CN111492111A - Excavator - Google Patents

Abstract

An excavator according to an embodiment of the present invention includes: a lower traveling body (1); an upper revolving body (3) mounted on the lower traveling body (1); an attachment device mounted on the upper slewing body (3); an operation device (26) provided in a cab (10) attached to the upper slewing body (3); and a controller (30) for controlling the operation of the attachment operated in accordance with the composite operation of the operation device (26). The controller (30) derives an operation tendency of an operator within a predetermined period, and controls the operation of the attachment so as to maintain the operation of the attachment in accordance with the operation tendency.

Description

Excavator

technical field

The present disclosure relates to a shovel having a plurality of hydraulic drives capable of compound operation.

Background technique

There is known a shovel that controls the operation of a front-end working machine by performing a combined operation of a plurality of hydraulic cylinders (refer to Patent Document 1). This shovel includes an area limit switch that instructs selection of an area-restricted excavation control mode, and a setting switch that instructs setting of an excavation area (target excavation surface) in the area-restricted excavation control mode. The operator of the shovel sets the boundaries of the target excavation face through the setting switch and initiates the zone limit excavation control mode through the zone limit switch. In the area-restricted excavation control mode, the operation of the front end working machine is controlled so that the tip of the shovel moves along the boundary of the excavation area.

Previous technical literature

Patent Literature

Patent Document 1: Japanese Patent Application Laid-Open No. 11-350537

SUMMARY OF THE INVENTION

The technical problem to be solved by the invention

However, the shovel of Patent Document 1 requires the operator of the shovel to perform complicated operations such as setting the excavation area and switching the mode in order to start the area-restricted excavation control mode, which is inconvenient to use.

Therefore, it would be desirable to provide an excavator that facilitates the function of assisting compound operations.

Means for solving technical problems

An shovel according to an embodiment of the present invention includes: a lower running body; an upper slewing body mounted on the lower running body; an attachment device attached to the upper slewing body; an operation room installed on the upper revolving body; and a control device for controlling the operation of the accessory device that operates according to the combined operation of the operation device, the control device deriving the operation tendency of the operator within a predetermined period, and The operation of the attachment device is controlled so as to maintain the operation of the attachment device in accordance with the operation tendency.

effect of invention

With the above-mentioned means, it is possible to provide a shovel in which the function of assisting the compound operation is more convenient.

Description of drawings

FIG. 1 is a side view of a shovel according to an embodiment of the present invention.

FIG. 2 is a diagram showing a configuration example of a drive system of the shovel of FIG. 1 .

FIG. 3 is a diagram showing a configuration example of an operation device to which an adjustment mechanism is attached.

FIG. 4A is a side view of the shovel used for the description of the three-dimensional orthogonal coordinate system.

4B is a plan view of the shovel used for the description of the three-dimensional orthogonal coordinate system.

FIG. 5 is a diagram illustrating the state of the attachment in the XZ plane.

FIG. 6 is a flowchart of an attachment device operation control process.

FIG. 7 is a graph showing changes over time in a boom lift operation amount, an arm close operation amount, a cutting edge speed, and a cutting edge angle.

FIG. 8 is a block diagram showing the flow of automatic control.

FIG. 9 is a block diagram showing the flow of automatic control.

FIG. 10 is a diagram showing a configuration example of an operating system including an electric operating device.

FIG. 11 is a diagram showing another configuration example of an operating system including an electrical operating device.

Detailed ways

FIG. 1 is a side view showing a shovel (excavator) as a construction machine to which the present invention is applied. The upper swing body 3 is mounted on the lower traveling body 1 of the shovel via the swing mechanism 2 . The boom 4 is attached to the upper swing body 3 . An arm 5 is attached to the tip of the boom 4 , and a bucket 6 as an end attachment is attached to the tip of the arm 5 . The boom 4 , the arm 5 , and the bucket 6 as working elements constitute an example of an attachment, that is, an excavation attachment. Further, the boom 4, the arm 5, and the bucket 6 are hydraulically driven by the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9, respectively. The upper revolving body 3 is provided with a cab 10 serving as an operator's cab, and a power source such as an engine 11 is mounted thereon.

FIG. 2 is a block diagram showing a configuration example of the drive system of the shovel in FIG. 1 , in which a mechanical power transmission line, a hydraulic oil line, a pilot line, and an electrical line are represented by double lines, thick solid lines, broken lines, and dotted lines, respectively. control line.

The drive system of the shovel mainly includes an engine 11, a regulator 13, a main pump 14, a pilot pump 15, a control valve 17, an operation device 26, a pressure sensor 29, a controller 30, a posture detection device S1, and the like.

The engine 11 is a drive source of the shovel. In the present embodiment, the engine 11 is, for example, a diesel engine as an internal combustion engine that operates so as to maintain a predetermined rotational speed. Further, the output shaft of the engine 11 is connected to the input shafts of the main pump 14 and the pilot pump 15 .

The main pump 14 is a device for supplying hydraulic oil to the control valve 17 via a hydraulic oil line, and is, for example, a swash plate type variable displacement hydraulic pump.

The regulator 13 is a device for controlling the discharge amount of the main pump 14 . In the present embodiment, the regulator 13 controls the discharge amount of the main pump 14 by, for example, adjusting the swash plate deflection angle of the main pump 14 according to the discharge pressure of the main pump 14, the command current from the controller 30, and the like.

The pilot pump 15 is a device that supplies hydraulic oil to various hydraulic control devices including the operating device 26 via a pilot line, and is, for example, a fixed-capacity hydraulic pump.

The control valve 17 is a hydraulic control device that controls the hydraulic system in the shovel. Specifically, the control valve 17 includes a plurality of control valves that control the flow of the hydraulic oil discharged from the main pump 14 . Further, the control valve 17 selectively supplies the hydraulic fluid discharged from the main pump 14 to one or a plurality of hydraulic actuators through these control valves. These control valves control the flow of hydraulic oil from the main pump 14 to the hydraulic tank through the intermediate bypass line, the flow of hydraulic oil from the main pump 14 to the hydraulic actuator, and the flow of hydraulic oil from the hydraulic actuator to the hydraulic tank. The hydraulic actuator includes a boom cylinder 7 , an arm cylinder 8 , a bucket cylinder 9 , a left-side travel hydraulic motor 1L, a right-side travel hydraulic motor 1R, and a swing hydraulic motor 2A.

The operating device 26 is a device used by the operator in order to operate the hydraulic drive. In the present embodiment, the operating device 26 is provided in the cab 10 and supplies the hydraulic oil discharged from the pilot pump 15 to the pilot ports of the control valves corresponding to the respective hydraulic actuators through the pilot lines. The pressure of the hydraulic oil supplied to each pilot port (hereinafter, referred to as "pilot pressure".) is a pressure according to the operation direction and operation amount of the lever or pedal of the operation device 26 corresponding to each hydraulic actuator.

