body, a power device, a bucket and a bucket cylinder. An end of the power device is connected to the excavator body, and another end of the power device is hinged with the bucket to drive the bucket to move. An end of the bucket cylinder is connected to the power device, and another end of the bucket cylinder is drivably connected to the bucket to drive the bucket to rotate relative to the power device. The excavator further includes: a detection device and a controller; where the detection device is used for detecting movement data of the bucket or for detecting movement data of the power device and the bucket cylinder; and the controller is provided on the excavator body and electrically connected to the detection device, and is used for receiving the movement data and determining a preset action mode of the bucket cylinder through which the bucket moves to a preset position, and the controller is also configured to control the bucket cylinder to expend or contract according to the preset action mode to drive the bucket to move until the bucket moves to the preset position. Through a cooperation of the detection device and the controller in the excavator, when adjusting an angle position of the bucket, it is only need to control the bucket cylinder to extend or contract, which can reduce a difficulty of operation and avoid uncoordinated operation, and ensure efficiency and quality of various operations through the bucket.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the solutions according to the embodiments of the present application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. It should be noted that the following drawings only show some embodiments of the present application, and should not be considered as a limitation of the scope. For those of ordinary skill in the art, other drawings can also be obtained according to these drawings without creative efforts.

FIG. 1 is a structural diagram of an excavator provided by an embodiment of the present application.
FIG. 2 is partial diagram I of the excavator provided by the embodiment of the present application.
FIG. 3 is partial diagram II of the excavator provided by the embodiment of the present application.
FIG. 4 is partial diagram III of the excavator provided by the embodiment of the present application.
FIG. 5 is a diagram of a method for controlling excavator provided by an embodiment of the present application.

Reference numerals: 100-excavator; 101-excavator body; 103-bucket; 105-bucket cylinder; 107-luffing jib; 109-luffing jib cylinder; 111-bucket rod; 113-bucket rod cylinder; 117-horizontal angle sensor; 119-first handle; 121-second handle; 123-first switch; 125-second switch; 127-luffing jib cylinder stroke sensor; 129-bucket rod cylinder stroke sensor; 133-controller.

