JP2019052423A - Hydraulic shovel - Google Patents

Abstract

To provide a hydraulic shovel which can automatically make an upper revolving body stop over a new trolley at a respective adequate discharging position of the sediment and discharge sediment even when a sediment discharge position is deviated because of a replacement of trolleys, for excavating/sediment discharging operation to excavate object such as sediment and like to be excavated and to discharge the sediment to the trolley.SOLUTION: An angle between a sediment discharging position which is a revolving angle of an upper revolving body when a specific operation (bucket opening, etc.) is carried out at the sediment discharging position (S2, S3) and an excavating position which is a revolving angel of the upper revolving body when a specific operation (surface excavating, etc.) is carried out at the excavating position (S4, S5) is memorized as a target revolving angle (S6). The upper revolving body 5 starts to revolve when an operation lever 15 for revolving is continuously operated for one second (S7), and is made stopped when an actual revolving angle reaches the target revolving angle (S10, S11). A new target revolving angle is calculated/memorized (S2-S6) after the target revolving angle is deleted in a case that a reset button 20 is operated because of a replacement of the trolleys (S13).SELECTED DRAWING: Figure 3

Description

  The present invention relates to a hydraulic excavator that performs an operation of excavating excavated material such as earth and sand and loading it on a transport vehicle.

  The hydraulic excavator is provided with a revolving upper revolving body on a lower traveling body provided with a crawler and a wheel, and a working device including, for example, a boom, an arm and a bucket is provided at the front of the upper revolving body.

  Such excavators excavate excavated items such as earth and sand, gravel, ore (hereinafter referred to as earth and sand as representatives) and release them on the vessels of transport vehicles such as dump trucks. Such excavation and earthing work often repeats the same operation. For example, the earth and sand on the ground is excavated by the bucket at the excavation position, the bucket is released by discharging the upper revolving body by turning the upper revolving body, and then the earth is discharged by the upper revolving body again. Return the bucket to the drilling position. The above operation is repeated, and the soil is sequentially loaded into the transport vessel vessel.

  The efficiency of excavation and earthing work greatly depends on the level of proficiency of the operator who operates the hydraulic excavator. According to the low level of proficiency, the operation of the upper swing body and the work device is wasted. For example, if the turning speed of the upper swinging body is insufficient, the arrival at the excavation position or the earthing position is delayed, and if the operation timing of the turning stop is inappropriate, it is necessary to readjust the bucket position after stopping Become. Since excavation and earthmoving work are repeated the same operation, both of them are factors that greatly reduce work efficiency.

  In view of this, various work support devices have been proposed for eliminating the difference in the proficiency level of operators. For example, in the technique described in Patent Document 1, when an operator's operation on a work element (upper swing body, boom, arm, bucket, etc.) is insufficient, the operation of the work element is automatically assisted up to the maximum speed, and thereafter Also for deceleration and stop, automatic assist is performed according to a predetermined deceleration pattern based on the target stop position.

Japanese Patent No. 5512311

  By the way, in the above description, the case where earth and sand are loaded into a single transport vehicle has been described. However, in actual excavation and earthing work using an excavator, earth and sand may be loaded into a number of transport vehicles while sequentially replacing the transport vehicles. Many. Specifically, when the vessel's vessel becomes full due to the loading of earth and sand, the excavation and earthing work is performed again after loading the new vehicle, and the earth and sand are loaded again. Since it is unlikely that a new transport vehicle will stop at the same position as the preceding transport vehicle, the earthing position at which the bucket should be stopped, and thus the angle at which the turning of the upper swing body should be stopped (hereinafter referred to as the swing position). ) Will need to be adjusted for the new transport vehicle.

However, according to the technique of Patent Document 1, although the upper-part turning body is automatically stopped at the target stop position according to a predetermined deceleration pattern, it is not assumed that the target stop position changes as the transport vehicle is replaced. For this reason, the upper swing body stops at an inappropriate swing position, and the bucket position needs to be readjusted after the stop, so that there is a problem that automatic assist does not substantially make sense.

  The present invention has been made to solve such problems, and the object of the present invention is to provide an excavation and earthing work for excavating excavated material such as earth and sand and releasing the excavated material into the transport vehicle. Even if the earthing position where earth and sand should be released due to replacement is changed, the upper turning body can be automatically stopped at the appropriate earthing position corresponding to the new transport vehicle to release earth and sand. It is to provide a hydraulic excavator that can.