The pressure sensor 29 is a sensor for detecting the operation content of the operation device 26 . In the present embodiment, the pressure sensor 29 detects the operation direction and operation amount of the joystick or pedal of the operation device 26 corresponding to each hydraulic actuator, for example, in the form of pressure, and outputs the detected value to the controller 30 . The operation content of the operation device 26 may be detected using other sensors than the pressure sensor.

The posture detection device S1 detects the posture of the excavation attachment. In this embodiment, the posture detection device S1 includes a vehicle body inclination sensor, a boom angle sensor, an arm angle sensor, and a bucket angle sensor. The boom angle sensor is a sensor that obtains the boom angle, and includes, for example, a rotation angle sensor for detecting the rotation angle of the boom 4 around the boom foot pin, a stroke sensor for detecting the stroke amount of the boom cylinder 7, and a tilt angle for detecting the boom 4 of tilt (acceleration) sensors, etc. The same applies to the arm angle sensor and the bucket angle sensor. In addition, each sensor of the vehicle body inclination sensor, the boom angle sensor, the arm angle sensor, and the bucket angle sensor may be a combination of an acceleration sensor and a gyro sensor. In this case, desired angles such as the body inclination angle, the boom angle, the arm angle, and the bucket angle can be calculated from the outputs of the acceleration sensor and the gyro sensor.

The controller 30 is a control device for controlling the shovel. In this embodiment, the controller 30 is constituted by, for example, a computer including a CPU, RAM, NVRAM, ROM, and the like. Then, the controller 30 reads programs corresponding to the accessory device control unit 31 and the operation tendency determination unit 32 from the ROM, loads the programs into the RAM, and causes the CPU to execute the corresponding processing.

The accessory device control unit 31 is a functional element for controlling the operation of the accessory device. The operation tendency determination unit 32 is a functional element for determining the operator's operation tendency. Basically, the attachment device operates according to the operation of each of the plurality of operation devices 26 . On the basis of this, for example, when the operation content of each of the plurality of operation devices 26 within a predetermined period satisfies a predetermined start condition, the operation tendency determination unit 32 derives the operation tendency of the operator within the predetermined period. Then, the attachment device control unit 31 controls the operation of the attachment device so as to maintain the operation of the attachment device in accordance with the operation tendency until a predetermined release condition is satisfied.

The start condition includes, for example, "the operation amount of each of the plurality of operation devices 26 is maintained for a predetermined period." Specifically, "each operation amount of each of the plurality of operation devices 26 is smaller than the predetermined operation amount for a predetermined period" and "the operation amount of each of the plurality of operation devices 26 is smaller than the predetermined operation amount for a predetermined period and the fluctuation range is smaller than a predetermined value". Wait.

The operation tendency is derived and defined by the operation tendency determination unit 32, for example, from the movement direction of the termination attachment within a predetermined period. The movement direction is represented, for example, by an angle with respect to a horizontal plane. The operating tendency is derived and specified based on the movement speed and movement direction of the terminating attachment.

Specifically, the operation tendency includes, for example, the operation tendency to bring the cutting edge of the bucket 6 straightly close to the body, the operation tendency to make the cutting edge of the bucket 6 straight away from the body, and the operation tendency to raise the cutting edge of the bucket 6 straightly and the tendency of the operation to drop the cutting edge of the bucket 6 straight down, etc. In addition, the linear motion may also include a rotation-based motion. This is for leveling work in the direction of rotation.

The cancellation conditions include, for example, "any operation amount of the plurality of operation devices 26 is equal to or greater than a predetermined operation amount", "any operation speed of the plurality of operation devices 26 is greater than or equal to a predetermined speed", and "the operation speed of the operation device 26 in operation is greater than or equal to the predetermined speed". Either one is returned to the neutral position" and "any one of the operating devices 26 in operation is operated in the reverse direction beyond the neutral position", and the like.

Basically, the excavation attachment operates according to the operation of the boom lever, the arm lever, and the bucket lever, which are the operating devices 26 , respectively. The operation tendency determination unit 32 grasps each operation content based on, for example, pilot pressures generated by the boom lever and the arm lever, respectively. Then, when the operation content of each of the boom lever and the arm lever within the predetermined period satisfies the predetermined start condition, the operation tendency of the operator within the predetermined period is derived from the operation content. At this time, the operation tendency determination unit 32 may also consider the operation contents of the bucket lever, the swing lever, and the like. In the present embodiment, the boom lever and the bucket lever are described as independent levers, but they are actually the same lever and only the tilting directions are different. The same applies to the relationship between the stick lever and the swing lever.

In the present embodiment, the start condition is, for example, that the operation amount of each of the boom lever and the arm lever is smaller than a predetermined operation amount (micro-operation) for a predetermined period.

The operation tendency is derived, for example, as an operation tendency (horizontal stretch during ground excavation work) to bring the cutting edge of the bucket 6 closer to the horizontal plane. In this case, the moving direction of the cutting edge of the bucket 6 is derived as a direction in which the angle with respect to the horizontal plane is zero degrees.

Then, the attachment control unit 31 automatically controls the operation of the excavation attachment so as to maintain the operation of the excavation attachment in accordance with the operation tendency until a predetermined release condition is satisfied.

Specifically, the attachment control unit 31 automatically causes the boom cylinder 7 and the arm cylinder 8 to maintain the movement direction (target movement direction) of the cutting edge of the bucket 6 in accordance with the operation tendency derived by the operation tendency determination unit 32 . telescopic. The bucket cylinder 9 can be automatically extended and retracted, and the swing hydraulic motor can be automatically rotated.

For example, when the moving direction of the blade tip (the moving direction before adjustment) calculated based on the actual operation amount of the boom lever and the arm lever by the operator deviates from the target moving direction, the attachment control unit 31 excavates the attachment by excavating the attachment. The adjustment action to maintain the target movement direction. In this case, the attachment control unit 31 maintains the target movement direction by automatically extending and contracting the boom cylinder 7 and the arm cylinder 8 regardless of the actual operation amount of the operator.

Here, an example of an adjustment mechanism that realizes the adjustment operation of the excavation attachment will be described with reference to FIG. 3 . FIG. 3 is a diagram showing a configuration example of an arm lever 26A as the operation device 26 to which the adjustment mechanism 50 is attached. The following description is also applicable to other joysticks to which the adjustment mechanism 50 is attached. For example, the same applies to the boom lever to which the adjustment mechanism 50 is attached for moving the boom flow control valve 17B to the left and right.

The adjustment mechanism 50 is a mechanism for adjusting the pilot pressure generated by the arm lever 26A to a desired pilot pressure, and mainly includes the solenoid valve 51 , the solenoid valve 52L, the solenoid valve 52R, and the like. The desired pilot pressure is the pilot pressure required to align the pre-adjustment movement direction of the blade edge of the bucket 6 with the target movement direction. The accessory device control unit 31 calculates a desired pilot pressure based on the output of the posture detection device S1 and the like.