DETAILED DESCRIPTION

In order to more clearly illustrate the objectives, solutions, and advantages of the embodiments of the present application, the solutions of the embodiments of the present application will be clearly and completely described below in combination with the accompanying drawings of the embodiments of the present application. It should be noted that, the described embodiments are a part of embodiments of the present application, rather than all the embodiments. The components in the embodiments of the present application, which are described and shown in the drawings herein, may be arranged and designed in various different configurations in generally.
The following detailed description for the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for protection, but simply to indicate the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort fall within the scope of protection of the present application.
It should be noted that same or similar numerals and letters indicate same or similar items in the drawings below, so once an item is defined in a drawing, it does not need to be further defined and interpreted in other figures.
In the description of the present application, it should be noted that, the orientation or positional relations specified by terms such as "top", "bottom", "inner", "outer" and the like, are based on the orientation or positional relations shown in the drawings, which are merely for convenience of description of the present application and to simplify description, but does not indicate or imply that the stated devices or components must have the particular orientation and be constructed and operated in a particular orientation, and thus it should not be construed as limiting the present application.
Furthermore, the terms "first", "second" and the like are only used for descriptive purposes and should not be construed as indicating or implying a relative importance.
It should be noted that the features of the embodiments of the present application can be combined without conflict.
FIG. 1 is a structural diagram of an excavator 100 provided by an embodiment of the present application. Referring to FIG. 1, the embodiment provides an excavator 100, including an excavator body 101, a power device, a bucket 103 and a bucket cylinder 105.
In an embodiment, the power device is provided on the excavator body 101, and an end of the power device is fixedly connected to the excavator body 101, and another end of the power device is hinged with the bucket 103 to drive the bucket 103 to move in a space. In an embodiment, the power device includes a luffing jib 107, a bucket rod 111, a luffing jib cylinder 109 and a bucket rod cylinder 113. The luffing jib 107 is provided on the excavator body 101, an end of the bucket rod 111 is connected to the luffing jib 107, and another end of the bucket rod 111 is hinged with the bucket 103. An end of the luffing jib cylinder 109 is provided on the excavator body 101, and another end of the luffing jib cylinder 109 is drivably connected to the luffing jib 107 to drive the luffing jib 107 to move. An end of the bucket rod cylinder 113 is provided on the luffing jib 107, and another end of the bucket rod cylinder 113 is drivably connected to the bucket rod 111 to drive the bucket rod 111 to move and then to drive the bucket 103 to move. Through the cooperation of luffing jib 107, the bucket rod 111, the luffing jib cylinder 109 and the bucket rod cylinder 113, the bucket 103 can excavate at various positions.
In an embodiment, an end of the bucket cylinder 105 is connected to the power device, and another end of the bucket cylinder 105 is drivably connected to the bucket 103, which is used for driving the bucket 103 to rotate relative to the power device, to make an angle position of the bucket 103 relative to the power device can be adjusted, to facilitate an adjustment of a position angle of the bucket 103 to meet operation requirements of the bucket 103 at various angle positions. For example, when the bucket 103 has been filled with materials, it is need to ensure a level of the bucket 103 to avoid an occurrence of materials falling and other phenomena.
In the related art, the adjustment of the angle position of bucket 103 usually needs to be completed by a coordination of the luffing jib 107, the bucket rod 111 and the bucket 103 which is complicated and not conducive to an operation of inexperienced excavator operator, and when some excavation objects are easily lost objects such as muddy water, if an angle of bucket 103 is slightly poor when controlling the luffing jib 107 and the bucket rod 111 to operate, it may cause a certain amount of materials loss and affect the excavation efficiency. In view of that, a structure of excavator 100 is improved by adding detection device and controller 133 in this embodiment. The detection device is used for detecting movement data of the bucket 103, or for detecting movement data of the power device (i.e. the luffing jib cylinder 109 and the bucket rod cylinder 113) and the bucket cylinder 105; and the controller 133 is provided on the excavator body 101 and electrically connected to the detection device, and is used for receiving the movement data and determining a preset action mode of the bucket cylinder 105 through which the bucket 103 moves to a preset position, and the controller 133 is also used for controlling an extension or contraction of the bucket cylinder 105 according to the preset action mode to drive the bucket 103 to move until the bucket 103 moves to the preset position. Through the arrangement and cooperation of the detection device and the controller 133, when adjusting the angle position of the bucket 103, it is only need to control the extension or contraction of the bucket cylinder 105, which can reduce a difficulty of operation and avoid uncoordinated operation, and ensure the efficiency and quality of various operations through the bucket 103. The improvements of the excavator 100 are described in detail below. The unimproved parts of the excavator 100 are the same as the excavator in the related art, and this embodiment will not repeat that.
