DE112017000085T5 - WORK MACHINE AND CONTROL PROCESS FOR WORK MACHINE - Google Patents

Abstract

A working machine according to one aspect includes work equipment, an operating device for operating the work equipment, and a control device for controlling the work equipment. The control apparatus performs engagement control for lifting the work equipment based on an operation command from the operation apparatus, decides on switching from the engagement control to control of the work equipment according to an operation command from the operation apparatus, determines whether the operation command of the operating device for switching performed based on a result of the decision is an operation command for raising the work equipment or a neutral command, determines a speed difference between a target speed when lifting the work equipment in the engagement control and a target Speed according to the operation command from the operation device when the operation command from the operation device results from the determination that the operation command for raising the work equipment or the neutral command i and makes a regulation for gradually changing the target speed when lifting the work equipment to the target speed in accordance with the operation command from the actuator when the speed difference is over or at a predetermined value.

Description

TECHNICAL AREA

The present invention relates to a work machine including work equipment and a work machine control method.

TECHNICAL BACKGROUND

For a work machine including a front attachment provided with a bucket, there has been proposed a control in which the bucket is displaced at an interface defining a target shape of an execution object (for example, see Patent Document 1). This control is called engagement control.

For example, when the target shape of the execution object disappears or when intrusion into the target shape is interrupted by work equipment via an operation of an operator during the engagement control, the engagement control need not be performed. There is no longer any need to perform control that raises the work equipment to terminate penetration of the target mold by the work equipment.

LIST OF APPROACHES

Patent Document

PATENT DOCUMENT 1: WO 2016/111384

SUMMARY OF THE INVENTION

TECHNICAL PROBLEM

When execution of the engagement control is interrupted, the current control changes to control of the work equipment according to an operation command issued via an operation apparatus.

When the control is changed, a sudden change in speed may occur depending on the degree of difference between a speed of lifting the work equipment during the engagement control and a speed of lifting the work equipment in accordance with an operation command from the operation apparatus. When such a sudden change in speed occurs, it may be uncomfortable for the operator.

The present disclosure has been worked out to solve the above problems. An object of the present disclosure is to provide a work machine and a control method for a work machine with which discomforting sensations that occur when an operator operates an operating device can be restrained.

THE SOLUTION OF THE PROBLEM

A working machine according to one aspect includes work equipment, an operating device for operating the work equipment, and a control device for controlling the work equipment. The control apparatus performs engagement control for lifting the work equipment based on an operation command from the operation apparatus, decides on switching from the engagement control to control of the work equipment according to an operation command from the operation apparatus, determines whether the operation command of That is, the operating device for the switching performed based on a result of the decision, an operation command for raising the work equipment or a neutral command determines a speed difference between a target speed when lifting the work equipment in the engagement control and a target - A speed corresponding to the operation command from the operation device when the operation command from the operation device is a result of the determination to be the operating equipment lifting command or the neutral command, and takes a regulation to gradually change the target speed at the time of lifting of the working equipment at the target speed in accordance with the operation command from the operating device when the speed difference is above or at a predetermined value.

The control apparatus preferably includes an engagement control unit for performing engagement control for lifting the work equipment based on an operation command from the operation apparatus, a switching decision unit for switching over from the engagement control to the control the work equipment is decided according to an operation command from the operation device, an operation command determination unit for determining whether the operation command from the operation device for switching based on a result of the decision of the switching decision Unit, an operation command for raising the work equipment or a neutral command, a unit for determining a speed difference with which a speed difference between a target speed when lifting the work equipment at the engagement control ng and a target speed in accordance with the operation command from the operating device, if, as a result of the determination of the operation command determination unit, the operation command from the operation device is the operation command for lifting the work equipment or the neutral command and a speed regulating unit that regulates to gradually change the target speed when lifting the work equipment to the target speed in accordance with the operation command from the actuator when the speed difference is a result of the determination of the unit for determining a speed difference is above or at a predetermined value.

The control device preferably changes the target speed when lifting the work equipment to the target speed according to the operation command from the operating device when the speed difference is less than the predetermined value.

A control method for a work machine according to one aspect is a method for a work machine including a work equipment and an operating device for operating the work equipment. The method includes the steps of: performing engagement control for lifting the work equipment based on an operation command from the operation apparatus, deciding on switching from the engagement control to control of the work equipment according to an operation command from the operation apparatus, determining whether the actuation command from the switching operation device, which is performed based on a result of the decision, is an operation command for raising the work equipment or a neutral command, determining a speed difference between a target speed at the time of lifting the work equipment Engagement control and a target speed corresponding to the operation command from the operation device, when the operation command from the operation device, as a result of the determination, the operation command for raising the work or the neutral command, and making regulation to gradually change the target speed when lifting the work equipment to the target speed in accordance with the operation command from the actuator when the speed difference is above or at a predetermined value.

ADVANTAGEOUS EFFECTS OF THE INVENTION

With a work machine and a control method for a work machine, uncomfortable sensations that occur when an operator operates an operating device can be restrained.

list of figures

• 1 is a perspective view of a work machine according to an embodiment.
• 2 is a block diagram illustrating the configuration of a control system 200 and a hydraulic system 300 Represents in a hydraulic excavator 100 are included according to the embodiment.
• 3 is a scheme that is an example of a hydraulic circuit 301 that is in a boom cylinder 10 according to the embodiment is included.
• 4 Fig. 10 is a block diagram of a work equipment control device 26 according to the embodiment.
• 5 is a graph, the target excavation topography data U as well as a spoon 8th according to the embodiment represents.
• 6 is a scheme that has a boom top speed Vcy_bm according to the embodiment represents.
• 7 is a graphic that has a top speed Vc_Imt according to the embodiment represents.
• 8th is a view that has a relationship between spoons 8th and target excavation topography 43l according to the embodiment represents.
• 9 FIG. 12 is a graph illustrating a relationship between time t and boom target speed Vbm, which is a movement speed of a boom 6 according to the embodiment.
• 10 FIG. 10 is a graph illustrating a procedure of a control method for the work machine according to the embodiment.

DESCRIPTION OF THE EMBODIMENT

The following will be described with reference to the drawings of an embodiment of the present invention. In the following description, identical parts are given identical reference numerals. These identical parts have identical names and functions, so details of these parts will not be described repeatedly here. It should be noted that "above", "below", "before", "after", "left" and "right" in the following Description are defined from a reference point from which corresponds to an operator sitting on a driver's seat.

General construction of the working machine

1 FIG. 10 is a perspective view of a work machine according to the embodiment. FIG.

2 is a block diagram illustrating the configuration of a control system 200 and a hydraulic system 300 Represents in a hydraulic excavator 100 are included according to the embodiment.

hydraulic excavators 100 , which serves as a work machine, as described with reference to FIG 1 you can see a vehicle body 1 as well as a working equipment 2 ,

vehicle body 1 contains a top turn unit 3 , which serves as a rotary unit, as well as a driving device 5 which serves as a driving unit. The upper turning unit 3 takes an internal combustion engine that serves as a force generating device, hydraulic pumps and other devices inside an engine compartment 3EG on. engine compartment 3EG is at one end of the top turn unit 3 arranged.

The internal combustion engine serving as a power generating device of hydraulic excavators 100 serves, for example, consists of a diesel engine. However, the force generating means may consist of other types of force generating means.

The power generating device of hydraulic excavator 100 For example, it may be a hybrid device consisting of a combination of an internal combustion engine, a motor generator, and a power storage device.

The power generating device of hydraulic excavator 100 may consist of a combination of a power storage device and a motor generator without an internal combustion engine.