The solenoid valve 51 is an electromagnetic proportional pressure reducing valve provided in the pipeline connecting the pilot pump 15 and the arm lever 26A, and its opening area is increased or decreased in accordance with the control current from the controller 30 .

The solenoid valve 52L is an electromagnetic switching valve provided in the pipeline C1 connecting the arm lever 26A and the left pilot port 17L of the arm flow control valve 17A provided in the control valve 17 , and is based on a command from the controller 30 . to switch its valve position. The solenoid valve 52L has a first valve position and a second valve position. The first valve position allows the line C11 and the line C12 to communicate with each other and shuts off the communication between the line C3 and the line C12. The second valve position cuts off the communication between the line C11 and the line C12, and allows the line C3 and the line C12 to communicate with each other. The line C11 connects the stick lever 26A and the solenoid valve 52L. The line C12 connects the solenoid valve 52L and the left pilot port 17L of the arm flow control valve 17A. The pipeline C3 connects the solenoid valve 51 and the solenoid valve 52L.

The solenoid valve 52R is an electromagnetic switching valve provided in the line C2 connecting the arm lever 26A and the right pilot port 17R of the arm flow control valve 17A, and the valve position is switched in accordance with a command from the controller 30 . The solenoid valve 52R has a first valve position and a second valve position. The first valve position communicates the line C21 and the line C22, and shuts off the communication between the line C4 and the line C22. The second valve position cuts off the communication between the line C21 and the line C22, and allows the line C4 and the line C22 to communicate with each other. The line C21 connects the stick lever 26A and the solenoid valve 52R. The line C22 connects the solenoid valve 52R and the right pilot port 17R of the arm flow control valve 17A. The pipeline C4 connects the solenoid valve 51 and the solenoid valve 52R.

When the arm lever 26A is tilted in the closing direction, the pressure of the hydraulic oil in the line C1 is increased, and when it is tilted in the opening direction, the pressure of the hydraulic oil in the line C2 is increased. The pressure of the hydraulic oil in the line C1 , that is, the arm closing pilot pressure, is detected by the arm closing pilot pressure sensor 29L, which is an example of the pressure sensor 29 . The pressure of the hydraulic fluid in the line C2 , that is, the arm opening pilot pressure is detected by the arm opening pilot pressure sensor 29R, which is an example of the pressure sensor 29 . When the arm closing pilot pressure increases, the arm flow control valve 17A as a spool valve moves to the right, the main pump 14 communicates with the bottom side oil chamber of the arm cylinder 8, and the arm cylinder 8 expands. When the arm opening pilot pressure increases, the arm flow control valve 17A moves to the left, the main pump 14 communicates with the rod side oil chamber of the arm cylinder 8, and the arm cylinder 8 contracts.

The attachment control unit 31 outputs a command current to the solenoid valve 51 and outputs an open command to the solenoid valve 52L when the arm cylinder 8 is automatically extended. The solenoid valve 51 that has received the command current realizes an opening area corresponding to the command current. The solenoid valve 52L that has received the opening command is switched to the second valve position, and the hydraulic oil discharged from the pilot pump 15 flows into the line C12. In this way, the attachment control unit 31 generates the desired arm closing pilot pressure.

Similarly, when the arm cylinder 8 is automatically retracted, the attachment control unit 31 outputs a command current to the solenoid valve 51 and outputs an open command to the solenoid valve 52R. The solenoid valve 51 that has received the command current realizes an opening area corresponding to the command current. The solenoid valve 52R that has received the opening command is switched to the second valve position, and the hydraulic oil discharged from the pilot pump 15 flows into the line C22. In this way, the attachment control unit 31 generates the desired arm opening pilot pressure.

In this way, the controller 30 sets, for example, the moving speed and the moving direction of the bucket 6 within a predetermined period as the target moving speed and the target moving direction. Then, based on the detection value of the posture detection device S1 , commands are output to the solenoid valve 51 , the solenoid valve 52L, and the solenoid valve 52R so that the movement speed and movement direction of the bucket 6 become the target movement speed and target movement direction.

Next, a three-dimensional orthogonal coordinate system used in the control method according to the embodiment of the present invention will be described with reference to FIGS. 4A and 4B . 4A is a side view of the shovel, and FIG. 4B is a plan view of the shovel.

As shown in FIGS. 4A and 4B , the Z axis of the three-dimensional orthogonal coordinate system corresponds to the rotation axis PC of the shovel, and the origin O of the three-dimensional orthogonal coordinate system corresponds to the intersection of the rotation axis PC and the installation surface of the shovel.

The X axis orthogonal to the Z axis extends in the extension direction of the attachment, and the Y axis orthogonal to the Z axis extends in the direction perpendicular to the extension direction of the attachment. Furthermore, the X axis and the Y axis rotate around the Z axis together with the rotation of the shovel. In addition, regarding the rotation angle θ of the shovel, in a plan view as shown in FIG. 4B , the counterclockwise direction with respect to the Z axis is assumed to be a positive direction.

Furthermore, as shown in FIG. 4A , the attachment position of the boom 4 to the upper revolving body 3 is represented by the boom pin position P1 , which is the position of the boom pin serving as the boom rotation axis. Similarly, the attachment position of the arm 5 with respect to the boom 4 is represented by the arm pin position P2 which is the position of the arm pin which is the arm rotation axis. Moreover, the attachment position of the bucket 6 with respect to the arm 5 is represented by the bucket pin position P3 which is the position of the bucket pin which is the bucket rotation axis. Moreover, the front end position of the bucket 6 (for example, the cutting edge position of the bucket 6 ) is represented by the bucket cutting edge position P4.

The length of the line segment SG1 connecting the boom pin position P1 and the arm pin position P2 is represented by _a predetermined value L1 as the boom length, and the length of the line segment SG2 connecting the arm pin position P2 and the bucket pin position P3 is expressed as the arm The length is represented by a predetermined value L ₂ , and the length of the line segment SG3 connecting the bucket pin position P3 and the bucket edge position P4 is represented by a predetermined value L ₃ as the bucket length.

The angle formed between the line segment SG1 and the horizontal plane is represented by the boom rotation angle β ₁ as the ground angle, and the angle formed between the line segment SG2 and the horizontal plane is represented by the arm rotation angle β ₂ as the ground angle, formed in The angle between the line segment SG3 and the horizontal plane is represented by the bucket rotation angle β ₃ which is the ground angle.

Here, let the three-dimensional coordinates of the boom pin position P1 be (X, Y, Z)=(HOX, O, HOZ), and let the three-dimensional coordinates of the bucket tip position P4 be (X, Y, Z) =(Xe, Ye, Ze), then Xe and Ze are represented by formula (1) and formula (2), respectively. In addition, Xe and Ye represent the plane position of the cutting edge of the bucket 6 , and Ze represents the height of the cutting edge of the bucket 6 .

