CN106545039B - Excavator - Google Patents

Abstract

An excavator provides a feeling of operation suitable for each operator. The operation lever (500) is provided to a driver seat of the upper revolving body, and the tilting in a predetermined direction is associated with the movement of a control shaft, which is one of a revolving shaft, a boom shaft of an attachment, a bucket lever shaft, and a bucket shaft. A sensitivity correction unit (502) holds a command value (omega) for a control axis and a tilt angle (theta) indicating a predetermined operating lever_REF) And generates a command value (ω) corresponding to the flip angle (θ)_REF). A sensitivity correction unit (502) generates sensitivity characteristics (511) so as to pass at least 2 coordinates input beforehand by an operator. The drive device (504) is based on the command value (omega)_REF) To control the control shaft.

Description

Excavator

This application claims priority based on japanese patent application No. 2015-183822, filed in japanese application on 17.9.2015, and the contents thereof are incorporated herein.

Technical Field

The present invention relates to an excavator.

Background

The excavator includes a traveling body called a crawler, an upper revolving body, a revolving device for revolving the upper revolving body relative to the traveling body, and an attachment mounted on the upper revolving body. Fig. 1(a) is a diagram showing an operator seat 100 of a shovel. The operator seat is provided with a left operation lever 102 and a right operation lever 103 which are operated by an operator (working person). Fig. 1(b) is a diagram showing the left operation lever 102. The front-rear direction (i) and the left-right direction (ii) of the left operation lever 102 are assigned to one of the rotation axis, the bucket shaft, the boom shaft, and the bucket shaft, respectively. The right-left direction and the front-rear direction of the right operation lever 103 are also the same. The correspondence relationship between the direction of the joystick and the axis differs depending on the manufacturer of the shovel.

The correspondence relationship (referred to as sensitivity characteristic in the present specification) of the control command (or actual operation) with respect to the tilt angle of the joystick differs depending on the model (size/manufacturer). When this sensitivity characteristic is directly related to the operational feeling of the shovel, there is a problem that the work accuracy is lowered or the work time is increased when the operator uses the shovel having the operational feeling different from the operational feeling experienced so far.

Patent document 1: japanese laid-open patent publication No. 2002-

Patent document 2: japanese laid-open patent publication No. 8-151662

Patent document 3: japanese laid-open patent publication No. 1-156300

Patent document 4: japanese laid-open patent publication No. 7-77206

Disclosure of Invention

The present invention has been made in view of the above problems, and one of the objects of one embodiment of the present invention is to provide a shovel capable of providing an operation feeling suitable for each operator or each work.

One aspect of the present invention relates to an excavator. The shovel is provided with: a traveling body; an upper revolving body revolving relative to the traveling body; an attachment device mounted on the upper slewing body; the operating rod is arranged on a driver seat of the upper revolving body, and the inclination in the specified direction is in corresponding relation with the movement of the revolving shaft, one of a movable arm shaft, a bucket rod shaft and a bucket rod shaft of the accessory device, namely the control shaft; a sensitivity correction unit that holds sensitivity characteristics indicating a predetermined correspondence relationship between a tilt angle of the operating lever and a command value, and generates a command value corresponding to the tilt angle; and a drive device for controlling the control shaft according to the command value. The sensitivity correction unit generates sensitivity characteristics so as to pass at least 2 coordinates input beforehand by an operator.

Since the operator can set the sensitivity characteristic, it is possible to provide an operation feeling suitable for each operator or each task. Further, since at least 2 coordinates can be specified, the gain, sensitivity, rising characteristic, and saturation characteristic can be set independently, and the operation feeling can be made close to the preference of the operator.

The sensitivity correction unit has a GUI (graphical User interface) and displays sensitivity characteristics on a display means and receives an input of at least 2 coordinates by an operator.

This enables the operator to intuitively set the sensitivity characteristic.

The sensitivity correction unit may hold a plurality of sensitivity characteristics that differ according to a plurality of jobs. The sensitivity correction unit may generate the command value based on the sensitivity characteristic corresponding to the job selected by the operator.

As a result of the studies conducted by the present inventors, it was found that the sensitivity characteristics are different depending on the type of work such as excavation work, leveling work, and loading work. According to this aspect, the efficiency of each operation can be improved.

The sensitivity correction unit may include a gui (graphical User interface) for displaying a plurality of tasks on the display means and receiving a selection of a task by the operator.