The upper turning unit 3 closes a driver's cab 4 on. cab 4 is at the other end of the top turn unit 3 arranged. cab 4 is at the side of engine compartment 3EG arranged opposite side. A display unit 29 and an actuator 25 , in the 2 are shown inside the cab 4 arranged.

retractor 5 carries the upper rotary unit 3 , retractor 5 contains caterpillars 5a and 5b , The two on the left and the right side of driving device 5 existing driving engines 5c rotate the crawler tracks together or individually 5a and 5b so that hydraulic excavator 100 can drive. working equipment 2 is on one side of the cab 4 the upper rotary unit 3 appropriate.

hydraulic excavators 100 may contain a driving device that instead of caterpillars 5a and 5b is provided with wheels, and transmit driving force of an engine via a transmission to the wheels. Examples of hydraulic excavators 100 This type belongs to a hydraulic wheeled excavator.

hydraulic excavators 100 For example, it can be a backhoe loader.

The front of the upper rotary unit 3 corresponds to the side, at the work equipment 2 and driver's cab 4 are arranged while the back of the upper rotary unit 3 the side corresponds to the engine compartment 3EG is arranged. The left side in the forward direction corresponds to the left side of the upper rotary unit 3 while the right side in the forward direction of the right side of the upper rotary unit 3 equivalent. The transverse direction of the upper rotary unit 3 is also referred to as a width direction. The side of the driving device 5 of hydraulic excavators 100 or the vehicle body 1 in relation to the upper turning body 3 corresponds to the lower side while the side of the upper rotary unit 3 in terms of driving device 5 the upper side corresponds. The longitudinal direction, the width direction and the height direction of hydraulic excavators 100 correspond to a direction x, a direction y and a direction z. When the hydraulic excavator 100 is located on a horizontal plane, the lower side corresponds to the side in the direction of gravity which is identical to the vertical direction, while the upper side corresponds to the side opposite to the gravity side in the vertical direction.

working equipment 2 contains a boom 6 , a dipperstick 7 , a spoon 8th acting as a work tool, a boom cylinder 10 , a dipperstick cylinder 11 and a spoon cylinder 12 , A rear end of outrigger 6 is over a boom pin 13 at a front portion of vehicle body 1 appropriate. A rear end of dipperstick 7 is about a dipper stick 14 at a front end of boom 6 appropriate. spoon 8th is about a spoon bolt 15 on a front end of dipper stick 7 appropriate. spoon 8th can be about spoon pins 15 to be moved around. A variety of teeth 8B are on spoons 8th at the spoon bolt 15 attached opposite side. cutting edges 8T correspond to front ends of the teeth 8B ,

According to the embodiment, lifting of work equipment is equivalent 2 a movement of working equipment 2 in the direction of a ground engaging surface of hydraulic excavators 100 on the top turn unit 3 to. Lowering work equipment 2 corresponds to a movement of work equipment 2 in the direction of the upper rotary unit 3 of hydraulic excavators 100 towards the ground engaging surface. The surface engaged with the ground 100 is a flat surface passing through at least three points of engaging portions between the crawler belts 5a and 5b and the soil is formed.

If a work machine does not work with the top turn unit 3 is equivalent to lifting work equipment 2 a movement of work equipment 2 in the direction away from a ground engaging surface of the work machine. Lowering work equipment 2 corresponds to a movement of work equipment 2 in the direction of approaching the ground engaging surface of the work machine. When the work machine has wheels instead of caterpillars, the ground engaging surface is a flat surface formed by ground engaging portions of at least three wheels.

spoon 8th does not have the variety of teeth 8B respectively. It can be used a spoon that is not in the 1 illustrated teeth 8B but has a cutting edge formed by a steel plate in a straight shape. working equipment 2 For example, it may contain a single-purpose pans. The swinging bucket is a bucket including a bucket swinging cylinder and pivoted right and left to form or level a slope or plane surface in a desired shape, and also performs rolling compression using a floor plate, even if the hydraulic excavator is on a slope. As an alternative, work equipment 2 a drill attachment included instead of spoon 8th is provided with a slope bucket or a drill as a working tool.

boom cylinder 10 , Dipper stick cylinder 11 and spoon cylinder 12 , in the 1 are respectively hydraulic cylinders driven by a pressure of hydraulic oil (hereinafter referred to as oil pressure, if applicable). boom cylinder 10 drives outrigger 6 and raises boom 6 , Arm cylinder 11 drives dipperstick 7 and moves dipperstick 7 around dipper sticks 14 around. bucket cylinder 12 drives spoons 8th on and moves spoon 8th around spoon bolts 15 around.

A directional control valve 64 , this in 2 is located between the hydraulic cylinders, such as boom cylinder 10 , Dipper stick cylinder 11 as well as spoon cylinder 12 and the in 2 illustrated hydraulic pumps 36 and 37 , Directional control valve 64 controls flow rates of hydraulic oil, the boom cylinder 10 , Dipper stick cylinder 11 , Spoon cylinder 12 and others from the hydraulic pumps 36 and 37 is supplied, and switches flow directions of the hydraulic oil. Directional control valve 64 includes a directional control valve for driving the driving motors 5c and a work equipment direction control valve for controlling rotary motors, the boom cylinders 10 , Dipper stick cylinder 11 , Spoon cylinder 12 as well as the upper turning unit 3 rotate.

Work implement control device 26 , in the 2 is shown controls in 2 illustrated control valve 27 to control a pilot pressure of hydraulic oil, that of actuator 25 Directional control valve 64 is supplied. control valve 27 is in a hydraulic system of boom cylinders 10 , Dipper stick cylinder 11 and spoon cylinder 12 contain. Work implement control device 26 controls control valve 27 that in a pilot oilway 450 is included to movements of boom cylinder 10 , Dipper stick cylinder 11 and spoon cylinder 12 to control. Work implement control device 26 according to the embodiment closes control valve 27 at respective speeds of boom cylinders 10 , Dipper stick cylinder 11 and spoon cylinder 12 to reduce.

antennas 21 and 22 are at an upper part of the upper rotary unit 3 appropriate. The antennas 21 and 22 serve a current position of hydraulic excavator 100 capture. The antennas 21 and 22 are electric with an in 2 shown position detection device 19 connected as a position detector for detecting a current position of hydraulic excavator 100 serves.

Position detection device 19 records a current position of hydraulic excavator 100 using real-time kinematic satellite navigation systems (RTKGNSS). In the following description, the antennas 21 and 22 if applicable, as GNSS antennas 21 and 22 designated. If the GNSS antennas 21 and 22 receive a GNSS radio wave, a signal in the GNSS radio wave becomes in position detecting means 19 entered. Position detection device 19 detects installation positions of the GNSS antennas 21 and 22 , Position detection device 19 contains, for example, a three-dimensional position sensor.

Hydraulic system 300

hydraulic system 300 of hydraulic excavators 100 contains as referring to 2 you can see an internal combustion engine 35 , which serves as a force generating source, as well as hydraulic pumps 36 and 37 , The hydraulic pumps 36 and 37 that by internal combustion engine 35 be powered, eject hydraulic oil. That of the hydraulic pumps 36 and 37 ejected hydraulic oil becomes boom cylinder 10 , Dipper stick cylinder 11 and spoon cylinder 12 fed.

hydraulic excavators 100 contains a rotary motor 38 , Rotary engine 38 is a hydraulic motor powered by hydraulic oil from the hydraulic pumps 36 and 37 is ejected. Rotary engine 38 turns the upper rotary unit 3 , It should be noted that instead of in 2 shown 2 hydraulic pumps 36 and 37 even a single hydraulic pump can be present. Rotary engine 38 may be a motor other than a hydraulic motor, eg an electric motor.