Xe=H _OX +L ₁ cosβ ₁ +L ₂ cosβ ₂ +L ₃ cosβ ₃ ……(1)

Ze=H _Oz +L ₁ sinβ ₁ +L ₂ sinβ ₂ +L ₃ sinβ ₃ ……(2)

In addition, Ye becomes 0. This is because the bucket tip position P4 exists on the XZ plane.

In addition, since the coordinate value of the boom pin position P1 is a fixed value, as long as the boom rotation angle β ₁ , the arm rotation angle β ₂ , and the bucket rotation angle β ₃ are determined, the coordinate value of the bucket edge position P4 is unique. to be sure. Similarly, as long as the boom rotation angle β ₁ is determined, the coordinate value of the arm pin position P2 is uniquely determined, and as long as the boom rotation angle β ₁ and the arm rotation angle β ₂ are determined, the coordinates of the bucket pin position P3 are determined. The value is uniquely determined.

Next, the case where the position of the blade edge of the bucket 6 , which is the working part, is moved along the X axis while maintaining the values of the Y coordinate and the Z coordinate will be described with reference to FIG. 4A . When the blade edge position of the bucket 6 moves from the point X0 to the point X1, the arm 5 rotates in the closing direction around the arm pin position P2. Accompanying this, the boom 4 rotates in the lifting direction about the boom pin position P1. Then, when the blade edge position reaches point X1 and moves from point X1 to point X2, the arm 5 rotates in the closing direction around the arm pin position P2, but the boom 4 rotates around the boom pin position P1 in the closing direction. Rotate in the descending direction. In this way, the rotational direction of the boom 4 is reversed around the point X1. Therefore, even when the work site is moved linearly in the same direction, the operator needs a complicated operation.

Next, the relationship between the outputs of the boom angle sensor, the arm angle sensor, and the bucket angle sensor and the boom rotation angle β ₁ , the arm rotation angle β ₂ , and the bucket rotation angle β ₃ will be described with reference to FIG. 5 . . FIG. 5 is a diagram illustrating the state of the attachment in the XZ plane.

In the example of FIG. 5 , the boom angle sensor is provided at the boom pin position P1, the arm angle sensor is provided at the arm pin position P2, and the bucket angle sensor is provided at the bucket pin position P3.

The boom angle sensor detects and outputs the angle α ₁ formed between the line segment SG1 and the vertical line. The arm angle sensor detects and outputs the angle α ₂ formed between the extension line of the line segment SG1 and the line segment SG2. The bucket angle sensor detects and outputs the angle α ₃ formed between the extension line of the line segment SG2 and the line segment SG3 . In FIG. 5 , regarding the angle α ₁ , the counterclockwise direction with respect to the line segment SG1 is assumed to be a positive direction. Similarly, regarding the angle α ₂ , let the counterclockwise direction with respect to the line segment SG2 be the positive direction, and about the angle α ₃ , let the counterclockwise direction with respect to the line segment SG3 be the positive direction. In addition, in FIG. 5 , about the boom rotation angle β ₁ , the arm rotation angle β ₂ , and the bucket rotation angle β ₃ , the counterclockwise direction with respect to the line parallel to the X axis is defined as the positive direction.

From the above relationship, the boom rotation angle β ₁ , the arm rotation angle β ₂ , and the bucket rotation angle β ₃ are expressed by the equations (3), (4), and (5, respectively, using the angles α ₁ , α ₂ , and α ₃ ) )To represent.

β ₁ =90-α ₁ ......(3)

β ₂ =β ₁ -α ₂ =90-α ₁ -α ₂ ......(4)

β ₃ =β ₂ -α ₃ =90-α ₁ -α ₂ -α ₃ ......(5)

Furthermore, as described above, β ₁ , β ₂ , and β ₃ are represented by the inclinations of the boom 4 , the arm 5 , and the bucket 6 with respect to the horizontal plane.

Therefore, using the equations (1) to (5), as long as the angles α ₁ , α ₂ , and α ₃ are determined, the boom rotation angle β ₁ , the arm rotation angle β ₂ , and the bucket rotation angle β ₃ are uniquely determined is determined, and the coordinate value of the bucket tip position P4 is uniquely determined. Similarly, if the angle α ₁ is determined, the coordinate values of the boom rotation angle β ₁ and the arm pin position P2 are uniquely determined, and if the angles α ₁ and α ₂ are determined, the arm rotation angle β ₂ and the bucket pin are determined uniquely. The coordinate value of the position P3 is uniquely determined.

The boom angle sensor, the arm angle sensor, and the bucket angle sensor may directly detect the boom rotation angle β ₁ , the arm rotation angle β ₂ , and the bucket rotation angle β ₃ . In this case, the computations of the equations (3) to (5) can be omitted.

Next, with reference to FIG. 6 , a process of controlling the operation of the accessory device by the controller 30 (hereinafter, referred to as “accessory device operation control process”) will be described. FIG. 6 is a flowchart of an attachment device operation control process.

Initially, the controller 30 detects the respective operation amounts of the boom lever and the arm lever (step ST1 ). For example, the controller 30 continuously detects the respective operation amounts of the boom lever and the arm lever based on the output of the pressure sensor 29 and stores them in the RAM.

Then, the controller 30 determines whether or not the respective operation amounts of the boom lever and the arm lever are maintained for a predetermined period of time (step ST2 ). For example, the controller 30 refers to the temporal change of the respective operation amounts of the boom lever and the arm lever stored in the RAM, and determines whether or not each operation amount is smaller than the predetermined operation amount for a predetermined period. Alternatively, it may be determined whether each manipulated variable is smaller than a predetermined manipulated variable over a predetermined period and whether or not the fluctuation range of each manipulated variable during the predetermined period is less than a predetermined value. Here, the period (predetermined period) and the fluctuation range (predetermined value) required for the determination may be arbitrarily determined, for example, for each work content, each model, and each operator. In addition, the controller 30 may determine whether or not each operation amount is maintained for a predetermined period, based on whether or not the cutting edge of the bucket 6, which is the work portion, is linearly operated within a predetermined period. That is, the controller 30 may determine whether or not the cutting edge of the bucket 6 , which is the work site, is being linearly operated within the predetermined period in order to derive the operator's operation tendency within the predetermined period.

When it is determined that each operation amount has been held for a predetermined period (“Yes” in step ST2 ), the controller 30 determines the target moving speed of the cutting edge of the bucket 6 (step ST3 ). For example, the controller 30 derives the movement trajectory and movement distance of the cutting edge of the bucket 6 within a predetermined period from the output of the posture detection device S1. Then, the controller 30 calculates the average moving speed of the blade edge, and sets the average moving speed as the target moving speed. Here, the controller 30 may notify the operator that the operation mode is changed from the normal operation mode to the assist mode when controlling the excavation attachment so as to maintain the operation of the excavation attachment in accordance with the operation tendency. Specifically, in order to inform the operator that the operation mode has been changed from the normal operation mode to the assist mode, this information may be displayed on the display device, or a voice output may be performed. In addition, while the control is performed so as to maintain the operation of the excavation attachment, the notification of this situation may be continued.