FIG. 2 is partial diagram I of the excavator provided by the embodiment of the present application. FIG. 3 is partial diagram II of the excavator provided by the embodiment of the present application. Referring to FIG. 2 and FIG. 3, in this embodiment, the detection device can be a horizontal angle sensor 117. The horizontal angle sensor 117 can be provided on a side wall of the bucket 103 to detect a real-time position angle of the bucket 103, to obtain 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 the preset action mode of the bucket cylinder 105 through which the bucket 103 moves to the preset position, to facilitate a subsequent control of the bucket cylinder 105. After determining the preset action mode, the controller 133 is configured to control the bucket cylinder 105 to extend or contract 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, to make the bucket 103 keep in the preset position in real time.
It should be noted that in this embodiment, the preset position can be a horizontal position or a fixed-angle position. The fixed-angle position indicates that the bucket 103 can be firmly fixed at any position having an angle other than the horizontal position. In other embodiments, the preset position can also be adjusted, which is not limited in this embodiment.
In an embodiment, referring to FIG. 2, when the preset position is the horizontal position, in order to prevent falling of materials when the excavator transfers materials, the bucket 103 must always keep a horizontal state, that is, must always keep in a horizontal position. By providing the horizontal angle sensor 117, the real-time position angle data of the bucket 103 in the horizontal direction can be collected in real time, and the real-time position angle data can be sent to the controller 133. After receiving the real-time position angle data, the controller 133 can determine a current angle of the bucket 103, and calculate the preset action mode of the bucket cylinder 105 through which the bucket 103 is adjusted to the horizontal position (that is, calculate that how the bucket cylinder 105 extends or contracts to make the bucket 103 reach the preset position). When the controller 133 determines the way to adjust the bucket cylinder 105, an action command can be sent to the bucket cylinder 105. When the bucket cylinder 105 receives the command, the bucket cylinder 105 performs extension or contraction according to the preset action mode to drive the bucket 103 to move until it is detected by the horizontal angle sensor 117 that the bucket 103 is in the horizontal position. That is, with this arrangement, when the bucket 103 needs to be kept horizontal, the bucket 103 can be adjusted to the horizontal position by controlling the bucket cylinder 105 to perform extension or contraction through the cooperation of the horizontal angle sensor 117 on the bucket 103 and the controller 133. That is, with this arrangement, it can be ensured that the bucket 103 is in the horizontal position only by adjusting the extension or contraction of the bucket cylinder 105 without a driving cooperation of the luffing jib cylinder 109 and the bucket rod cylinder 113, which can reduce workload, make the operation more convenient, and then can ensure work efficiency and quality.
In an embodiment, referring to FIG. 3, when the preset position is a fixed-angle position, under certain working conditions, when the bucket 103 needs to maintain a certain angle with relative to the horizontal plane, it can be realized as follows. In an embodiment, the specific operation process is as follows. An angle of target position is recorded firstly, for example, the angle of the target position when the bucket 103 is located at the target position is detected by the horizontal angle sensor 117, and then the information of the angle of the target position is sent to the controller 133. The controller 133 records the information of the angle of the current position and sets it to be the angle of the target position. Then, when the angle of the bucket 103 changes due to the actions of the luffing jib 107 and the bucket rod 111, the controller 133 can send a specified action signal to the bucket cylinder 105 to make the bucket cylinder 105 drive the bucket 103 to move to the target position, and then the bucket 103 can always maintain a preset angle with respect to the horizontal plane. That is, when the preset position is a fixed-angle position, it is needed to firstly collect the information of the angle of the bucket 103 at the target position, and then this information can be used as the target angle information, and 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 above arrangement, an arbitrary position adjustment of the bucket 103 can be realized only by controlling the extension or contraction of the bucket cylinder 105, which can reduce the difficulty of operation, avoid uncoordinated operation, and ensure the efficiency and quality of various operations through the bucket 103.
FIG. 4 is partial diagram III of the excavator provided by the embodiment of the present application. Referring to FIG.4, since the bucket 103 needs to contact an excavation object when operating, sensors on it may be easily damaged, wiring needs special protection and functional stability is susceptible to working conditions. In an embodiment, the detection device can also be provided on the luffing jib cylinder 109, the bucket rod cylinder 113 and the bucket cylinder 105 according to requirements, used for detecting the real-time amount of extension or contraction of the luffing jib cylinder 109, the bucket rod cylinder 113 and the bucket cylinder 105. In an embodiment, the controller 133 is configured to calculate the preset amount of extension or contraction of the bucket cylinder 105 when the bucket 103 is in the preset position according to the real-time amount of extension or contraction of the luffing jib cylinder 109 and the bucket rod cylinder 113, and to control the bucket cylinder 105 to extend or contract according to the preset amount of extension or contraction. That is, through this arrangement, it is not needed to simultaneously control the luffing jib 107, the bucket rod 111 and the bucket 103 to move the preset position, and it is only needed to adjust the bucket 103 to the preset position when the luffing jib 107 and the bucket rod 111 are fixed, to effectively simplify the operation process.