Control system 200

control system 200 , which serves as a control system for the work machine, as described with reference to 2 can be seen, position detection device 19 , one unity 23 for calculating global coordinates, actuator 25 , Work equipment control device 26 serving as a control device of the work machine according to the embodiment, a sensor control device 39 , a display control device 28 and display unit 29 ,

actuator 25 is a device for operating work equipment 2 as well as in 1 illustrated upper rotary unit 3 , actuator 25 is a device for operating work equipment 2 , actuator 25 takes an operation to power work equipment 2 from the operator and outputs a pilot oil pressure corresponding to an operation variable.

The pilot oil pressure corresponding to an operation variable is equivalent to an operation command. This actuation command is a command to move work equipment 2 ,

The actuation command is by actuator 25 generated. actuator 25 is actuated by the operator so that the actuation command is a command to move work equipment 2 on the basis of an operation input by the operator as a manual operation.

Control of work equipment 2 based on manual operation is equivalent to control of work equipment 2 according to one of actuator 25 issued actuation command. This control is therefore control of work equipment 2 which is activated by actuating the actuating device 25 Running in working equipment 2 is included.

According to the embodiment, actuator includes 25 a left control lever 25L located on the left side of the operator, and a right operating lever 25R which is located on the right side of the operator. Movements of the left operating lever 25L and the right operating lever 25R in the longitudinal direction and the transverse direction are with movements of dipper stick 7 and connected to the two axes of rotation.

For example, an operation of the right operating lever 25R in the longitudinal direction with an operation of boom 6 connected. When the right operating lever 25R is pushed forward, becomes boom 6 lowered. When the right operating lever 25R is pushed back, will boom 6 raised. The movements for lowering and raising boom 6 be according to the operation of the right operating lever 25R performed in the longitudinal direction.

An actuation of the right operating lever 25R in the transverse direction is with an actuation of spoons 8th connected. When the right operating lever 25R pressed to the left, leads spoon 8th Excavation through. When the right operating lever 25R pressed to the right leads spoon 8th Pour through. The movements of spoon 8th for excavation and dumping will be according to the operation of operating lever 25R performed in the transverse direction.

An actuation of the left operating lever 25L in the longitudinal direction is with an operation of dipper stick 7 connected. When the left operating lever 25L pushed forward leads dipper stick 7 Pour through. When the left operating lever 25L pushed backwards leads dipper stick 7 Excavation through.

An actuation of the left operating lever 25L in the transverse direction is with a turning operation of the upper rotary unit 30 connected. When the left operating lever 25L pressed to the left, the upper rotary unit rotates 3 to the left. When the left operating lever 25L pressed to the right, the upper rotary unit rotates 3 to the right.

actuator 25 According to the embodiment is a pilot hydraulic device. Hydraulic oil that has a pressure by pressure reducing valve 25V is reduced to a predetermined pilot pressure is actuator 25 according to a boom operation, a bucket operation, a dipper stick operation and a rotary operation of hydraulic pump 36 fed.

An actuation of the right operating lever 25R in the longitudinal direction, supply of pilot pressure allows for pilot oil path 450 , In this state, the operation of boom 6 accepted by the operator. Hydraulic oil is pilot oil path 450 supplied by a valve means of the right operating lever 25R according to an operation variable of the right operating lever 25R is opened.

Pressure Sensor 66 detects a pressure of hydraulic oil in pilot oil path 450 as a pilot pressure.

Pressure Sensor 66 determines the detected pilot pressure as boom actuation variable MB and transmits boom actuation variables MB to work equipment control device 26 , An actuating variable of the right operating lever 25R in the longitudinal direction, hereinafter, if applicable, as a boom operation variable MB designated. A control valve (hereinafter referred to as engagement valve, if applicable) 27C and a shuttle valve 51 are in pilot oilway 50 contain. Engagement valve 27C and shuttle valve 51 are described in detail below.

An actuation of the right operating lever 25R in the transverse direction, supply of pilot oil pressure allows for pilot oil path 450 , In this state, the operation of spoon 8th accepted by the operator. Hydraulic oil is pilot oil path 450 supplied by the valve means of the right operating lever 25R according to an operation variable of the right operating lever 25R is opened.

Pressure Sensor 66 detects a pressure of hydraulic oil in pilot oil path 450 as a pilot pressure.

Pressure Sensor 66 determines the detected pilot pressure as a bucket actuation variable MT and transmit bucket actuation variables MT to work equipment control device 26 , An actuating variable of the right operating lever 25R in the transverse direction will hereafter, if applicable, be considered as a bucket actuation variable MT designated.

An actuation of the left operating lever 25L in the longitudinal direction, supply of pilot oil pressure to pilot oil path 450 , In this state, the operation of dipper stick 7 accepted by the operator. Hydraulic oil is pilot oil path 450 supplied by the valve means of the left operating lever 25L according to an operation variable of the left operating lever 25L is opened.

Pressure Sensor 66 detects a pressure of hydraulic oil in pilot oil path 450 as a pilot pressure.

Pressure Sensor 66 determines the detected pilot pressure as a dipper stick actuating variable MA and transmits dipper actuator variable to work equipment control device 26 , An actuating variable of the left operating lever 25L in the longitudinal direction, hereinafter, if applicable, as a dipper stick operation variable MA designated.

When the right operating lever 25R is actuated, performs actuator 25 Directional control valve 64 a pilot oil pressure at a level of a manipulation variable of the right operating lever 25R equivalent.

When the left operating lever 25L is actuated, performs actuator 25 Directional control valve 64 a pilot oil pressure at a level corresponding to an operating variable of the left operating lever 25L equivalent. Directional control valve 64 moves according to a directional control valve 64 of actuator 25 supplied pilot oil pressure.

control system 200 contains a first stroke sensor 16 , a second stroke sensor 17 and a third hub sensor 18 , For example, the first stroke sensor 16 in boom cylinder 10 included is the second hub sensor 17 in dipperstick cylinder 11 included and is the third hub sensor 18 in spoon cylinder 12 contain.

Sensor control device 39 includes a memory unit, such as a random access memory (RAM) and a read only memory (ROM), and a processing unit, such as a CPU.

Sensor control device 39 calculates a tilt angle θ1 from outrigger 6 with respect to a direction (z-axis direction) perpendicular to a horizontal plane (xy plane) in a local coordinate system of hydraulic excavators 100 ie a local coordinate system of vehicle body 1 , based on a through the first hub sensor 16 recorded length LS1 of the boom cylinder and gives the calculated tilt angle θ1 to work equipment control device 26 and display control device 28 out.

Sensor control device 39 calculates a tilt angle θ2 from dipperstick 7 in terms of boom 6 based on a through the second hub sensor 16 recorded length LS2 of the dipper stick cylinder and gives the calculated tilt angle θ2 to work equipment control device 26 and display control device 28 out.

Sensor control device 39 calculates a tilt angle θ3 of cutting edges 8T of spoons 8th in terms of dipperstick 7 based on a through the third hub sensor 18 recorded length LS3 of the bucket cylinder and gives the calculated tilt angle θ3 to work equipment control device 26 and display control device 28 out.

The tilt angle θ1 . θ2 and θ3 can with other methods than using the first stroke sensor 16 , the second, stroke sensor 17 and the third stroke sensor 18 be recorded. For example, an angle sensor, such as a potentiometer, can be used to adjust the tilt angles θ1 . θ2 and θ3 capture.

