Excavator and control method for excavator

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.

What is claimed is: 
     
         1 . 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.   
     
     
         2 . 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.   
     
     
         3 . 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.   
     
     
         4 . 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.   
     
     
         5 . The excavator according to  claim 1 , wherein:
 the preset position is a horizontal position or a fixed-angle position.   
     
     
         6 . 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.   
     
     
         7 . 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.   
     
     
         8 . 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.   
     
     
         9 . 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.   
     
     
         10 . A method for controlling the excavator according to  claim 1 , 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.