Then, the controller 30 starts to control the moving direction of the cutting edge of the bucket 6 (step ST4). For example, the controller 30 derives the movement trajectory of the cutting edge of the bucket 6 within a predetermined period from the output of the posture detection device S1. Then, the controller 30 sets the average value of the angles (angles with respect to the horizontal plane) indicating the moving direction at each sampling time as the angle indicating the target moving direction. The angle of the approximate straight line of the movement locus of the blade edge of the bucket 6 in the predetermined period with respect to the horizontal plane may be set as the angle indicating the target movement direction. Then, the controller 30 expands and contracts the boom cylinder 7 and the arm cylinder 8 so that the cutting edge of the bucket 6 moves in the target movement direction at the target movement speed.

In this way, the controller 30 generates the target movement direction and the target movement speed so as to automatically maintain and control the movement direction and movement speed of the cutting edge of the bucket 6 as the working part, regardless of the operation amount of the joystick, and controls the auxiliary device action.

However, the controller 30 may not automatically maintain the moving speed, but may generate the target moving speed according to the operation amount of the joystick related to any one of the boom 4 , the arm 5 , and the bucket 6 . For example, when it is determined to move the cutting edge of the bucket 6 as the working part in the slope direction (inclined surface direction), or when it is determined to move in the front-rear direction (substantially horizontal direction) of the machine body, based on the operation tendency The target movement speed is generated based on the operation amount of the stick joystick. Alternatively, when it is determined from the operation tendency that the cutting edge of the bucket 6 is moved in the vertical direction (substantially the vertical direction) along the wall surface of the groove, the target moving speed may be generated according to the operation amount of the boom lever. In this way, the controller 30 (eg, the operation tendency determination unit 32 ) may determine whether or not to generate the target moving speed according to the operation tendency and the operation amount of any joystick. That is, one joystick associated with the target movement speed of the derivation work part may be selected from among the plurality of joysticks according to the operation tendency. Furthermore, the operation part may be moved in the movement direction determined according to the operation tendency while generating the target movement speed based on the determined (selected) operation amount of the joystick.

When it is determined that each operation amount has not been held for a predetermined period (NO in step ST2 ), the controller 30 ends the current attachment operation control process without setting the target moving speed and the target moving direction. Therefore, the boom cylinder 7 and the arm cylinder 8 are not automatically extended and retracted by the controller 30, but are extended and retracted according to the actual operation of the boom lever and the arm lever by the operator.

In addition, as a determination method, the time-dependent change of the position of the bucket 6 may be referred to instead of the time-dependent change of the operation amount. In this case, it is determined whether or not the variation width of the movement direction of the bucket 6 is smaller than the predetermined value and the moving speed is smaller than the predetermined value after a predetermined period. Alternatively, it may be determined whether or not the moving speed of the bucket 6 is less than a predetermined value after a predetermined period and the fluctuation range of the moving speed of the bucket 6 during the predetermined period is less than a predetermined value.

Next, the effect of the attachment device operation control process will be described with reference to FIG. 7 . 7 shows the operation amount of the boom lever in the lift direction (boom lift operation amount), the operation amount of the arm lever in the closing direction (the arm closing operation amount), and the moving speed of the blade edge of the bucket 6 (boom lift operation amount) Temporal changes in the angle (tip angle) indicating the moving direction of the blade edge of the bucket 6 . In this example, the operator of the shovel performs ground excavation work in which the bucket 6 is brought close to the body side along the horizontal plane by the combined operation of the boom lever and the arm lever.

Specifically, as shown in FIG. 7(A) , the operator of the shovel starts the operation of the boom lever in the lift direction at time t1, and then continues the operation in the lift direction with a substantially constant operation amount B1. Then, as shown in FIG. 7(B) , the operator starts the operation of the arm lever in the closing direction at time t1, and then continues the operation in the closing direction with a substantially constant operation amount A1.

As shown in FIG. 7(C) , the blade edge speed of the bucket 6 starts to increase at time t1, and thereafter, the blade edge speed V1 is maintained substantially constant. As shown in FIG.7(D), the blade edge angle of the bucket 6 maintains the substantially constant blade edge angle D1 from the time point of time t1. As a result, the cutting edge of the bucket 6 moves in the direction of the machine body substantially horizontally.

When it is determined at time t2 that the boom-up operation amount and the arm-close operation amount are each maintained for a predetermined period, the controller 30 determines the target moving speed of the cutting edge of the bucket 6 . For example, when the boom lift operation amount during the period from time t11 to time t2 is always smaller than the predetermined operation amount TH1 and the arm close operation amount is always smaller than the predetermined operation amount TH2, the controller 30 determines that the predetermined period has elapsed and the boom is lifted The operation amount and the arm closing operation amount are respectively maintained. Then, the average value of the blade edge speed V1 in the period from the time t11 to the time t2 is set as the target moving speed.

Then, when it is determined at time t2 that the boom-up operation amount and the arm-close operation amount are each held for a predetermined period, the controller 30 determines the target moving direction of the cutting edge of the bucket 6 . For example, the controller 30 sets the average value of the blade edge angles D1 during the period from the time t11 to the time t2 as the angle indicating the target moving direction.

Then, the controller 30 controls the operation of the excavation attachment so as to maintain the operation of the excavation attachment in accordance with the operation tendency (the blade tip speed and the blade tip angle) until the release condition is satisfied.

As a result, as shown by the solid line in FIG. 7(A), after time t2, even when the actual boom lift operation amount is lower than the operation amount B1 and the deviation width gradually increases, the boom flow control is performed. The valve 17B also receives the boom lift pilot pressure that is substantially the same as when the boom lift operation amount is maintained at the operation amount B1 as indicated by the one-dot chain line in FIG. 7(A). This is because, in the present embodiment, the controller 30 automatically controls the cutting edge speed and cutting edge angle of the bucket 6 according to the command. The shaded area of FIG. 7(A) represents the deviation range between the actual boom lift operation amount and the operation amount B1. This deviation width corresponds to the boom lift operation amount corresponding to the automatic extension of the boom cylinder 7 by the controller 30 .

The automatic operation amount of the boom lever (pilot pressure difference before and after automatic adjustment) for maintaining the set target moving speed of the blade edge of the bucket 6 and the angle indicating the target moving direction varies depending on the work environment. That is, FIG. 7(A) shows an example of receiving the boom lift pilot pressure substantially the same as when the boom lift operation amount is maintained at the operation amount B1, but the present invention is not limited to this configuration. For example, the boom lift pilot pressure may be adjusted so that the boom lift operation amount increases with a predetermined gradient, or the boom lift operation amount decreases with a predetermined gradient. In the example shown in FIG. 4A , the boom lift pilot pressure falls below zero and becomes a negative value when the point X1 has passed. In this case, the boom 4 moves in the descending direction.