In an embodiment, the detection device includes a first stroke sensor, a second stroke sensor and a third stroke sensor. The first stroke sensor, namely the luffing jib cylinder stroke sensor 127, is provided on the luffing jib cylinder 109 to detect the real-time amount of extension or contraction of the luffing jib cylinder 109. The second stroke sensor, namely the bucket rod cylinder stroke sensor 129, is provided on the bucket rod cylinder 113 to detect the real-time amount of extension or contraction of the bucket rod cylinder 113. The third stroke sensor, namely the bucket cylinder stroke sensor, is provided on the bucket cylinder 105 to detect the real-time amount of extension or contraction of the bucket cylinder 105.
The positions of the luffing jib 107 and the bucket rod 111 of the excavator can be calculated through the luffing jib cylinder stroke sensor 127 and the bucket rod cylinder stroke sensor 129. When positions of the luffing jib 107 and the bucket rod 111 are determined, there is a unique solution in a stroke range of the bucket cylinder 105 to make the bucket 103 in the preset position. The preset position can be a horizontal position or a fixed-angle position. Through this principle, when a working device acts, the luffing jib cylinder stroke sensor 127 and the bucket rod cylinder stroke sensor 129 can send real-time stroke data of the luffing jib cylinder 109 and the bucket rod cylinder 113 to the controller 133. After the controller 133 receives the real-time stroke data of the luffing jib cylinder 109 and the bucket rod cylinder 113, the controller 133 can calculate how much the stroke of the bucket cylinder 105 (that is, the preset amount of extension or contraction of the bucket cylinder 105) is needed to drive the bucket 103 to move to a horizontal position or a fixed-angle position according to a preset formula. The preset amount of extension or contraction of the bucket cylinder 105 is set as the action target value of the bucket cylinder 105. Then the bucket cylinder 105 is controlled to extend or contract through the controller 133 according to the preset amount of extension or contraction, and through the bucket cylinder sensor for real-time detection can realize the functions of keeping bucket 103 horizontal or fixed angle in any time.
In other embodiments, a horizontal angle sensor 117 can be provided on the bucket 103, and/or stroke sensors can be respectively provided on the luffing jib cylinder 109, the bucket rod cylinder 113 and the bucket cylinder 105, to make the position adjustment of the bucket 103 more convenient, which is not limited in this embodiment.
Further referring to FIGs. 2-4, in an embodiment, regardless of what type of the sensor used as the detection device, a first switch 123 and a second switch 125 can be provided on the excavator body 101 for the convenience of operators such as the driver or staff. In an embodiment, both the first switch 123 and the second switch 125 are electrically connected to the controller 133 and used for sending instructions to the controller 133, and the first switch 123 is used for sending instructions to the controller 133 for driving the bucket 103 to move to the horizontal position, and the second switch 125 is used for sending instructions to the controller 133 for driving the bucket 103 to move to the fixed-angle position. Through the arrangement of the first switch 123 and the second switch 125, it is convenient for the operator to control the bucket 103, and the two positions of the bucket 103 are adjusted by the two switches respectively, which is also convenient for the operator to distinguish and avoid confusion. In other embodiments, the first switch 123 and the second switch 125 can also be replaced by a touch screen, which is electrically connected to the controller 133 and used for sending instructions to the controller 133.
In an embodiment, the excavator 100 further includes a handle, which is an original handle for excavator 100 to excavate and operate. In this embodiment, the first switch 123 and the second switch 125 can be integrated with the handle to facilitate the operation of the operator.
In an embodiment, since the excavator 100 typically includes two handles, for ease of operator differentiation, the two handles can be marked as a first handle 119 and a second handle 121 respectively, with the first switch 123 provided at the first handle 119 and the second switch 125 provided at the second handle 121. Through this arrangement, when the operator needs to adjust the angle of the bucket 103, it can be performed through the handle of the corresponding position, thereby liberating another handle control object, and realizing the purpose that one handle only controls one part during materials transfer. The operation is simpler and more precise, avoiding the occurrence of materials falling due to poor control of the angle of the bucket 103.
Furthermore, in order to avoid the interference of the above function to the normal excavating and unloading operations, if this function is turned on manually, the first switch 123 can be provided at a side of the first handle 119 and the second switch 125 can be provided at a top of the second handle 121. The first switch 123 and the second switch 125 are similar to a horn button, and when operating the handle, the buttons are easy to operate with a finger pressing the button to turn it on and releasing the button to turn it off. In other embodiments, the first switch 123 can also be provided at a top of the first handle 119 and the second switch 125 can be provided at a side of the second handle 121.
FIG. 5 is a diagram of a method for controlling excavator provided by an embodiment of the present application. As shown in FIG. 5, an embodiment of the present application provide a method for controlling any one of the excavators 100 mentioned above, the method includes:

S1: movement data of the power device and the bucket cylinder 105 is detected through the detection device; or, movement data of the bucket 103 is detected;
S2: the movement data is received through the controller 133, and the preset action mode of the bucket cylinder 105 through which the bucket moves to the preset position is determined; and
S3: the bucket cylinder 105 is controlled to extend or contract by the controller 133 according to the preset action mode to drive the bucket 103 to move until the bucket 103 moves to the preset position.

In an embodiment, when the detection 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 angle information can be received by the controller 133 and the preset action mode of the bucket cylinder 105 through which the bucket 103 moves to the preset position is determined by the controller 133. Finally, the controller 133 controls the bucket cylinder 105 to extend or contract 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.
In an embodiment, when the detection device is a cylinder stroke sensor, the luffing jib cylinder stroke sensor 127 and the bucket rod cylinder stroke sensor 129 can send real-time stroke data of the luffing jib cylinder 109 and the bucket rod cylinder 113 to the controller 133. After receiving the real-time stroke data of the luffing jib cylinder 109 and the bucket rod cylinder 113, the controller 133 can calculate how much the stroke of the bucket cylinder 105 (that is, the preset amount of extension or contraction of the bucket cylinder 105) is needed to drive the bucket 103 to move to a horizontal position or a fixed-angle position according to a preset formula. The preset amount of extension or contraction of the bucket cylinder 105 is set as the action target value of the bucket cylinder 105. Then the bucket cylinder 105 is controlled to extend or contract through the controller 133 according to the preset amount of extension or contraction.
The following is a detailed introduction to the principle and process of the excavator 100 and the method for controlling the excavator 100 provided by the embodiments of the present application.
When the detection device is the horizontal angle sensor 117, the horizontal angle sensor 117 can be used for detecting the real-time position angle of the bucket 103, and then the detected value can be sent to the controller 133. The controller 133 determines the preset action mode of the bucket cylinder 105 through which the bucket 103 moves to the preset position according to the detected value, to facilitate the subsequent control for the bucket cylinder 105. After the preset action mode is determined, the controller 133 controls the bucket cylinder 105 to extend or contract 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 luffing jib cylinder stroke sensor 127 can be used for detecting the movement stroke of the luffing jib cylinder 109 and the bucket rod cylinder stroke sensor 129 can be used for detecting the movement stroke of the bucket rod cylinder 113. The real-time stroke data of the luffing jib cylinder 109 and the bucket rod cylinder 113 can be sent to the controller 133. After the controller 133 receives the real-time stroke data of the luffing jib cylinder 109 and the bucket rod cylinder 113, the controller 133 can calculate how much the stroke of the bucket cylinder 105 is needed to drive the bucket 103 to move to a horizontal position or a fixed-angle position according to a preset formula. The preset amount of extension or contraction of the bucket cylinder 105 is set as the action target value of the bucket cylinder 105. Then the bucket cylinder 105 is controlled to extend or contract by the controller 133 according to the preset amount of extension or contraction.
In the above process, no matter what kind of sensor is selected for the detection device, through the cooperation of the sensor and the controller 133, when adjusting the angle position of the bucket 103, it is only need to control the extension or contraction of the bucket cylinder 105, which can reduce the difficulty of operation and avoid uncoordinated operation, and then ensure the efficiency and quality of the work performed by the bucket 103.
The above are only the specific embodiments of the present application, but the scope of protection of the present application is not limited to these. In the scope disclosed by the present application, modifications and substitutions made easily by those skilled in the art should be covered within the scope of protection of this application. Therefore, the scope of protection of this application shall be based on that of the claim.