Another aspect of the invention also relates to an excavator. The shovel is provided with: a traveling body; an upper revolving body revolving relative to the traveling body; an attachment device mounted on the upper slewing body; an operation lever provided on a driver seat of the upper revolving body and having a corresponding relationship with a movement of a control shaft which is one of a revolving shaft, a boom shaft of the attachment, a bucket lever shaft, and a bucket shaft, with respect to a tilt in a predetermined direction; a sensitivity correction unit that holds a plurality of sensitivity characteristics corresponding to a plurality of tasks, the sensitivity characteristics indicating a correspondence relationship between a tilting angle of an operation lever and a command value, the sensitivity correction unit generating the command value corresponding to the tilting angle based on the sensitivity characteristics corresponding to the task selected by an operator; and a drive device for controlling the control shaft according to the command value.

According to this aspect, it is possible to provide sensitivity characteristics suitable for work and improve work efficiency.

Any combination of the above-described constituent elements, or mutual replacement of the constituent elements of the present invention and the techniques expressed in the methods, apparatuses, systems, and the like are also effective as aspects of the present invention.

Effects of the invention

According to the present invention, it is possible to provide an operation feeling suitable for each operator or each task.

Drawings

Fig. 1(a) is a view showing an operator seat of the excavator, and fig. 1(b) is a view showing a left operating lever.

Fig. 2 is a perspective view showing an external appearance of a shovel which is an example of the construction machine according to the embodiment.

Fig. 3 is a control block diagram of the shovel according to the embodiment.

Fig. 4 is a diagram showing an example of sensitivity characteristics.

Fig. 5 is a diagram showing a GUI.

Fig. 6(a) and 6(b) are diagrams illustrating sensitivity correction of the shovel according to the embodiment.

Fig. 7(a) is a waveform diagram of the velocity command, and fig. 7(b) is a diagram showing sensitivity characteristics.

Fig. 8(a) to 8(e) are diagrams showing an example of sensitivity characteristics for each operation mode.

Fig. 9(a) is a view showing a shovel that performs a ground leveling operation, and fig. 9(b) is a view showing a shovel that performs an excavation (deep excavation) operation.

Fig. 10 is a diagram showing a display member at the time of selection of the operation mode.

Fig. 11 is a block diagram of an electric system, a hydraulic system, and the like of the shovel according to the embodiment.

Fig. 12 is a diagram showing sensitivity characteristics according to a modification.

Description of the reference symbols

1-a shovel, 2-a traveling body, 2A, 2B-a traveling hydraulic motor, 3-a swing mechanism, 4-a swing body, 4 a-a cab, 5-a boom, 6-a stick, 7-a boom cylinder, 8-a stick cylinder, 9-a bucket cylinder, 10-a bucket, 11-an engine, 12-an attachment, 14-a main pump, 15-a pilot pump, 16-a pilot line, 17-a control valve, 18, 19, 20-a pilot line, 26-an operation lever, 27-a pilot valve, 28-a pilot line, 29-a cushion valve, 30-a driving support system, 32-a switching valve, 34-a CPU, 36-an electromagnetic proportional valve, 38-a shuttle valve, 500-an operation lever, 502-a sensitivity correction portion, 504-drive means, 506-control axis, 510-arithmetic section, 511-sensitivity characteristics, 512-user interface, 520-insensitive strip, 522-transition region, 524-peak region.

Detailed Description

The present invention will be described below with reference to preferred embodiments and drawings. The same or equivalent constituent elements, members, and processes shown in the respective drawings are denoted by the same reference numerals, and overlapping descriptions are appropriately omitted. The embodiments are not intended to limit the embodiments of the invention, but to exemplify the embodiments, and all the features or combinations thereof described in the embodiments are not necessarily limited to the essential features or combinations thereof of the invention.

In the present specification, the phrase "the state in which the component a and the component B are connected" includes not only a case in which the component a and the component B are directly connected physically, but also a case in which the component a and the component B are indirectly connected via another component, that is, a case in which the state of electrical connection between them is not substantially affected, or a function or an effect exerted by the combination of them is not impaired.

Fig. 2 is a perspective view showing an external appearance of a shovel 1 which is an example of the construction machine according to the embodiment. The shovel 1 mainly includes: a traveling body (crawler belt) 2; and an upper revolving structure (hereinafter, also simply referred to as an upper revolving structure) 4 rotatably mounted on the upper portion of the traveling structure 2 via a revolving mechanism 3.