Furthermore, as shown by the solid line in FIG. 7(B), after time t2, even when the actual arm closing operation amount fluctuates up and down in the vicinity of the operation amount A1, the arm flow control valve 17A is subjected to the same As indicated by the one-dot chain line in FIG. 7(B) , the arm close pilot pressure is substantially the same when the arm close operation amount is maintained at the operation amount A1. This is because, in the present embodiment, the controller 30 automatically controls the cutting edge speed and cutting edge angle of the bucket 6 according to the command. The shaded area of FIG. 7(B) represents the deviation width between the actual arm closing operation amount and the operation amount A1. The deviation width corresponds to the operation amount of the arm lever corresponding to the automatic expansion and contraction of the arm cylinder 8 by the controller 30 .

The automatic operation amount of the arm lever (pilot pressure difference before and after automatic adjustment) for maintaining the set target moving speed of the cutting edge of the bucket 6 and the angle indicating the target moving direction varies depending on the work environment. That is, FIG. 7(B) shows an example of receiving the arm close pilot pressure substantially the same as when the arm close operation amount is maintained at the operation amount A1, but the present invention is not limited to this configuration. For example, the arm close pilot pressure may be adjusted so that the arm close operation amount increases at a predetermined gradient or so that the arm close operation amount decreases at a predetermined gradient.

As shown in FIG. 7(C) , after time t2, the cutting edge speed is maintained constant at the cutting edge speed V1 which is the target moving speed. Likewise, as shown in FIG. 7(D) , after the time t2, the cutting edge angle is maintained constant at the cutting edge angle D1 indicating the target moving direction. The dashed-dotted lines in FIGS. 7(C) and 7(D) indicate changes over time when the accessory device operation control process is not executed.

In this example, since the actual boom lift operation amount deviates downward from the operation amount B1, when the attachment operation control process is not executed, as shown by the one-dot chain line in FIG. The toe angle D1 in the target moving direction gradually deviates. This means that the position of the blade edge of the bucket 6 gradually becomes deeper and the load of the foundation excavation work gradually becomes larger. Then, as shown by the one-dot chain line in FIG. 7(C) , the blade tip speed gradually decreases with the increase in the foundation digging work load. The controller 30 can avoid such a deviation of the cutting edge angle and reduction of the cutting edge speed by executing the attachment operation control process. In addition, it is possible to prevent the processed surface from becoming an inclined surface instead of a horizontal surface.

With the above configuration, even when the actual boom lift operation amount is not enough to bring the bucket 6 closer to the horizontal plane, the operator of the shovel can achieve a boom that is just suitable for bringing the bucket 6 closer to the horizontal plane. The operation of the excavation attachment is the same as when the lifting operation amount is operated. The same applies to the case where the bucket 6 is moved away from the horizontal plane, or when the bucket 6 is moved closer to or away from the slope.

Furthermore, when switching between rough excavation work that does not require assistance by the controller 30 and fine excavation work that requires assistance by the controller 30, the operator is not required to perform special operations or operations for enabling or disabling the assistance. . Therefore, the operator can freely switch between the rough excavation work and the finishing work without paying attention to the enabling/disabling of the assistance by the controller 30, and can also receive the assistance by the controller 30 at an appropriate timing. Therefore, the shovel according to the embodiment of the present invention can improve the work efficiency.

In addition, the operator of the shovel does not need to pay attention to the insufficient boom lift operation amount and the start of automatic control by the controller 30, so that a comfortable operating feeling can be obtained. However, when the boom cylinder 7 is automatically extended and retracted, the controller 30 may also transmit this information to the operator. For example, in-vehicle displays, in-vehicle speakers, LED lights, etc. may be used to communicate this to the operator. In this case, the operator can recognize that the boom lift operation amount is insufficient, and can refer to this fact for improvement of the operation technique in the future. The same applies to the automatic operation of other hydraulic actuators such as the arm cylinder 8 .

The automatic control by the controller 30 is an automatic control that realizes the operation of the excavation attachment desired by the operator according to the content of the actual compound operation performed by the operator, and is not an operation that allows deviation from the content of the actual compound operation performed by the operator of automatic control. For example, since the target movement direction and target movement speed are set according to the content of the actual composite operation performed by the operator, the operation of the excavating attachment by the controller 30 does not greatly deviate from the operation desired by the operator. Furthermore, even when the attachment operation control process is being executed, the operator of the shovel can stop the operation of the excavation attachment or cause the excavation attachment to perform other operations at a desired timing because the release condition is satisfied. Therefore, there is no sense of incongruity regarding the operation of the excavator.

Next, an example of the flow of automatic control by the controller 30 will be described with reference to FIGS. 8 and 9 . 8 and 9 are block diagrams showing the flow of automatic control by the controller 30 . Specifically, in FIGS. 8 and 9 , the controller 30 (for example, the operation tendency determination unit 32 ) determines which joystick is used to generate the target moving speed, and generates the target moving speed from the determined joystick, while making the work site An explanatory diagram when moving in the moving direction determined by the operation tendency.

When automatic control is started, as shown in FIG. 8 , the controller 30 calculates the unit based on the target moving speed of the cutting edge, the target moving direction of the cutting edge, and the three-dimensional coordinates (Xe, Ye, Ze) of the current cutting edge position of the bucket 6 . The three-dimensional coordinates (Xer, Yer, Zer) of the position of the blade tip after time has elapsed.

The operation tendency determination unit 32 of the controller 30 determines whether or not each operation amount is maintained for a predetermined period based on the joystick operation amount. The operation tendency determination unit 32 may receive an input of the position of the cutting edge of the bucket 6 , which is the working part, and judge whether or not the operation of the cutting edge position of the bucket 6 is maintained so as to become a constant operation for a predetermined period. Then, when it is determined that each operation amount is held for a predetermined period of time, the operation tendency determination unit 32 generates a target moving speed of the blade edge.

The cutting edge target moving speed is generated based on, for example, an operation tendency. The target moving direction of the blade edge is determined based on, for example, a joystick operation. The operation tendency is determined based on, for example, the amount of joystick operation. The current cutting edge position is calculated from, for example, the boom rotation angle β ₁ , the arm rotation angle β ₂ , and the bucket rotation angle β ₃ . The unit time is, for example, a time corresponding to an integral multiple of the control cycle. In addition, in this embodiment, the value of the Y coordinate of the blade edge position does not change before and after the movement. That is, the value Yer of the Y-coordinate of the blade edge position after the elapse of the unit time is the same as the Y-coordinate value Ye of the current blade edge position. In the present embodiment, the controller 30 determines the subsequent movement path of the blade edge position when the control is started. That is, the coordinate value of the blade edge position at each time point in the future is determined. However, the controller 30 may recalculate the coordinate value of the blade edge position at one or more future time points for each unit time.

Furthermore, when automatically controlling the moving direction and moving speed of the cutting edge of the bucket 6 as the working portion regardless of the amount of operation of the joystick, the controller 30 may generate the target moving direction and the target moving in the operation tendency determination unit 32 . speed.