  In order to achieve the above object, a hydraulic excavator according to the present invention is provided with a working device at a front portion, and is driven by a turning drive unit to turn, and an operation for operating the turning body and the working device. The excavation position and the earthing position, respectively, of the operation content of the operation part when excavating the ground by the working device and when releasing the earth to the transport vehicle. A specific operation storage unit that stores the specific operation at the excavation position and the earthing position, and the excavation position and the release position based on the turning position of the swivel body that is detected by the turning position detection unit when the specific operation is performed at the excavation position and the earthing position. A turning position information calculation / storage unit that calculates / stores turning position information related to the soil position, and when the operation unit is operated to turn the turning body, the turning drive unit is driven by the driving of the turning drive unit in response to the operation. Based on the detection information from the turning position detection unit and the turning position information on the excavation position and the earthing position stored in the turning position information calculation / storage unit, the turning body is started. A turning control unit for stopping at the excavation position or the earthing position and a turning position information updating unit for updating the turning position information stored in the turning position information calculation / storage unit are provided.

  According to the hydraulic excavator of the present invention, in excavation and earthing work for excavating excavated items such as earth and sand and releasing them to a transport vehicle, when the earth release position where the earth and sand should be released is shifted by exchanging the transport vehicle, Even if it exists, the upper revolving body can be automatically stopped at the appropriate earthing position corresponding to a new transport vehicle, and earth and sand can be earthed.

It is a side view showing a hydraulic excavator of an embodiment. It is a control block diagram which shows the work assistance apparatus mounted in the hydraulic shovel. It is a flowchart which shows the turning assistance routine which a turning assistance controller performs. It is explanatory drawing which shows the switching condition of the target turning angle of an upper turning body when a transporter is replaced during excavation and earthing work. It is a flowchart which shows the turning assistance control which the turning assistance controller of another example of embodiment performs.

Hereinafter, an embodiment in which the present invention is embodied in an ultra-large hydraulic excavator operating in a mine or the like will be described.
FIG. 1 is a side view showing a hydraulic excavator according to the present embodiment.

  The lower traveling body 2 of the hydraulic excavator 1 is provided with a crawler 3, and the crawler 3 is driven by a traveling hydraulic motor (not shown) to cause the hydraulic excavator 1 to travel. An upper turning body 5 is provided on the lower traveling body 2 via a turning device 4 (turning drive unit), and the upper turning body 5 is turned by driving a turning hydraulic motor (not shown) of the turning device 4. A driver's cab 7 on which the operator is boarded is provided at the front of the upper swing body 5 on the swing frame 6, a building 8 is provided at the rear of the driver's cab 7, and a counterweight 9 is fixed at the rear of the building 8. Has been.

  A work device 10 for excavation is attached to the right side of the cab 7 of the upper swing body 5, and the work device 10 includes a boom 11, an arm 12, and a bucket 13. The angle of the boom 11 is changed by the boom cylinder 11a, the angle of the arm 12 is changed by the arm cylinder 12a, and the angle of the bucket 13 is changed by the bucket cylinder 13a.

  Although not shown, the building 8 is equipped with an HST (Hydro Static Transmission) that uses an engine as a power source, and receives the supply of hydraulic oil discharged from the HST hydraulic pump by driving the engine. The traveling and turning hydraulic motors, the cylinders 11a to 13a of the working device 10 and the like are operated. The cab 7 is provided with various operation devices (the operation lever 15 is shown as a representative in FIG. 2). When these operation devices are operated by the operator, the hydraulic oil is switched by an HST hydraulic circuit (not shown). In response to this, each actuator is operated to operate the hydraulic excavator 1.

FIG. 2 is a control block diagram showing a work support apparatus mounted on the hydraulic excavator of this embodiment.
The operation lever 15 (corresponding to the operation unit of the present invention) and the lever controller 16 in the figure have the same configuration as a conventional hydraulic excavator not provided with a work support device. In the conventional hydraulic excavator, for example, when the operation lever 15 is operated to turn the upper swing body 5, a pilot operation signal corresponding to the operation direction is output from the lever controller 16 to the hydraulic circuit during the operation. Then, by switching the hydraulic circuit according to the pilot operation signal, the upper swing body 5 rotates in the direction corresponding to the lever operation, and when the lever operation is stopped, the pilot operation signal is not output, so the upper swing body 5 is stopped. To do.