Claims

An excavator, comprising an excavator body, a power device, a bucket and a bucket cylinder, an end of the power device being connected to the excavator body, another end of the power device being hinged with the bucket to drive the bucket to move, an end of the bucket cylinder being connected to the power device, another end of the bucket cylinder being drivably connected to the bucket to drive the bucket to rotate relative to the power device, wherein the excavator further comprises:
a detection device used for detecting movement data of the bucket or for detecting movement data of the power device and the bucket cylinder; and

a controller provided on the excavator body and electrically connected to the detection device, wherein the controller is used for receiving the movement data and determining a preset action mode of the bucket cylinder through which the bucket moves to a preset position, and the controller is further configured to control the bucket cylinder to extend or contract according to the preset action mode to drive the bucket to move until the bucket moves to the preset position.
The excavator according to claim 1, wherein the detection device comprises a horizontal angle sensor which is provided on the bucket and is used for detecting a real-time position angle of the bucket; and
the controller is electrically connected to the horizontal angle sensor, and is configured to receive the real-time position angle and determine the preset action mode of the bucket cylinder through which the bucket moves to the preset position, and the controller is further configured to control the bucket cylinder to extend or contract according to the preset action mode to drive the bucket to move until the real-time position angle detected by the horizontal angle sensor is equal to the position angle of the bucket at the preset position.
The excavator according to claim 1, wherein:
the power device comprises a luffing jib, a bucket rod, a luffing jib cylinder and a bucket rod cylinder;

the luffing jib is provided on the excavator body, an end of the bucket rod is connected to the luffing jib, and another end of the bucket rod is hinged with the bucket, an end of the luffing jib cylinder is provided on the excavator body, and another end of the luffing jib cylinder is drivably connected to the luffing jib to drive the luffing jib to move, and an end of the bucket rod cylinder is provided on the luffing jib, and another end of the bucket rod cylinder is drivably connected to the bucket rod to drive the bucket rod to move to drive the bucket to move; and

the detection device is provided on the luffing jib cylinder, the bucket rod cylinder and the bucket cylinder, and used for detecting a real-time amount of extension or contraction of the luffing jib cylinder, the bucket rod cylinder and the bucket cylinder, and the controller is configured to calculate a preset amount of extension or contraction of the bucket cylinder through which the bucket is driven to the preset position according to the real-time amount of extension or contraction of the luffing jib cylinder and the bucket rod cylinder, and control the bucket cylinder to extend or contract according to the preset amount of extension or contraction.
The excavator according to 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 provided on the luffing jib cylinder to detect the real-time amount of extension or contraction of the luffing jib cylinder, the second stroke sensor is provided on the bucket rod cylinder to detect the real-time amount of extension or contraction of the bucket rod cylinder, and the third stroke sensor is provided on the bucket cylinder to detect the real-time amount of extension or contraction of the bucket cylinder; and

the controller is configured to calculate the preset amount of extension or contraction of the bucket cylinder through which the bucket is driven to the preset position according to the real-time amount of extension or contraction of the luffing jib cylinder and the bucket rod cylinder, and to control the bucket cylinder to extend or contract according to the preset amount of extension or contraction.
The excavator according to any one of claims 1-4, wherein:
the preset position is a horizontal position or a fixed-angle position.
The excavator according to claim 5, wherein,
the excavator further comprises a first switch and a second switch which are provided on the excavator body, the first switch and the second switch are electrically connected to the controller and are used for sending instructions to the controller, the first switch is used for sending instructions to the controller for driving the bucket to move to the horizontal position, and the second switch is used for sending instructions to the controller for driving the bucket to move to the fixed-angle position; or

the excavator further comprises a touch display screen which is electrically connected to the controller and is used for sending instructions to the controller.
The excavator according to claim 6, wherein:
the excavator further comprises a handle, and the first switch and the second switch are both provided on the handle.
The excavator according to claim 7, wherein:
the handle comprises a first handle and a second handle, wherein the first switch is provided on the first handle and the second switch is provided on the second handle.
The excavator according to claim 8, wherein:
the first switch is provided at a side of the first handle, and the second switch is provided at a top of the second handle;or,

the first switch is provided at a top of the first handle, and the second switch is provided at a side of the second handle.
A method for controlling the excavator according to any one of claims 1-9, comprising:
detecting movement data of the power device and the bucket cylinder through the detection device, or, detecting movement data of the bucket;

receiving the movement data through the controller, and determining the preset action mode of the bucket cylinder through which the bucket moves to the preset position; and

controlling the bucket cylinder to extend or contract by the controller according to the preset action mode to drive the bucket to move until the bucket moves to the preset position.