An inertial measurement unit (IMU) 24 is with sensor control device 39 connected. IMU 24 detects information about the inclination of the vehicle body, such as a pitch about the axis Y around and a bank around the axis X of in 1 illustrated hydraulic excavator 100 around, and gives the captured information to the sensor controller 39 out.

Work implement control device 26 contains a memory unit 26Q , such as a random access memory (RAM) and a read only memory (ROM), as well as a processing unit 26P such as a CPU.

Work implement control device 26 controls intervention valve 27C and control valve 27 based on boom actuation variable MB , Spoon-actuating variable MT as well as dipper actuator variable MA , in the 2 are shown.

Directional control valve 64 , this in 2 is, for example, a proportional control valve and is controlled by means of hydraulic oil, the operating device 25 is supplied.

Directional control valve 64 is between the section of boom cylinder 10 , Dipper stick cylinder 11 , Spoon cylinder 12 and a hydraulic actuator, such as a rotary engine 38 , and the section of the hydraulic pumps 36 and 37 arranged.

Position detection device 19 in control system 200 included includes the GNSS antennas described above 21 and 22 on. If the GNSS antennas 21 and 22 receive a GNSS radio wave, a signal in the GNSS radio wave becomes unit 23 to calculate global coordinates.

GNSS antenna 21 receives reference position data P1 that specify their own position from a tracking satellite. GNSS antenna 22 receives reference position data P2 specifying their own position from the location satellite.

The GNSS antennas 21 and 22 receive the reference position data P1 and P2 in a given cycle. The reference position data P1 and P2 are each information indicating the installation position of the corresponding GNSS antenna. The GNSS antennas 21 and 22 give the reference position data P1 and P2 always to the unit 23 to calculate global coordinates when the GNSS antennas 21 and 22 these dates P1 and P2 receive.

unit 23 for calculating global coordinates includes a memory unit such as a RAM and a ROM, and a processing unit such as a CPU. unit 23 for calculating global coordinates generates position data of the rotary unit, which is a position of the upper rotary unit 3 based on two reference position data items P1 and P2 ,

The position data of the rotary unit includes reference position data according to the embodiment P representing one of two reference position data items P1 and P2 match, as well as directional data Q the rotary unit based on 2 Reference position data elements P1 and P2 be generated. The directional data Q The Turn Unit indicate a direction in which work equipment 2 ie the upper rotary unit 3 , is turned.

unit 23 to calculate global coordinates updates the reference position data P and the directional data Q of the rotary unit, which respectively indicate position data of the rotary unit, and then outputs the updated data to the display control device 28 out, though 2 Reference position data elements P1 and P2 in a given cycle from the GNSS antennas 21 and 22 be recorded.

Display control device 28 includes a memory unit such as a RAM and a ROM, and a processing unit such as a CPU. Display control device 28 refers to reference position data P and directional data Q of the rotary unit, which respectively indicate position data of the rotary unit, of unit 23 to calculate global coordinates.

Display control device 28 generates position data according to the embodiment as position data of the work equipment S the bucket cutting edges, which is a 3-dimensional position of cutting edges 8T of spoons 8th specify. Display control device 28 generates target excavation topography data U based on position data of the bucket cutting edges and target execution information T ,

The target execution information T According to the embodiment, information that in with a hydraulic excavator 1 contained work equipment 2 Specify the object to be edited or a machining destination for an excavated object. Examples of target execution information T close Information on the design of an execution object with a hydraulic excavator 100 on. Examples of one with work equipment 2 The object to be processed includes ground. Examples of one with work equipment 2 executed processing include excavation processing and leveling processing. Processing with working equipment 2 however, is not limited to these examples.

Display control device 28 initiates target excavation profile data, eg for display based on target excavation profile data U It shows a target shape of one with work equipment 2 to be processed object, such as a ground relief, based on the target Aushubprofil data Ua for display to display unit 29 on.

Display Unit 29 is a liquid crystal display device that receives input via, for example, a touch screen. Display Unit 29 however, is not limited to this type. According to the embodiment, there is a switch 29S next to display unit 29 , counter 29S is an input device that executes engagement control described below or interrupts execution of the engagement control.

Work implement control device 26 refers to boom actuation variable MB , Spoon-actuating variable MT as well as stem actuation variable MA from pressure sensor 66 , Work implement control device 26 refers tilt angle θ1 from outrigger 6 , Angle of inclination θ2 from stalk 7 and tilt angle θ3 of spoons 8th from sensor control device 39 ,

Work implement control device 26 refers to target excavation topography data U of display control device 28 , The target excavation topography data U are information that is in the target execution information T are included and specify a scope of processing by hydraulic excavator 100 is carried out.

The target excavation topography data U are part of the target execution information T , The target excavation topography data U type similar to the target execution information T a form of a machining target one with work equipment 2 to be processed object. The shape of the machining target will hereinafter be referred to as the target excavation topography, if applicable.

Work implement control device 26 calculates a position of the cutting edges 8T of spoons 8th (hereinafter referred to as cutting edge position, if applicable) based on a sensor control device 39 related angle of work equipment 2 ,

Work implement control device 26 controls a movement of work equipment 2 based on a distance between the target excavation topography data U and cutting edges 8T of spoons 8th as well as a speed of work equipment 2 so that the cutting edges 8T of spoons 8th according to the target excavation topography data U can be moved.

Work implement control device 26 Performs control so that a speed of work equipment 2 in a direction of approaching an execution object is kept at a speed that is lower or equal to a maximum speed, to prevent spoons 8th in a target form one with work equipment 2 penetrates the object to be processed by the target excavation topography data U is specified. This control, if applicable, is referred to as engagement control.

For example, the intervention control is performed when the operator of hydraulic excavator 100 Execution of the intervention control using the in 2 illustrated switch 29S selects. If there is a distance between the target excavation topography described below and the bucket 8th is calculated, is a reference position of spoon 8th not on the position of the cutting edges 8T limited, but may be at other suitable positions.

During the engagement control, work equipment control device generates 26 a boom command signal CBI and outputs the generated boom command signal CBI to the in 2 illustrated engagement valve 27C out to work equipment 2 so control that the cutting edges 8T of spoons 8th according to the target excavation topography data U can be moved.

boom 6 moves based on boom command signal CBI. A speed of work equipment 2 ie a speed of spoon 8th , is by means of a movement of boom 6 controlled on the basis of boom command signal CBI. A speed of approach of spoon 8th to the target excavation topography data U will be according to a distance between spoons 8th and the target excavation topography data U regulated.

Construction of hydraulic circuit 301

3 is a scheme that is an example of a hydraulic circuit 301 that is in a boom cylinder 10 according to the embodiment is included.

hydraulic circuit 301 contains as referring to 3 can be seen, pilot oil path 450 between actuator 25 and directional control valve 64 , Directional control valve 64 is a valve for controlling a flow direction of hydraulic oil, the boom cylinder 10 is supplied.

Directional control valve 64 According to the embodiment is a piston valve in which a rod-shaped piston 64S is shifted to switch a flow direction of hydraulic oil.

piston 64S is displaced by hydraulic oil coming from the in 2 illustrated actuator 25 (hereinafter, if applicable, referred to as pilot oil). Directional control valve 64 leads boom cylinder 10 by means of a displacement of pistons 64S Hydraulic oil too, around boom cylinder 10 to move.