The upper slewing body 4 is provided with: a boom 5; a bucket rod 6 connected to the front end of the boom 5; and a bucket 10 connected to the front end of the arm 6. The bucket 10 is an apparatus for catching a hanging object such as earth, sand, steel, or the like. The boom 5, the arm 6, and the bucket 10 are collectively referred to as an attachment 12, and are hydraulically driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9, respectively. Further, the upper slewing body 4 is provided with: a cab 4a for accommodating an operator who operates the position of the bucket 10 or the excitation operation and the release operation; and a power source, referred to as an engine 11 for generating hydraulic pressure. The engine 11 is constituted by a diesel engine, for example.

Fig. 3 is a control block diagram of the shovel 1 according to the embodiment. Only one particular 1-axis is shown in fig. 3. The shovel 1 includes a control lever 500, a sensitivity correction unit 502, a drive device 504, and a control shaft 506.

The operating lever 500 is provided in the driver seat of the upper revolving structure. The lever 500 may be tilted in the longitudinal and lateral directions, respectively. The tilting of the control lever 500 in a certain direction corresponds to the movement of one of the rotation axis, the boom shaft of the attachment, the bucket shaft, and the bucket shaft (hereinafter, referred to as a control shaft). For example, the dump angle θ corresponds to the speed of the control shaft. The tilt angle θ of the operation lever 500 is converted into an electric signal and input to the sensitivity correction unit 502.

The sensitivity correction unit 502 holds a predetermined tilt angle θ of the control lever 500 and a command value ω with respect to the control axis_REFAnd generates a command value ω corresponding to the dump angle θ, based on the sensitivity characteristic 511 (dump angle versus command value characteristic) of the corresponding relationship(s) of (a)_REF。

The sensitivity correction unit 502 includes a calculation unit 510 and a user interface 512. The User interface 512 may be a gui (graphical User interface) having an input means 514 such as a button, a volume knob, a joystick, or a touch panel, and a display means such as a liquid crystal display. The operator inputs at least 2 coordinates of the sensitivity characteristic 511 via the input member 514 before performing the work.

The calculation unit 510 generates the sensitivity characteristic 511 so as to pass at least 2 coordinates input by the operator in advance. The sensitivity characteristic 511 is held in the calculation unit 510 in the form of a graph or a calculation expression (approximate expression). The arithmetic unit 510 may be implemented by a combination of hardware and software programs such as a cpu (central Processing unit), a microcomputer, and a D SP (Digital Signal Processor), or a dedicated controller.

Fig. 4 is a diagram showing an example of the sensitivity characteristic 511. The sensitivity characteristic 511 is divided into a dead band 520, a transition region 522, and a peak region 524 according to the flip angle θ of the joystick. Theta is more than 0 and less than theta₁Is the velocity omega_REFDead band of zero 520, theta₁＜θ＜θ₂Is a transition region where the speed increases according to the pouring angle theta₂＜θ＜θ_MAXThe velocity becomes the maximum value ω_MAX Peak area 524. The sensitivity correction unit 502 may receive inputs of the 1 st coordinate P1 of the boundary between the dead band 520 and the transition region 522 and the 2 nd coordinate P2 of the boundary between the transition region 522 and the peak region 524, and the transition region 522 may be defined by a 1 st order function passing through the 1 st coordinate P1 and the 2 nd coordinate P2. Theta of the boundary₁、θ₂Can be fixed, also can be fixedTo be changed by the operator. The vicinity of the dead band 520 and the peak region 524 may be automatically corrected, and may be set to a vertical line or may be obtained by spline interpolation, for example.

When the operator inputs the 1 st coordinate P1 and the 2 nd coordinate P2, it is preferable to set a constraint condition in the transition region 522 so that the slope becomes a positive slope and the operator cannot input a violation of the condition or to notify the operator of the violation. It is preferable to set the allowable range (hatched) 526 in which the 1 st coordinate P1 and the 2 nd coordinate P2 can be selected, so that a dangerous area or an area in which the operation feeling is significantly impaired cannot be selected.

The sensitivity correction unit 502 has a gui (graphical User interface), displays the sensitivity characteristic 511 of fig. 4 on the display means 516, and receives input of at least 2 coordinates P1 and P2 by the operator. Fig. 5 is a diagram showing a GUI. The GUI can steal a display set for the purpose of Machine guidance (Machine guidance) in the cab. The operator can visually and intuitively specify the 2 coordinates P1 and P2 by touching the screen with the finger 530. Alternatively, the coordinates P1 and P2 may be moved up and down (and/or left and right), respectively, by rotating the volume knob.