  In addition to the turning operation of the upper swing body 5, the lever controller 16 detects the operation of various operating devices (corresponding to the operation unit of the present invention) with respect to the boom 11, the arm 12, the bucket 13, and the like, and generates a pilot operation signal corresponding thereto. It is designed to output.

  The work support device 17 of the present embodiment is connected to the lever controller 16 configured as described above, and a pilot operation signal corresponding to the operation of the operating device is input to the work support device 17 to perform determination processing (a work device to be described later) For example, determination of 10 specific operations). In addition, the pilot operation signal corresponding to the operation of the operation lever 15 is returned to the lever controller 16 after conversion by the work support device 17, and thereby, without corresponding to the operation of the operation lever 15, Deceleration / stop is performed.

  The work support device 17 includes a turning assist controller 18 that performs main control, a turning angle sensor 19 (corresponding to a turning position detection unit of the present invention) that detects the turning position of the upper turning body 5 as a turning angle, and excavation and earthing work. The reset button 20 (corresponding to the reset unit of the present invention) is operated by the operator every time the transport vehicle is replaced. The turning assist controller 18 includes a lever operation determination unit 18a, a turning angle calculation unit 18b, and a pilot operation signal control unit 18c.

  The lever operation determination unit 18 a of the turning assist controller 18 has a function of determining the operation content for the operation device based on the pilot operation signal input from the lever controller 16.

  The turning angle calculation unit 18b is configured to turn the upper turning body 5 when the earth and sand are discharged from the bucket 13 into the vessel's vessel based on the operation content determined by the lever operation determination unit 18a. Since it corresponds to the earthing position, it is also referred to as the earthing position) and the turning position of the upper swing body 5 when excavating the earth and sand by the bucket 13 (because it corresponds to the excavation position of the bucket 13) And the turning angle between them is calculated as the target turning angle.

  The turning angle calculation unit 18b executes the target turning angle calculation process only when the target turning angle data is not stored, that is, only when the work is started and when the reset button 20 described below is operated. A request signal for requesting the determined operation content is output to the unit 18a. The operation content output from the lever operation determination unit 18a in response to the request signal is set in advance as a specific operation of the work apparatus 10 to be executed at the earthing position and the excavation position, and is stored in the lever operation determination unit 18a. (Corresponding to the specific operation storage unit of the present invention).

  For example, when the bucket 13 is opened, it can be considered that the current bucket 13 is in the earthing position and the earthing to the transport vehicle is being performed, so the opening operation of the bucket 13 is a specific operation at the earthing position. Are set and stored in advance. Further, for example, when the upper swing body 5 is swung back and the arm 12 is moved up and down, it can be considered that the current bucket 13 is at the excavation position and excavating the earth and sand, so the upper swing body 5 The turning return operation and the vertical operation of the arm 12 are preset and stored as specific operations at the excavation position. Of course, the specific operation is not limited to this, and can be arbitrarily changed.

  When the lever operation determination unit 18a having input the request signal determines the specific operation at the earthing position and the specific operation at the excavation position, the specific operation is output to the turning angle calculation unit 18b. The output of any specific operation is only once for each request signal.

  When the specific operation at the earthing position is input from the lever operation determination unit 18a, the turning angle calculation unit 18b specifies and stores the turning position detected by the turning angle sensor 19 at that time as the earthing position. Similarly, when a specific operation at the excavation position is input from the lever operation determination unit 18a, the turning position detected by the turning angle sensor 19 at that time is specified and stored as the excavation position. The turning angle between the earthing position and the excavation position is the above-described target turning angle (corresponding to the turning position information of the present invention), and is output to the pilot operation signal control unit 18c.

  The pilot operation signal control unit 18c stores the input target turning angle (corresponding to the turning position information calculation / storage unit of the present invention), and the operation of the reset button 20 is input through the turning angle calculation unit 18b. In this case, the stored target turning angle is deleted. Therefore, a new target turning angle is calculated by the turning angle calculation unit 18b and stored again in the pilot operation signal control unit 18c (corresponding to the turning position information update unit of the present invention).

  On the other hand, when the lever operation determination unit 18a determines the operation of the operation lever 15 for turning the upper swing body 5, and when the specific operation at the above-described earthing position and excavation position is determined, the contents of those operations are determined. Is output to the pilot operation signal control unit 18c.