Pilot oil path 50 and pilot oil path 450B are with shuttle valve 51 connected.

shuttle valve 51 and one end of the directional control valve 64 are over an oil route 452B connected with each other. The other end of directional control valve 64 and actuator 25 are together via a pilot oil path 450A and a pilot oil path 452A connected. Pilot oil path 50 closes engagement valve 27C on. Engagement valve 27C regulates a pilot pressure of pilot oil path 50 ,

Pilot oil path 450B contains a pressure sensor 66B and a control valve 27B , Pilot oil path 450A contains a pressure sensor 66A that is between a control valve 27A and actuator 25 located. A detection value by pressure sensor 66 is determined by the in 2 illustrated work equipment control device 26 captured and used to control boom cylinders 10 used.

Pressure Sensor 66A and pressure sensor 66B correspond to the in 2 illustrated pressure sensor 66 , control valve 27A and control valve 27B correspond to the in 2 illustrated control valve 27 ,

From the hydraulic pumps 36 and 37 supplied hydraulic oil is via directional control valve 64 further boom cylinder 10 fed. The supply of hydraulic oil is by means of a displacement of piston 64S in the axial direction between supply to a lid side oil chamber 48R from boom cylinder 10 and feeding to a rod side oil chamber 47R switched.

A flow rate of hydraulic oil, that is, a supply amount of hydraulic oil to boom cylinder 10 per unit time, is by means of a displacement of pistons 64S regulated in the axial direction. A movement speed of boom cylinders 10 is adjusted by regulating the flow rate of hydraulic oil to boom cylinder 10 regulated.

If piston 64S from directional control valve 64 is shifted in a first direction, oil is from directional control valve 64 to lid side oil chamber 48R fed. When hydraulic oil from rod side oil chamber 47 R to directional control valve 64 is returned, becomes a piston 10P from boom cylinder 10 from lid side oil chamber 48R on rod side oil chamber 47R moved to. This extends a rod 10L with pistons 10B is connected, from boom cylinder 10 ,

If piston 64S from directional control valve 64 based on a command from actuator 25 is shifted in a second direction, which corresponds to a direction opposite to the first direction, hydraulic oil from the cover-side oil chamber 48R to directional control valve 64 returned. When hydraulic oil from directional control valve 64 Rod side oil chamber 47R is fed, piston is 10P from boom cylinder 10 from rod side oil chamber 47R on lid side oil chamber 48R moved to. This drives pole 10L with pistons 10B connected in boom cylinder 10 on. Thus, a direction of movement of boom cylinder changes 10 according to the regulation of the direction of displacement of the piston 64S from directional control valve 64 ,

The flow rate of hydraulic oil, the boom cylinder 10 fed and from boom cylinder 10 to directional control valve 64 is changed according to the regulation of the degree of displacement of piston 64S from directional control valve 64 , In this case, the displacement speed of each piston changes 10P and rod 10L that is a moving speed of boom cylinder 10 corresponds, accordingly.

A movement of directional control valve 64 is, as described above, via actuator 25 controlled. Hydraulic oil coming from the in 2 illustrated hydraulic pump 36 ejected and pressure reduction via pressure reducing valve 25V is subjected to actuation device 25 supplied as pilot oil.

actuator 25 regulates pilot oil pressure based on actuation of each control lever. Directional control valve 64 is driven by the regulated pilot oil pressure. The amount of displacement and the direction of displacement of piston 64S in the axial direction, by regulating the level and the direction of pilot oil pressure by actuator 25 regulated. Accordingly, the moving speed and the moving direction of boom cylinders 10 to change.

Work implement control device 26 As described above, during the engagement control, regulates boom speed 6 based on Target Excavation Topography () indicating planned topography corresponding to a target shape of an excavated object and inclination angle θ1 . θ2 and θ3 To determine a position of spoon 8th be used, giving a speed of approach of spoons 8th on target excavation topography 43l according to a distance between target excavation topography 43l and spoons 8th decreases.

According to the embodiment, work equipment control apparatus generates 26 Boom command signal CBI and controls a movement of boom 6 based on the generated cantilever command signal CBI, for penetration of the cutting edges 8T of spoons 8th into the target excavation topography 43l To prevent when working equipment 2 based on actuation of actuator 25 emotional.

That is, during the engagement control, the work equipment control device raises 26 boom 6 to prevent penetration of the cutting edges 8T in target excavation topography 43l to prevent. The boom lift control 6 that is performed during the engagement control is referred to, if applicable, as engagement control of the boom.

According to the embodiment, work equipment control apparatus generates 26 Boom command signal CBI relating to the engagement control of the boom and outputs the generated boom command signal CBI on engagement valve 27C to perform the engagement control of the boom.

Engagement valve 27C is capable of a pilot oil pressure of pilot oil path 50 to regulate. shuttle valve 51 contains two inlet connections 51La and 51lb and a discharge port 51E , ingress port 51La , which is one of the inlet ports, is with engagement valve 27C connected. ingress port 51lb , which is the other inlet port, is with control valve 27B connected. Ausleitanschluss 51E is with oil route 452B connected to the directional control valve 64 connected is.

shuttle valve 51 connects oil route 452B and the inlet port, that of the two inlet ports 51La and 51lb has a higher pilot oil pressure.

For example, if the pilot oil pressure of inlet port 51La is higher than the pilot oil pressure of the inlet port 51lb , connects shuttle valve 51 Engagement valve 27C and oil route 452B , This will cause the pilot oil, the engagement valve 27C has gone through, oil route 452B via shuttle valve 51 fed. When the pilot oil pressure from inlet port 51lb is higher than the pilot oil pressure of the inlet port 51La , connects shuttle valve 51 control valve 27B with oil route 452B , This will cause the pilot oil, the control valve 27B has gone through, oil route 452B via shuttle valve 51 fed.

Upon an interruption of the engagement control of the boom, the directional control valve becomes 64 controlled on the basis of a pilot oil pressure, by means of an actuator via actuator 25 is regulated. For example, work equipment control device opens 26 Pilot oil path 450B (complete) by using control valve 27B controls and closes pilot oil path 50 by inserting valve 27C controls to directional control valve 64 to control based on a pilot oil pressure, by means of an actuator operating device 25 is regulated.

When the engagement control of the boom is performed, work equipment control device controls 26 control valve 27 to directional control valve 64 based on an over-intervention valve 27C to control regulated pilot oil pressure. For example, work equipment control device controls 26 when performing control to regulate a displacement of spoons 8th on target excavation topography 43l to as the engagement control of the boom engaging valve 27C one by engaging valve 27C regulated pilot oil pressure from pilot oil path 50 to increase to a pressure higher than an over actuator 25 regulated pilot oil pressure from pilot oil path 450B , So will pilot oil from engagement valve 27C Directional control valve 64 via shuttle valve 51 fed.

In performing the engagement control of the boom, work equipment control apparatus generates 26 for example, boom command signal CBI as a speed command to raise boom 6 to engagement valve 27C to control. So, directional control valve leads 64 from boom cylinder 10 boom cylinder 10 enough hydraulic oil to boom 6 to raise at a speed, the boom command signal CBI equivalent. Accordingly, boom cylinder 10 boom 6 Lift.

The hydraulic circuit of the stem cylinder 11 and the hydraulic circuit of bucket cylinder 12 Each has a structure that the above-described construction of hydraulic circuit 301 from boom cylinder 10 except for the omission of intervention valve 27C , Shuttle valve 51 and pilot oil path 50 like.

The boom engagement control included in the engagement control is a boom lift control 6 , Work implement control device 26 However, at least either stalk 7 or spoon 8th in addition to or instead of raising boom 6 raise at the engagement control.

In the engagement control, work equipment control device lifts 26 boom 6 , Poor 7 and / or spoon 8th on, the work equipment 2 make up to work equipment 2 in the direction of the target form of with work equipment 2 object to be machined or target excavation topography 43l according to the embodiment to move away.