Returning to fig. 3. The drive device 504 is based on the command value ω output from the sensitivity correction unit 502_REFTo control a control shaft 506 of the control shaft. The control shaft 506 corresponds to (i) a cylinder of the boom shaft, (ii) a cylinder of the arm shaft, (iii) a cylinder of the bucket shaft, or (iv) a swing motor.

The above is the structure of the shovel 1. Next, the operation will be described. Fig. 6(a) and 6(b) are diagrams illustrating sensitivity correction of the shovel 1 according to the embodiment. Fig. 6(a) shows the sensitivity characteristic, and the characteristic a indicates the default sensitivity characteristic. The valve pressure on the vertical axis is only the speed command (or torque command) of the bucket rod shaft. Fig. 6(b) shows a time waveform X of the tip-out angle θ of the stick lever when a skilled professional operator performs the leveling work based on the default sensitivity characteristic a, and a time waveform Y of the tip-out angle θ of the stick lever when an unskilled unprofessional operator performs the leveling work. As can be seen from the waveform X, the professional operator smoothly operates the arm lever. In contrast, in the waveform Y of the non-professional operator, the tilt angle θ of the arm lever varies up and down. This is caused by the sensitivity being too high in the region where the tilt angle θ is large.

In this case, as shown in characteristic B of fig. 6(a), the operator may designate 2 coordinates P1 and P2 so that the sensitivity decreases in a region where the tilt angle θ is large, in other words, so that the gradient decreases. Specifically, the valve pressure (speed command) at the 1 st coordinate P1 is increased, whereby the operational feeling suitable for the non-professional operator can be provided. Here, the arm shaft is explained, but the boom shaft can be corrected. On the contrary, if the coordinates P1 and P2 are designated as in the case of the characteristic C, the sensitivity can be improved.

As described above, according to the shovel 1 of the embodiment, the sensitivity characteristic is set by the operator, and the operation feeling suitable for each operator can be provided.

In particular, at least 2 coordinates can be specified for the sensitivity characteristic, and therefore the gain, the sensitivity, the rising characteristic near the boundary of the dead band and the transition region, and the saturation characteristic near the boundary from the transition region to the peak region can be made close to the preference of the operator.

Fig. 7(a) is a waveform diagram of the velocity command, and fig. 7(b) is a diagram showing sensitivity characteristics. With respect to the sensitivity characteristic (i) of fig. 7(b), the waveform (i) of fig. 7(a) can be obtained. If the sensitivity of the joystick is too high, the operator tilts the joystick, and if the operator feels that the operation is too high, the operation of returning the joystick is repeated, and thus ringing occurs in the waveform (i).

The sensitivity characteristic (ii) in fig. 7(b) is a characteristic in which gain correction (slope correction) of the sensitivity characteristic (i) is performed. By correcting the sensitivity characteristic (i) to (i i), the speed is increased in the region where the tilt angle θ is large, and the sensitivity (gradient) is also increased. As a result, as shown in the waveform (ii) of fig. 7(a), although the speed is increased, ringing is not controlled.

The sensitivity characteristic (iii) of fig. 7(b) is a characteristic in which the sensitivity is corrected in addition to the gain correction (slope correction) of the sensitivity characteristic (i). By correcting the sensitivity characteristics (i) to (iii), the speed is increased in the region where the tilt angle θ is large, but the sensitivity (gradient) is decreased. As a result, as shown by the waveform (iii) of fig. 7(a), ringing can be suppressed while the speed can be increased.

The excavator 1 can be used in various modes such as an excavation action, a ground leveling operation, and a loading operation. The sensitivity characteristic suitable for a certain operation is not limited to be suitable for other operations. Accordingly, the sensitivity correction unit 502 may preferably hold a plurality of sensitivity characteristics different for a plurality of jobs. The sensitivity correction unit 502 generates the command value ω based on the sensitivity characteristic corresponding to the operation selected by the operator_REF. Accordingly, the operator does not need to set the 1 st coordinate P1 and the 2 nd coordinate P2 again, every time the type of work is changed, and therefore, the work efficiency can be further improved. As for all of the plurality of sensitivity characteristics, as shown in fig. 4, the operator may set a plurality of coordinates P1 and P2, or the operator may set the coordinates only for the sensitivity characteristics corresponding to the remaining jobs while fixing the sensitivity characteristics corresponding to a part of the jobs.