  The pilot operation signal control unit 18c operates the operation lever 15 on condition that the operation of the operation lever 15 for turning input from the lever operation determination unit 18a has continued for a predetermined time (hereinafter, 1 sec as an example). A pilot operation signal is output to turn the upper swing body 5 in accordance with the direction (corresponding to the turning control unit of the present invention). The pilot operation signal is input to the hydraulic circuit via the lever controller 16, and the upper swing body 5 starts to turn according to the switching of the hydraulic circuit.

  The reason why the operation lever 15 is set as the trigger for starting the turning is that the operation lever 15 is operated for turning the upper turning body 5 even during the normal time, so that an erroneous operation is unlikely to occur.

  The pilot operation signal control unit 18c is actually used as the turning angle of the upper swing body 5 from the turning start (the earthing position or the excavation position) based on the detection information of the turning angle sensor 19 input via the turning angle calculation unit 18b. The turning angle is calculated, and when the actual turning angle reaches the stored target turning angle, the upper turning body 5 is automatically stopped (corresponding to the turning control unit of the present invention). As a result, the upper swing body 5 stops at the excavation position when turning from the earthing position, and stops at the earthing position when turning from the excavation position.

  The pilot operation signal control unit 18c executes deceleration / stop of the upper swing body 5 according to two deceleration patterns having different deceleration start timings set in advance. The selection of the deceleration pattern is performed according to the operation content of the work device 10 immediately before the operation of the operation lever 15 for turning, and the specific operation at the excavation position is input from the lever operation determination unit 18a immediately before the lever operation. Sometimes considered as a turn to the unloading position. Further, when a specific operation at the earthing position is input from the lever operation determination unit 18a immediately before the lever operation, it is regarded as turning to the excavation position.

  Then, a deceleration pattern A (first deceleration pattern) with a relatively early deceleration start timing is selected when turning to the earthing position, and a deceleration pattern B (first deceleration pattern with a relatively slow deceleration start timing when turning to the excavation position). 2), and a pilot operation signal is output so as to decelerate and stop the upper swing body 5 according to each deceleration pattern.

FIG. 3 is a flowchart showing a turn assist routine executed by the turn assist controller 18. The turn assist controller 18 executes the routine at predetermined control intervals during excavation and earthing work.
First, it is determined whether or not the target turning angle is stored in step S1. Since the target turning angle is not stored at the start of the work and the target turning angle is erased when the reset button 20 is operated, a determination of No (No) is made and the process proceeds to step S2.

  When a specific operation at the earthing position is input in step S2, the turning position detected by the turning angle sensor 19 at that time is stored as the earthing position in step S3. When the specific operation at the excavation position is input in the subsequent step S4, the turning position at that time is stored as the excavation position in step S5, and then the turning angle between the earthing position and the excavation position is set as the target in step S6. Calculate and store as turning angle.

  In a succeeding step S7, it is determined whether or not the operation lever 15 is continuously operated for 1 second for turning, and if No, the process returns to the step S1. Since the target turning angle is already stored, the determination of Yes (affirmative) is made in step S1, and the process proceeds to step S7. Steps S1 and 7 are repeated until the operation lever 15 is operated. When the determination in step S7 is Yes, the process proceeds to step S8, and the upper swing body 5 starts to turn according to the operation direction of the operation lever 15.

  In the subsequent step S9, the operation content for the work device 10 immediately before the lever operation is determined. When the specific operation at the excavation position is determined immediately before, the process proceeds to step S10, and the deceleration pattern A with the early deceleration start timing is selected, and then the upper swing body 5 is decelerated and stopped according to the deceleration pattern A. If the specific operation at the earthing position has been determined immediately before, the process proceeds to step S11 and the deceleration pattern B with a slow deceleration start timing is selected, and then the upper swing body 5 is decelerated and stopped according to this deceleration pattern B. Let

  In either case of steps S10 and 11, the process proceeds to step S12 to determine whether or not the reset button 20 has been operated. If No, the process returns to step S7 to repeat the processes of steps S7 to S12. When the determination in step S12 is Yes, the target turning angle is deleted in step S13, and after returning to step S1 and making a determination of No, a new target turning angle is calculated by the processing in steps S2 to 6 as described above. Remember.

Next, the support status of excavation and earthing work by the processing of the turning assist controller 18 will be described.
FIG. 4 is an explanatory view showing the switching state of the target turning angle of the upper turning body 5 when the transport vehicle is changed during excavation and earthing work.