According to the embodiment, the engagement control is defined as the control provided by the work equipment control device 26 is carried out to at least boom 6 , Stalk 7 and / or spoon 8th , the work equipment 2 make move, when working equipment 2 based on actuation via actuator 25 emotional.

The engagement control is control provided by work equipment control device 26 carried out to effect movement of the working equipment when working equipment 2 moved on the basis of a manual operation, the one actuation via actuator 25 equivalent. The above-described engagement control of the boom is a mode of the engagement control.

4 Fig. 10 is a block diagram of a work equipment control device 26 according to the embodiment.

5 is a graph, the target excavation topography data U as well as a spoon 8th according to the embodiment represents.

6 is a scheme that has a boom top speed Vcy_bm according to the embodiment represents.

7 is a graphic that has a top speed Vc_lmt according to the embodiment represents.

Work implement control device 26 contains a decision unit 26J and a control unit 26CNT. Control unit 26CNT contains a unit 26A for calculating a relative position, a unit 26B to calculate a distance, a unit 26C for calculating a target speed, a unit 26D for calculating an intervention speed, a unit 26E to calculate an intervention command and a unit 26F to correct the intervention speed.

The functions of decision unit 26J , Unit 26A for calculating a relative position, unit 26B to calculate a distance, unit 26C for calculating a target speed, unit 26D for calculating an intervention speed, unit 26E for calculating an intervention command and unit 26F to correct the meshing speed are processed by processing unit 26P the in 2 illustrated work equipment control device 26 carried out.

To perform the engagement control, work equipment control apparatus generates 26 Boom command signal CBI that is required for engagement control based on boom actuation variable MB , Stem actuation variable MA , Spoon-actuating variable MT , Target Excavation Topography Data U as well as position data S the bucket cutting edges coming from display control device 28 and from the angles of inclination θ1 . θ2 , and θ3 that by sensor control device 39 and generates a handle command signal and a bucket command signal used to control work equipment 2 by controlling the control valve 27 and intervention valve 27C are required based on the generated command signal.

unit 26A to calculate a relative position obtains position data S the bucket cutting edges of display control device 28 and relates tilt angle θ1 . θ2 and θ3 from sensor control device 39 , unit 26A For calculating a relative position, a cutting edge position is determined pb holding a position of cutting edges 8T of spoons 8th indicates, based on referred tilt angle θ1 . θ2 and θ3 ,

unit 26B to calculate a distance calculates a distance d which requires a minimal distance between the cutting edges 8T of spoons 8th and target excavation topography 43l indicates that by means of target excavation topography data U as part of target execution information T expressed based on a cutting edge position pb that by unit 26A for calculating a relative position and target excavated topography data U that of display control device 28 be obtained. Distance d is a distance between cutting edge position pb and a position Pu , which is an intersection of the target excavation topography data U and a line corresponds to the target excavation topography 43l cuts at right angles and by cutting edge position pb passes through.

Target excavation topography 43l is determined as a cutting line passing through a plane of work equipment 2 in the longitudinal direction of the upper rotary unit 3 is defined and passes through a excavation target position Pdg, and target execution information T is formed, which are expressed by a plurality of target execution areas.

That is, target excavation topography 43l is the intersection line described above and is represented by a single or a plurality of inflection points before and after excavation target position Pdg of the target execution information T and lines formed before and after the turning points.

According to a in 5 example shown becomes target excavation topography 43l by 2 turning points pv1 and Pv2 as well as lines before and after the turning points pv1 and Pv2 educated. Excavation target position Pdg is a point located just below cutting edge position pb located the position of the cutting edges 8T of spoons 8th equivalent. Accordingly, target excavation topography 43l a part of the target execution information T , Target excavation topography 43l is through the in 2 illustrated display control device 28 generated.

unit 26C to calculate a desired speed determines a desired boom speed Vc_bm , a desired stick speed Vc_am and a spoon set speed Vc_bkt , Boom-set speed Vc_bm is a speed of the cutting edges 8T when controlling boom cylinder 10 , Dipper target speed Vc_am is a speed of the cutting edges 8T when driving stem cylinder 11 , Spoon desired speed Vc_bkt is a speed of the cutting edges 8T when controlling bucket cylinder 12 , Boom target speed Vc_bm is based on boom actuation variable MB calculated. Dipper target speed Vc_am is based on stem actuation variable MA calculated. Spoon desired speed Vc_bkt is based on spoon actuation variable MT calculated.

unit 26D to calculate an intervention speed determines maximum speed (maximum boom speed) Vcy_bm from outrigger 6 based on the distance d between the cutting edges 8T of spoons 8th and target excavation topography 43l ,

As with reference to 6 can be seen, calculates unit 26D to calculate an intervention speed Boom speed limit Vcy_bm by subtracting the desired stick speed Vc_am and spoon-set speed Vc_bkt of top speed Vc_lmt , which is the total speed limit of the 1 illustrated work equipment 2 indicates.

top speed Vc_lmt is a permissible displacement speed of the cutting edges 8T in the direction of approach of the cutting edges 8T of spoons 8th on target excavation topography 43l ,

working equipment 2 has, as with reference to 7 can be seen, a negative value and is lowered when distance d is a positive value. In this case is maximum speed Vc_lmt a lowering speed of work equipment 2 , On the other hand has work equipment 2 a positive value and is raised if distance d is a negative value. In this case is maximum speed Vc_lmt a lifting speed of working equipment 2 ,

A negative value of distance d indicates a state in the bucket 8th in target excavation topography 43l has penetrated. The absolute value of the maximum speed Vc_lmt decreases as distance d decreases. After a change of distance d to a negative value, the absolute value of the velocity increases as the absolute value of distance d increases.

Decision unit 26J decides whether boom speed limit Vcy_bm is corrected.

If decision unit 26J decides that boom speed limit Vcy_bm corrected, corrects unit 26F to correct the intervention speed Boom speed limit Vcy_bm and gives the corrected boom speed limit Vcy_bm out. The corrected maximum boom speed is with Vcy_bm ' expressed.

If decision unit 26J decides that boom speed limit Vcy_bm is not corrected, gives unity 26F to correct the intervention speed Boom speed limit Vcy_bm without correction. unit 26E to compute an engagement command generates boom command signal CBI based on by unit 26F Maximum boom speed determined to correct the meshing speed Vcy_bm ,

Boom command signal CBI is a command for adjusting an opening of engagement valve 27C to a degree sufficient to provide a pilot pressure for shuttle valve 51 for lifting boom 6 at boom speed limit Vcy_bm provide. According to the embodiment, boom command signal CBI a current value corresponding to the boom command speed.

Decision unit 26J closes a switch-decision unit 26K , one unity 26L for determining an actuation command and a unit 26M for determining a speed difference.

Shift-decision unit 26K decides whether the intervention control is required or not.

unit 26L for determining an actuation command determines whether the operator the right lever 25R for performing a boom raising operation 6 or a neutral actuation. The neutral operation is an operation with which a condition is established in which neither a lifting operation nor a lowering operation is performed. In this state, the right operating lever is located 25R at an intermediate position.

unit 26M to determine a speed difference determines a speed difference between maximum boom speed Vcy_bm and boom set speed Vc_bm according to one on the right control lever 25R by the operator for raising boom 6 entered actuation. As an alternative, unit determines 26M to determine a speed difference, a speed difference between boom speed limit Vcy_bm and a desired boom speed of 0 corresponding to that at the right operating lever 25R entered by the operator neutral operation. That is, unity 26M to determine a speed difference determines whether the speed difference is above or at a threshold Dr lies.