Fig. 8(a) to 8(e) are diagrams showing an example of sensitivity characteristics for each operation mode. The upper section shows sensitivity characteristics of the bucket shaft, and the lower section shows sensitivity characteristics of the boom shaft. Fig. 9(a) is a diagram showing the shovel 1 performing the ground leveling work. In order to efficiently level the ground, it is preferable to relatively largely (quickly) move the arm 6 and relatively slightly (slowly) move the boom 5. Accordingly, as shown in fig. 8(b), the boom shaft may be operated in a relatively large speed range, or the boom shaft may be operated in a relatively small speed range. In addition, since strict control is required in the work of leveling the floor, the sensitivity of both the boom shaft and the arm shaft is set to be lower than that in the default mode of fig. 8 (a).

In the case where a more strict operation is required, the micro operation mode of fig. 8(c) is preferable. In the micro operation mode, the boom shaft and the arm shaft are set to operate in a small speed range and with low sensitivity.

Fig. 9(b) is a diagram showing a shovel that performs deep excavation work. The movable range of the boom during this work is larger than the movable range of the arm. However, the boom shaft preferably operates at a higher speed than the arm shaft. Then, as shown in fig. 8(d), the arm shaft is set to a low speed range, and the boom shaft is set to a high speed range.

Since high-speed operation is required without requiring precision in simple work, it can be said that sensitivity characteristics in which both the boom shaft and the bucket shaft change in a high speed range are preferable as shown in fig. 8 (e).

Fig. 10 is a diagram showing the display member 516 at the time of selection of the operation mode. The preferred operation mode can be easily switched through the user interface 512.

Fig. 11 is a block diagram of an electric power system, a hydraulic system, and the like of the shovel 1 according to the embodiment. In fig. 11, a double line indicates a system for mechanically transmitting power, a thick solid line indicates a hydraulic system, a broken line indicates an operating system, and a thin solid line indicates an electric system. Fig. 11 representatively shows a structure related to driving of the boom shaft.

The engine 11 is connected to a main pump 14 and a pilot pump 15. A control valve 17 is connected to the main pump 14 via a high-pressure hydraulic line 16. In addition, there are cases where 2 systems are provided in a hydraulic circuit that supplies hydraulic pressure to the hydraulic actuator, and in this case, the main pump 14 includes 2 hydraulic pumps. In this specification, a case where the main pump is 1 system will be described for easy understanding.

The control valve 17 is a device for controlling the hydraulic system in the shovel 1, and is an aggregate of a plurality of control valves. The control valve 17 is connected to a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9 via a high-pressure hydraulic pressure line in addition to hydraulic motors (traveling hydraulic motors) 2A and 2B for driving the traveling body 2 shown in fig. 2, and the control valve 17 controls hydraulic pressures supplied to these components in accordance with an operation input by an operator. The control valve 17 corresponds to the drive device 504 of fig. 3.

Also, a turning hydraulic motor 13 for driving the turning mechanism 3 is connected to the control valve 17. The swing hydraulic motor 13 is connected to the control valve 17 via a hydraulic circuit of the swing control device, but the hydraulic circuit of the swing control device is not shown in fig. 11 and is simplified.

The pilot pump 15 is connected to a pilot valve 27 via a pilot conduit 18 and a switching valve 32 described below. The pilot valve 27 is connected to the operation lever 26, and converts the hydraulic pressure supplied through the pilot line 18 (primary-side hydraulic pressure) into a hydraulic pressure corresponding to the tilt angle θ of the operation lever 26 (secondary-side hydraulic pressure) and outputs the hydraulic pressure. The operation lever 26 is an operation member for operating the traveling unit 2, the swing mechanism 3, the boom 5, the arm 6, and the bucket 10, and is operated by an operator. The secondary-side hydraulic pressure output from the pilot valve 27 is supplied to the control valve 17 via a pilot line 28, a cushion valve 29, and a shuttle valve 38 described later.

The above is the basic structure of the shovel 1. Next, a configuration related to the sensitivity correction according to the embodiment will be described. In addition to the above configuration, the shovel 1 further includes a driving support system 30. The driving support system 30 corresponds to the sensitivity correction unit 502 of fig. 3, and includes the switching valve 32, the CPU34, the electromagnetic proportional valve 36, and the shuttle valve 38. The switching valve 32 and the shuttle valve 38 are provided to switch between a control system in which the sensitivity correction is invalid and a control system in which the sensitivity correction is valid. Specifically, the switching valve 32 connects the pilot conduit 18 and the pilot conduit 19 when the sensitivity correction is disabled, and connects the pilot conduit 18 and the pilot conduit 20 when the sensitivity correction is enabled.