  A target turning angle α is calculated by the processing of steps S1 to S6 of the routine of FIG. 3 according to the stop position of the preceding transport vehicle T (shown by a solid line), and the excavation position and the earthing position are based on the target turning angle α. The turning of the upper turning body 5 is repeated between When the vessel T is full due to the loading of earth and sand, it is replaced with a new transport vehicle T ′ (indicated by a two-dot chain line). However, as shown in FIG. Because of the difference, the earthing position where the bucket 13 during turning should be stopped, and thus the target turning angle α ′, is also different from the preceding transport vehicle T.

When the reset button 20 is operated by the operator who grasps the replacement of the transport vehicles T and T ′, the data of the target turning angle α is deleted. The operator manually executes a turn operation for one reciprocation between the earthing position and the excavation position, and at this time, the target corresponding to the stop position of the new transport vehicle T ′ by the processing of steps S1 to S6 in FIG. The turning angle α ′ is calculated and stored. Therefore, thereafter, the upper turning body 5 is turned based on the updated target turning angle α ′, and the excavation and earthing work is continued with the vessel on the new transport vehicle T ′ as the earthing position.
In order to finely adjust the bucket position from the earth release position (automatic stop position) on the vessel, the operation lever 15 may be operated instantaneously within 1 second.

  As described above, according to the work support device 17 of the excavator of this embodiment, even if the earth release position where the earth and sand should be released due to replacement of the transport vehicle is shifted, the earth release corresponding to the new transport vehicle is performed. It is possible to release the earth and sand by automatically stopping the upper swing body at the position. For this reason, useless operations such as the need for readjustment of the bucket position after turning stop can be avoided, and the efficiency of excavation and earthing work can be improved.

  On the other hand, in excavation and earthing work, earth and sand are loaded in the bucket 13 when turning to the earthing position, and earth and sand are not loaded in the bucket 13 when turning to the earthing position. For this reason, the inertial mass of the entire upper swing body 5 including the work device 10 is different, and accordingly, an appropriate deceleration start timing for decelerating and stopping the upper swing body 5 that is turning is also different.

  In this embodiment, when the specific operation at the excavation position is determined immediately before the lever operation for turning, turning to the earthing position, in other words, it is assumed that there is earth and sand in the bucket 13 and the deceleration start timing is set. The vehicle is decelerated and stopped according to the quick deceleration pattern A. Further, when a specific operation at the earthing position is determined immediately before the lever operation, turning to the excavation position, in other words, it is considered that there is no earth and sand in the bucket 13 and decelerates / stops according to the deceleration pattern B with a slow deceleration start timing. I am letting.

  In this way, since the deceleration is started at an appropriate timing corresponding to the presence / absence of earth and sand in the bucket 13 and eventually to the inertial mass of the upper revolving structure 5, the bucket 13 is more accurately stopped at the target excavation position or earth release position. it can. In addition, if deceleration is started too early in spite of the absence of earth and sand in the bucket 13, the time required until the stop is prolonged, but such a situation can also be prevented. Due to the above factors, the effect of further improving the work efficiency can be obtained.

  By the way, in this embodiment, the presence or absence of the earth and sand in the bucket 13 was discriminate | determined based on the operation content with respect to the working apparatus 10 just before the lever operation for turning. However, the operation content on the work device 10 and the presence / absence of earth and sand in the bucket 13 do not always match, and the determination result may be different from the actual result. In this case, an inappropriate deceleration start timing is selected. End up. Therefore, a countermeasure for such a problem will be described as another example of the embodiment.

  In this other example, the hydraulic pressure P of the bucket cylinder 13a detected by the hydraulic sensor 31 (corresponding to the hydraulic pressure detection unit of the present invention and shown in FIGS. 1 and 2) is input to the pilot operation signal control unit 18c, Instead of the routine of FIG. 3, the turning assist controller 18 executes the routine of FIG.

  The oil pressure in the bucket cylinder 13a correlates with the amount of earth and sand in the bucket 13, and there is earth and sand in the bucket 13 when the oil pressure P is greater than or equal to a preset oil pressure judgment value P0, and earth and sand when there is less than the oil pressure judgment value P0. It can be regarded as not. If the specific operation at the excavation position is determined immediately before the lever operation for turning in step S9 of FIG. 5, the turning assist controller 18 determines whether or not the hydraulic pressure P is equal to or higher than the hydraulic pressure determination value P0 in step S21. Determine.