According to the embodiment, the decision unit corrects 26J , provided that the operator has the right-hand lever 25R operated to boom 6 in the state in which engagement control is unnecessary, boom top speed Vcy_bm when the speed difference between boom speed limit Vcy_bm and boom set speed Vc_bm according to the on the right control lever 25R actuator input by the operator for lifting boom 6 above or at threshold Dr lies. On the other hand corrects decision unit 26J provided that the operator activates the neutral control of the right control lever 25R in the state in which engagement control is unnecessary, boom top speed Vcy_bm when the speed difference between boom speed limit Vcy_bm and boom set speed of 0 corresponding to that at the right operating lever 25R Operator-input neutral over or over threshold Dr lies.

Mode of engagement control of the boom

8th is a view that has a relationship between spoons 8th and target excavation topography 43l according to the embodiment represents.

The engagement control is as described with reference to FIG 8th can be seen, control, through the spoons 8th is moved to the entry of spoons 8th in target excavation topography 43l to prevent. If spoon 8th in the engagement control by work equipment control device 26 tried in target excavation topography 43l penetrate places work equipment control device 26 the engagement control of the boom in progress.

The engagement control begins as with reference to FIG 8th can be seen when the work equipment based on an operator's manipulation attempts to set target excavation topography 43l penetrate.

The engagement control ends when entering the target excavation topography 43l by the work equipment based on operator manipulation for moving spoons 8th in one with an arrow Y in 8th indicated direction ends.

The need for engagement control drops away when penetrating into target excavation topography 43l ends by the work equipment based on the operation by the operator.

During engagement control by work equipment control device 26 guides the operator of hydraulic excavator 100 in some cases an operation to move work equipment 2 and spoons 8th up through.

If the intervention control by a displacement of spoon 8th is finished out of an area that, as in 8th shown, target excavation topography 43l includes, the intervention control on control of work equipment 2 switched by manual operation.

When switching from the intervention control to the control of work equipment 2 Manual operation causes a sudden change in speed that may be uncomfortable for the operator.

9 is a graph showing a relationship between time t and cantilever target speed bm represents the movement speed of a boom 6 according to the embodiment.

In 9 the vertical axis represents the boom-set speed bm while the horizontal axis is time t represents. A positive value of boom set speed bm shows a lifting speed of boom 6 while raising, while a negative value of boom set speed bm a lowering speed of boom 6 when lowering indicates.

boom 6 is a part of work equipment 2 , so that boom-set speed bm equivalent to a speed of work equipment 2 is. The lifting speed of boom 6 corresponds to a lifting speed of work equipment 2 while the lowering speed of boom 6 a lowering speed of work equipment 2 equivalent.

According to the embodiment, the lifting speed and the lowering speed of working equipment become 2 each as a displacement speed of work equipment 2 designated. The displacement speed of work equipment 2 when lifting has a positive value, while the shifting speed of work equipment 2 when lowering a negative value.

If the need of intervention control of the boom by a displacement of spoons 8th falls out of range, the target excavation topography 43l Includes work equipment control device 26 Boom target speed bm to a desired boom speed Vbop a based on an operation by the operator of hydraulic excavator 100 is determined.

Under given conditions, work equipment control device reduces 26 Boom target speed bm at a fixed rate of change VRC to a boom top speed Vcy_bm1 , which is stated before the necessity of the engagement control of the boom is omitted, to boom target speed Vbop to change.

When the necessity of the boom engagement control is eliminated, the engagement control of work equipment becomes 2 on control of work equipment 2 based on an actuator 25 Switched actuation command switched.

According to the embodiment, work equipment control apparatus compares 26 Boom speed limit Vcy_bm1 according to the engagement control of the boom with boom target speed Vbop or 0, which is determined on the basis of the operation by the operator when the operation command of the operating device 25 the command to raise boom 6 or the neutral command is in the state where the necessity of the engagement control of the boom is eliminated. Subsequently, a difference D between boom speed limit Vcy_bm1 and boom set speed Vbop or 0 is calculated. It should be noted that a speed change increases when difference D between boom speed limit Vcy_bm1 and boom set speed Vbop or 0 increases.

According to the embodiment, it is determined whether difference D between boom speed limit Vcy_bm1 and boom set speed Vbop or 0 above or at threshold Dr lies.

Work implement control device 26 reduces boom-set speed bm at the fixed rate of change VRC to boom-set speed bm , which is stated before the necessity of the engagement control of the boom is omitted, to boom target speed Vbop change when in the state in which the command to raise boom 6 or the neutral command as an actuation command of actuator 25 has been issued, and in the state in which the necessity of the engagement control of the boom has been eliminated, difference D between boom speed limit Vcy_bm1 and boom set speed Vbop or 0 above or at threshold Dr lies.

When boom set speed bm when raising boom 6 has a positive value, the lift speed decreases as the desired boom speed changes bm with change rate VRC from. Accordingly represents change rate VRC a reduction in the lifting speed.

If after switching to the control of work equipment 2 based on the actuation command of actuator 25 a strong speed change occurs, the speed of boom decreases 6 fast. This feels the operator as unpleasant.

If the need for intervention control of the boom due to a shift of spoons 8th out of the area, the target excavation topography 43l is omitted, in the state in which the operator during the engagement control of the boom, the operation for lifting boom 6 or the neutral operation is performed, the boom target speed changes bm , commanded by the operator, gradually from boom maximum speed Vcy_bm1 to boom target speed Vbop or 0. This change limits a sudden decrease in speed, making the operator feel less uncomfortable.

Furthermore, reduced by a sudden speed decrease of boom 6 caused impact, so also affect on in spoons 8th charged soil can be reduced.

That is, unity 26D for calculating an engagement speed of the work equipment control apparatus described in 4 shown, determines maximum boom speed Vcy_bm ,

Subsequently, the switch-decision unit decides 26K of decision-making unit 26J Working in work equipment control device 26 is included in the 4 is shown whether the engagement control of the boom is required or not. unit 26L for determining an actuation command determines whether the operator the operation for raising boom 6 or the neutral operation on the right control lever 25R when it is determined that the engagement control of the boom is unnecessary. unit 26M to determine a speed difference determines a speed difference between maximum boom speed Vcy_bm and boom set speed Vc_bm according to the operation for lifting boom 6 by the operator or the boom set speed of 0 corresponding to the neutral operation when the operator performs the boom raising operation 6 or the neutral operation on the right control lever 25R enters in the state in which the engagement control of the boom is unnecessary.

If unity 26M To determine a speed difference, determine that the speed difference is above or at threshold Dr is deciding decision unit 26J that boom-top speed Vcy_bm is corrected and assigns unity 26F to correct the meshing speed at boom maximum speed Vcy_bm to correct.

unit 26F to correct the engagement speed of control unit 26CNT determines the corrected boom maximum speed Vcy_bm 'and gives the boom top speed Vcy_bm ' to unity 26E for calculating an intervention command from control unit 26CNT out.

unit 26E for calculating an intervention command from control unit 26CNT generates boom command signal CBI based on the corrected boom speed limit Vcy_bm ' to engagement valve 27C to control. Work implement control device 26 changes boom lifting speed with this process 6 ,

That is, unity 26F To correct the engagement speed, control results in changing the boom speed limit Vcy_bm to the boom set speed Vbop with change rate VRC by.

If change rate VRC is high, is raising from boom 6 in response to the elimination of the intervention control of the boom interrupted immediately. However, causing a sudden change in boom target speed caused thereby Vbop Shock or is perceived by the operator uncomfortable.