The CPU34 corresponds to the arithmetic unit 510 in fig. 3. An electric signal S1 indicating the tilt angle θ of the operation lever 26 is input to the CPU 34. For example, the tilt angle θ may be detected by using a pressure sensor that detects pressure oil on the secondary side of the pilot valve 27. Alternatively, an angle sensor that directly detects the tilt angle θ may be used. CP U34 receives the tilt angle theta and generates a command value omega corresponding to the sensitivity characteristic_REFCorresponding control signal S2.

An electromagnetic proportional valve 36 is provided in the path of the pilot line 20. The electromagnetic proportional valve 36 changes the hydraulic pressure of the output side pilot line 21 in accordance with a control signal S2 from the C PU 34. The hydraulic pressure in the pilot line 21 corresponds to a speed command value ω_REF. The pilot line 21 is supplied to the control valve 17 via a shuttle valve 38.

The relation between the tilt angle θ and the speed command of the control shaft can be corrected by this shovel 1.

The present invention has been described above with reference to the embodiments. The present invention is not limited to the above-described embodiments, and various design changes can be made, and it is obvious to those skilled in the art that various modifications can be made, and these modifications also fall within the scope of the present invention. These modifications will be described below.

In the embodiment, 2 coordinates of the 1 st coordinate P1 and the 2 nd coordinate P2 may be specified, but 3 or more coordinates may be specified. Fig. 12 is a diagram showing sensitivity characteristics according to a modification. In this modification, in addition to the 1 st coordinate P1 and the 2 nd coordinate P2, the 3 rd coordinate P3 in the middle may be specified. Between P1 and P3, between P3 and P2 may be 1-degree functions.

The present invention has been described in terms of specific words according to the embodiments, but the embodiments are merely illustrative of the principles and applications of the present invention, and it is to be understood that various modifications and arrangements can be made in the embodiments without departing from the scope of the present invention defined in the claims.

Claims (5)

1. A shovel is characterized by comprising:

a traveling body;

an upper revolving body revolving relative to the traveling body;

an attachment mounted to the upper slewing body;

an operation lever provided to a driver seat of the upper revolving structure and having a corresponding relationship with a control command of a control shaft, which is one of a revolving shaft, a boom shaft of the attachment, a bucket lever shaft, and a bucket shaft, with respect to a predetermined direction of tilting;

a sensitivity correction unit that holds or corrects a sensitivity characteristic corresponding to a correspondence between the tilt angle of the operation lever and the control command and passing through at least 2 coordinates; and

a drive device for controlling the control shaft according to the control command,

the sensitivity characteristic can be set by an operator specifying the at least 2 coordinates.

2. The shovel of claim 1,

the sensitivity correction unit has a GUI, displays the sensitivity characteristic on a display member, and receives an input of the at least 2 coordinates by the operator.

3. The shovel of claim 1 or 2,

the sensitivity correction unit holds a plurality of sensitivity characteristics that differ according to a plurality of jobs, and generates the control command based on the sensitivity characteristics corresponding to the job selected by the operator.

4. The shovel of claim 3,

the sensitivity correction unit has a GUI, displays the plurality of jobs on a display member, and receives a selection of a job by the operator.

5. A shovel is characterized by comprising:

a traveling body;

an upper revolving body revolving relative to the traveling body;

an attachment mounted to the upper slewing body;

an operation lever provided to a driver seat of the upper revolving structure and having a corresponding relationship with a control command of a control shaft, which is one of a revolving shaft, a boom shaft of the attachment, a bucket lever shaft, and a bucket shaft, with respect to a predetermined direction of tilting;

a sensitivity correction unit that holds a plurality of sensitivity characteristics corresponding to a plurality of tasks, the sensitivity characteristics indicating a correspondence relationship between a tilt angle corresponding to a tilt angle of the operation lever and a control command for the control axis, the plurality of sensitivity characteristics being defined by at least 2 coordinates input in advance, the sensitivity correction unit generating the control command corresponding to the tilt angle from the sensitivity characteristics corresponding to the task selected by the operator; and

a drive device for controlling the control shaft according to the control command,

the sensitivity characteristic can be set by an operator.

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