When the operation tendency determination unit 32 does not determine that each operation amount is maintained for a predetermined period, the flow control valve in the control valve 17 corresponding to each hydraulic actuator operates according to the lever operation amount.

Then, the controller 30 generates command values β _1r , β _2r , and β _3r related to the rotational operations of the boom 4 , the arm 5 , and the bucket 6 based on the calculated X-coordinate value Xer and Z-coordinate value Zer. The command value β _1r represents, for example, the rotational angle of the boom 4 when the position of the cutting edge can be aligned with the three-dimensional coordinates (Xer, Yer, Zer). The same applies to the command value β _2r and the command value β _3r .

The controller 30 generates the command value using, for example, a preset calculation formula. In this embodiment, the controller 30 calculates the command values β _1r , β _2r , and β when the position of the blade tip can be aligned with the three-dimensional coordinates (Xer, Yer, Zer) using the above-mentioned equations (1) and (2). _3r . This is based on the fact that both the value xer of the X coordinate and the value Zer of the Z coordinate are functions of the command values β _1r , β _2r , and β _3r . In this case, the controller 30 calculates the command values β _1r and β on the premise that, for example, the bucket rotation angle β ₃ is kept constant and both the boom rotation angle β ₁ and the arm rotation angle β ₂ are changed. _2r , β _3r . However, the controller 30 may calculate the command values β _1r , β _2r , and β _3r under other premise. Alternatively, the controller 30 may generate the command value with reference to a table in which the relationship between the blade edge position, the boom rotation angle β ₁ , the arm rotation angle β ₂ , and the bucket rotation angle β ₃ is stored in advance.

Then, as shown in FIG. _{9 , the controller 30 generates command values β 1 r , β 2 r} , The boom 4 , the arm 5 , and the bucket 6 operate in the manner of β ₃ r. In this case, the controller 30 may derive the command values α _1r , α _2r , and α _3r corresponding to the command values β _1r , β _2r , and β _3r using Expressions (3) to (5). Furthermore, the controller 30 may be such that the outputs of the boom angle sensor, the arm angle sensor, and the bucket angle sensor, that is, the angles α ₁ , α ₂ , and α ₃ become the derived command values α _1r , α _2r , and α _3r The boom 4, the arm 5, and the bucket 6 are moved.

Specifically, the controller 30 generates the boom cylinder pilot pressure command corresponding to the difference Δβ ₁ between the current value of the boom rotation angle β ₁ and the command value β _1r . Then, a control current corresponding to the boom cylinder pilot pressure command is output to the boom solenoid proportional valve as the solenoid valve 51 . The boom electromagnetic proportional valve causes a pilot pressure corresponding to a control current corresponding to the boom cylinder pilot pressure command to act on the boom flow control valve 17B.

Then, the boom flow control valve 17B, which receives the pilot pressure generated by the boom solenoid proportional valve, supplies the hydraulic oil discharged from the main pump 14 to the boom cylinder 7 in the flow direction and flow rate corresponding to the pilot pressure. The boom cylinder 7 is extended and contracted by hydraulic oil supplied through the boom flow control valve 17B. The boom angle sensor detects the angle α ₁ of the boom 4 that is moved by the boom cylinder 7 that is extended and contracted.

Then, the controller 30 substitutes the angle α ₁ detected by the boom angle sensor into Expression (3) to calculate the boom rotation angle β ₁ . Then, the calculated value is fed back as the current value of the boom rotation angle β ₁ used when generating the boom cylinder pilot pressure command.

In addition, the above description is about the operation of the boom 4 based on the command value β ₁ r, but the operation of the arm 5 based on the command value β ₂ r and the operation of the bucket 6 based on the command value β ₃ r can also be applied in. Therefore, the description of the flow of the operation of the arm 5 based on the command value β ₂ r and the operation of the bucket 6 based on the command value β ₃ r is omitted.

As shown in FIG. 8 , the controller 30 may derive the pump discharge amount from the command values β ₁ r, β ₂ r, and β ₃ r using the pump discharge amount deriving units CP1 , CP2 , and CP3 . In the present embodiment, the pump discharge amount deriving units CP1 , CP2 , and CP3 derive the pump discharge amounts from the command values β ₁ r, β ₂ r, and β ₃ r using a pre-registered table or the like. The pump discharge amounts derived by the total pump discharge amount derivation units CP1 , CP2 , and CP3 are input to the pump flow rate calculation unit as the total pump discharge amount. The pump flow rate calculation unit controls the discharge amount of the main pump 14 based on the input total pump discharge amount. In the present embodiment, the pump flow rate calculation unit controls the discharge amount of the main pump 14 by changing the swash plate deflection angle of the main pump 14 according to the total pump discharge amount.

In this way, the controller 30 can simultaneously perform the opening control of the boom flow control valve 17B, the arm flow control valve 17A, and the bucket flow control valve and the control of the discharge amount of the main pump 14 . Therefore, an appropriate amount of hydraulic oil can be supplied to the boom cylinder 7 , the arm cylinder 8 , and the bucket cylinder 9 , respectively.

In this way, the controller 30 sets the calculation of the three-dimensional coordinates (Xer, Yer, Zer), the generation of the command values β _1r , β _2r , and β _3r , and the determination of the discharge amount of the main pump 14 as one control cycle, and repeats the Control loop to perform automatic control. In addition, the controller 30 can improve the accuracy of the automatic control by feedback-controlling the cutting edge position based on the output of the posture detection device S1. Specifically, by feedback-controlling the flow rates of hydraulic fluids flowing into the boom cylinder 7 , the arm cylinder 8 , and the bucket cylinder 9 based on the output of the posture detection device S1 , the accuracy of the automatic control can be improved.

The preferred embodiments of the present invention have been described above. However, the present invention is not limited by the above-described embodiments. Various modifications, substitutions, and the like can be applied to the above-described embodiments without departing from the scope of the present invention. In addition, the features described separately can be combined as long as there is no technical contradiction.

For example, in the above-described embodiment, a hydraulic type operation device is used as the operation device 26, but an electric type operation device may be used. FIG. 10 shows a configuration example of an operating system including an electrical operating device. Specifically, the operating system shown in FIG. 10 is an example of a boom operating system, and mainly includes a pilot-operated control valve 17 , a boom operating lever 26B as an electric operating lever, a controller 30 , and a solenoid valve for boom lift operation. 60 and a solenoid valve 62 for boom lowering operation. The operating system of FIG. 10 can be similarly applied to an arm operating system, a bucket operating system, and the like.

The pilot-operated control valve 17 includes an arm flow control valve 17A (refer to FIG. 3 ), a boom flow control valve 17B (refer to FIG. 3 ), a bucket flow control valve, and the like. The solenoid valve 60 is configured to be able to adjust the flow path area of the oil path connecting the pilot pump 15 and the left (lift side) pilot port of the boom flow control valve 17B. The solenoid valve 62 is configured to be able to adjust the flow path area of the oil path connecting the pilot pump 15 and the right (lower side) pilot port of the boom flow control valve 17B.