Accordingly, change rate becomes VRC limited to a range in which there is no such sudden change in boom speed target Vbop comes. According to the embodiment, change rate VRC determined, for example, based on sensory evaluation of the operator. However, other methods of determining rate of change may be used VRC be used.

Control method for working machine of the embodiment

10 FIG. 10 is a graph illustrating a procedure of a control method for the work machine according to the embodiment.

The control method for the work machine according to the embodiment will be as described with reference to FIG 10 can be seen by work equipment control device 26 carried out.

In step S2 decides switch-decision unit 26K of work equipment control device 26 , in the 4 is shown whether the engagement control of the boom is unnecessary. When switching decision unit 26K decides that the engagement control of the boom is unnecessary (YES in step S2 ), unit determines 26L for determining an actuation command in step S4 Whether the operator is operating the boom lift 6 or performing the neutral operation (step S4 ).

If unity 26L for determining an actuation command in step S4 determines that the operator is the operator for lifting boom 6 or performs the neutral operation, (YES in step S4 ), unit determines 26M to determine a speed difference, a difference between maximum boom speed Vcy_bm and boom set speed Vc_bm according to the operation for lifting boom 6 by the operator or the boom set speed of 0 (step S5 ).

unit 26M To determine a speed difference, determine whether the speed difference is above or at threshold Dr lies (step S6 ).

If unity 26M for determining a speed difference in step S6 determines that the speed difference is above or at threshold Dr is (YES in step S6 ) creates unity 26E for calculating an engagement command of work equipment control device 26 in step S8 Boom command signal CBI based on by unit 26F Corrected maximum boom speed determined to correct the meshing speed Vcy_bm ' and controls the intervention valve 27C based on the generated boom command signal.

Then the process ends (END).

When switching decision unit 26K in step S2 decides that the engagement control of the boom is not unnecessary (NO in step S2 ) controls unit 26E for calculating an engagement command of work equipment control device 26 in step S16 Engagement valve 27C based on boom command signal CBI That's from boom top speed Vcy_bm is generated, which has not been corrected.

If, however, in step S4 it is determined that the operator is operating the boom lift 6 or does not perform the neutral operation (NO in step S4 ), or if in step S6 it is determined that the speed difference is below threshold Dr lies, (NO in step S6 ), produces work equipment control device 26 Boom command signal CBI from a target speed corresponding to a command input via the operating lever, and controls engagement valve 27C based on the boom command signal (step S12 ).

Then the process ends (END).

Electric control lever

According to the embodiment, actuator includes 25 Pilot hydraulic control lever. actuator 25 however, can use a left electric control lever 25La as well as a right electrical control lever 25Ra contain.

When the left operating lever 25Ra and the right operating lever 25Ra are each formed by an electric lever, an operating variable entered via each operating lever is detected by a potentiometer. Each via the left control lever 25La and the right operating lever 25Ra entered and detected by the potentiometer actuating variable is by work equipment control device 26 based.

Work implement control device 26 that has detected an operation signal of the electric operating lever performs control similar to the corresponding control performed using the pilot hydraulic operating lever.

According to the embodiment described above, the boom top speed becomes Vcy_bm corrected, when in the state in which the operator the operation for lifting boom 6 or the neutral operation on the right control lever 25R and in the state where the engagement control is not necessary, a speed difference between boom maximum speed Vcy_bm and boom set speed Vc_bm according to the operation for lifting boom 6 or the desired boom speed of 0 corresponding to the neutral operation above or to the threshold value Dr lies. Boom speed limit Vcy_bm is at the fixed rate of change VRC reduced to boom-top speed Vcy_bm on boom-set speed Vbop which is instructed by the operator or 0 to change.

working equipment 2 contains boom 6 , Dipperstick 7 and spoons 8th , working equipment 2 however, as an attachment, this is not so limited, and there may be other types of attachments than spoons 8th be used. The work machine only has to contain a certain work equipment. The work equipment contained in the work machine is not on hydraulic excavators 100 limited.

The embodiment disclosed herein is exemplary only and therefore not limited to the specific details described. The scope of the present invention should be defined only by the appended claims, and therefore includes all changes within the meaning that is equivalent to the scope of the appended claims.

LIST OF REFERENCE NUMBERS

1: vehicle body, 2: work equipment, 3: upper turning unit, 4: cab, 5: traveling device, 6: boom, 7: dipper stick, 8: bucket, 10: boom cylinder, 11: dipper stick cylinder, 12: bucket cylinder, 13: boom bolt , 14: dowel pin, 15: bucket pin, 16: first stroke sensor, 17: second stroke sensor, 18: third stroke sensor, 19: position detection device, 26: work equipment control device, 26A: unit for calculating a relative position , 26B: unit for calculating a distance, 26C: unit for calculating a target speed, 26CNT: control unit, 26D: unit for calculating an engagement speed, 26E: unit for calculating an engagement command, 26F: unit for correction engaging speed, 26J: deciding unit, 26K: switching deciding unit, 26L: unit for determining an operation command, 26M: unit for determining a speed difference, 26P: processing unit, 26 Q: Spe Icher unit.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• WO 2016/111384 [0004]

Claims (4)

Work machine that includes: a work equipment; an actuator for operating the work equipment; such as a control device for controlling the work equipment; the control device Performs engagement control for lifting the work equipment based on an operation command from the operation apparatus; decides about switching from the engagement control to control of the work equipment according to an operation command from the operation apparatus determines whether the operation command from the switching operation device, which is performed based on a result of the decision, is an operation command for raising the work equipment or a neutral command, determines a speed difference between a target speed when lifting the work equipment in the engagement control and a target speed corresponding to the operation command from the operating device, if the operation command from the operating device, as a result of the determination, the operation command for lifting the work equipment or the neutral command is, and makes a regulation for gradually changing the target speed when lifting the work equipment to the target speed in accordance with the operation command from the operating device when the speed difference is above or at a predetermined value. Working machine after Claim 1 wherein the control apparatus includes: an engagement control unit for performing engagement control for lifting the work equipment based on an operation command from the operation device; a switching decision unit for switching over from the engagement control is decided to control the work equipment according to an operation command from the operation device, an operation command determination unit for determining whether the operation command from the operation device for switching based on a result of decision of the changeover Decision unit for raising the work equipment or a neutral command, a unit for determining a speed difference with which a speed difference between a target speed when lifting the work equipment in the engagement control and the like is performed and a target speed corresponding to the operation command is determined by the actuator when, as a result of the determination of the operation command determination unit, the operation command from the operation device is the operation command for lifting the work equipment or the neutral command and a unit for regulating a speed at which a regulation for gradually changing the target speed when lifting the work equipment to the target speed according to the operation command is made by the actuator when the speed difference is a result of the determination of the unit for Determination of a speed difference is above or at a predetermined value. Working machine after Claim 1 wherein the control device changes the target speed when lifting the work equipment to the target speed according to the operation command from the actuator when the speed difference is less than the predetermined value. A control method for a work machine including a work equipment and an operating device for operating the work equipment, the method comprising the steps of: Performing engagement control for lifting the work equipment based on an operation command from the operation apparatus; Deciding switchover from the engagement control to control of the work equipment according to an operation command from the operation apparatus; Determining whether the actuation command from the switching operation device, which is performed based on a result of the decision, is an operation command for raising the work equipment or a neutral command; Determining a speed difference between a target speed when lifting the work equipment in the engagement control and a target speed corresponding to the operation command from the operation device when the operation command from the operation device results from the determination that the lift operation command is given the work equipment or the neutral command is; and Making regulation to gradually change the target speed when lifting the work equipment to the target speed in accordance with the operation command from the actuator when the speed difference is above or at a predetermined value.

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