When performing manual operation, the controller 30 generates a boom raising operation signal (electrical signal) or a boom lowering operation signal (electrical signal) based on the operation signal (electrical signal) output from the operation signal generator of the boom lever 26B. The operation signal output by the operation signal generation unit of the boom lever 26B is an electrical signal that changes according to the operation amount and operation direction of the boom lever 26B.

Specifically, when the boom lever 26B is operated in the boom raising direction, the controller 30 outputs a boom raising operation signal (electrical signal) corresponding to the operation amount of the lever to the solenoid valve 60 . The solenoid valve 60 adjusts the flow path area according to the boom lift operation signal (electrical signal), and controls the pilot pressure acting on the left (lift side) pilot port of the boom flow control valve 17B. Similarly, when the boom lever 26B is operated in the boom lowering direction, the controller 30 outputs a boom lowering operation signal (electrical signal) corresponding to the lever operation amount to the solenoid valve 62 . The solenoid valve 62 adjusts the flow path area according to the boom lowering operation signal (electrical signal), and controls the pilot pressure acting on the right (lowering side) pilot port of the boom flow control valve 17B.

When performing automatic control, the controller 30 generates a boom raising operation signal (electrical signal) or a boom lowering operation signal ( electrical signal). The correction operation signal may be an electrical signal generated by the controller 30 or an electrical signal generated by an external control device other than the controller 30 or the like.

FIG. 11 shows another configuration example of an operating system including an electrical operating device. Specifically, the operating system of FIG. 11 is another example of the boom operating system, and is mainly composed of an electromagnetically actuated control valve 17 , a boom lever 26B serving as an electric lever, and a controller 30 . The operating system of FIG. 11 can be similarly applied to an arm operating system, a bucket operating system, and the like.

The electromagnetically actuated control valve 17 includes a boom flow control valve, an arm flow control valve, a bucket flow control valve, and the like composed of electromagnetic spool valves that operate in response to commands from the controller 30 .

The boom operating system of FIG. 11 differs from the boom operating system of FIG. 10 in that the controller 30 directly controls the boom flow control valve. In the boom operating system of FIG. 10 , the controller 30 is configured to indirectly control the boom flow control valve 17B via the solenoid valve 60 or the solenoid valve 62 (refer to FIG. 3 ).

In the configuration of FIG. 11 , when manual operation is performed, the controller 30 generates a boom operation signal (electrical signal) based on the operation signal (electrical signal) output from the operation signal generation unit of the boom lever 26B.

Specifically, when the boom lever 26B is operated in the boom raising direction, the controller 30 outputs a boom raising operation signal (electrical signal) corresponding to the lever operation amount to the boom flow control valve. The boom flow control valve displaces only the spool stroke amount corresponding to the boom lift operation signal (electrical signal), and adjusts the flow rate of the hydraulic oil flowing into the bottom side oil chamber of the boom cylinder 7 . Similarly, when the boom lever 26B is operated in the boom lowering direction, the controller 30 outputs a boom lowering operation signal (electrical signal) corresponding to the lever operation amount to the boom flow control valve. The boom flow control valve is displaced only by the spool stroke amount corresponding to the boom lowering operation signal (electrical signal), and adjusts the flow rate of hydraulic oil flowing into the rod side oil chamber of the boom cylinder 7 .

When performing automatic control, the controller 30 generates a boom raising operation signal (electrical signal) or a boom lowering operation signal ( electrical signal). The correction operation signal may be an electrical signal generated by the controller 30 or an electrical signal generated by an external control device other than the controller 30 or the like.

In this way, even when the electric operating device is used, the shovel according to the embodiment of the present invention can be operated in the same manner as when the hydraulic operating device is used.

Symbol Description

1-lower traveling body, 1L-left traveling hydraulic motor, 1R-right traveling hydraulic motor, 2-slewing mechanism, 2A-swing hydraulic motor, 3-upper swinging body, 4-boom, 5-stick, 6 - Bucket, 7- Boom Cylinder, 8- Stick Cylinder, 9- Bucket Cylinder, 10- Cab, 11- Engine, 13- Regulator, 14- Main Pump, 15- Pilot Pump, 17- Control Valve , 17A-flow control valve for stick, 17B-flow control valve for boom, 17L-left pilot port, 17R-right pilot port, 26-operating device, 26A-stick lever, 26B-boom control Lever, 29-pressure sensor, 29L, 29R-pilot pressure sensor, 30-controller, 31-accessory device control unit, 32-operation tendency determination unit, 50-adjustment mechanism, 51, 52L, 52R-solenoid valve, 60, 62-solenoid valve, C1～C4, C11, C12, C21, C22-pipeline.

Claims (10)

1. An excavator comprising: lower walking body; The upper slewing body is mounted on the lower running body; an accessory device, mounted on the upper slewing body; an operating device, arranged in the operating room installed on the upper slewing body; and a control device that controls the operation of the accessory device that operates in accordance with a compound operation of the operating device, The control device derives the operation tendency of the operator within a predetermined period, and controls the operation of the attachment device so as to maintain the operation of the attachment device in accordance with the operation tendency. 2. The shovel of claim 1, wherein: The operation tendency is derived from the movement speed and movement direction of the termination attachment within the predetermined period detected by the posture detection device. 3. The shovel of claim 1, wherein, The control device grasps the operation content of the operation device based on the pilot pressure generated by the operation device, and maintains the operation content with the operation device when the operation amount of each of at least two of the operation devices is maintained for the predetermined period. The operation of the accessory device is controlled in a manner that corresponds to the operation tendency of the accessory device. 4. The shovel of claim 2, wherein, The control device grasps the operation content of the operating device according to the moving speed and the moving direction of the terminal attachment device detected by the posture detection device. When held for the predetermined period of time, the operation of the attachment device is controlled so as to maintain the operation of the attachment device in accordance with the operation tendency. 5. The shovel of claim 1, wherein: The control device notifies the operator that the operation of the accessory device is controlled so as to maintain the operation of the accessory device in accordance with the operation tendency. 6. The shovel of claim 1, wherein, The control device controls the operation of the attachment device so as to correspond to the movement speed and movement direction of the work site derived from the operation tendency. 7. The shovel of claim 1, wherein, The control device controls the operation of the attachment device so as to correspond to the movement direction of the work part derived from the operation tendency and the movement speed of the work part derived from the operation amount of the joystick. 8. The shovel of claim 7, wherein: The control device selects, from among a plurality of joysticks, one joystick related to deriving the movement speed of the work site based on the operation tendency. 9. The shovel of claim 8, wherein: The control device selects the boom lever when it is determined that the work site is moved in the substantially vertical direction. 10. The shovel of claim 8, wherein, The control device selects an arm lever when it is determined that the work site is to be moved in a sloped direction or in a substantially horizontal direction.

Images