  In step S9, when the specific operation at the earthing position is determined immediately before the lever operation, it is determined in step S22 whether or not the hydraulic pressure P is less than the hydraulic pressure determination value P0. In any process, when the determination is Yes, the determination based on the specific operation is correct, and the process proceeds to step S10 or step S11.

If NO is determined in step S21, the process proceeds to step S11. If NO is determined in step S22, the process proceeds to step S10. In any case, it is considered that there is an error in the determination based on the specific operation, and processing corresponding to the determination result in step S21 or step S22, that is, when the hydraulic pressure P is high, deceleration is performed at an early timing according to the deceleration pattern A in step S10. When the hydraulic pressure P is low, deceleration is started at a slow timing according to the deceleration pattern B in step S11.
As a result, according to another example, the presence or absence of earth and sand in the bucket 13 can be more accurately determined, and the work efficiency can be further improved based on an appropriate deceleration start timing.

  This is the end of the description of the embodiment, but the aspect of the present invention is not limited to this embodiment. For example, in the above-described embodiment, the invention is embodied in the ultra-large hydraulic excavator 1 operating in a mine or the like. However, the present invention is not limited to this, and may be applied to a hydraulic excavator used for normal road construction or the like. Instead, it may be applied to a wheel excavator that travels by a wheel.

1 Hydraulic excavator 4 Turning device (turning drive unit)
5 Upper swing body 10 Working device 13a Bucket cylinder (hydraulic cylinder)
15 Control lever (control unit)
18 Turning assist controller (specific operation storage unit, turning control unit,
(Turning position information calculation / storage unit, turning position information update unit)
19 Turning angle sensor (turning position detector)
20 Reset button (reset part)
31 Hydraulic sensor (hydraulic pressure detector)

Claims (7)

A working body is provided at the front, and a revolving body that is driven by a revolving drive unit to revolve,
An operation unit for operating the swivel body and the working device;
A turning position detector for detecting a turning position of the turning body;
A specific operation storage unit for storing the operation contents of the operation unit at the time of excavation of the ground by the work device and at the time of earthing to the transport vehicle as specific operations at the excavation position and the earthing position, respectively;
A swivel position that calculates and stores swivel position information related to the excavation position and the earthing position based on the swiveling position of the swiveling body detected by the swivel position detection unit at the time of executing a specific operation at the excavation position and the earthing position An information calculation / storage unit;
When the operation unit is operated to turn the turning body, the turning body starts to turn by driving the turning drive unit in response to the operation, and the detection information from the turning position detection unit and the information A turning control unit for stopping the turning body at the excavation position or the earthing position based on the turning position information about the excavation position and the earthing position stored in the turning position information calculation / storage unit;
A hydraulic excavator, comprising: a turning position information update unit that updates the turning position information stored in the turning position information calculation / storage unit. The hydraulic excavator according to claim 1, wherein the turning control unit starts turning of the turning body when the operation unit is continuously operated for a predetermined time. When the specific operation at the excavation position has been performed as the operation content immediately before the operation unit is operated for turning, the turning control unit has a relatively early deceleration start timing. When the revolving body is decelerated and stopped according to the deceleration pattern, and the specific operation at the earthing position has been performed as the immediately preceding operation content, the revolving body follows the second deceleration pattern with a slow deceleration start timing. The hydraulic excavator according to claim 1, wherein the hydraulic excavator is decelerated and stopped. A hydraulic pressure detection unit that detects the hydraulic pressure of a hydraulic cylinder that operates the working device;
In the turning control unit, the hydraulic pressure detected by the hydraulic pressure detection unit is set in advance even when the specific operation at the excavation position is performed as the operation content immediately before the operation unit is operated. When the hydraulic pressure is less than the determination value, the swinging body is decelerated and stopped according to the second deceleration pattern, and the hydraulic pressure is determined even when the specific operation at the earthing position is performed as the previous operation content. 4. The hydraulic excavator according to claim 3, wherein when the value is equal to or greater than the hydraulic pressure determination value, the swing body is decelerated and stopped according to the first deceleration pattern. The hydraulic excavator according to claim 1, wherein the turning position detection unit is a turning angle sensor that detects a turning position of the turning body as a turning angle. The turning position information calculation / storage unit is configured to detect a target between the turning positions based on the turning position of the turning body detected by the turning position detection unit when performing a specific operation at the excavation position and the earthing position. Calculate and store the turning angle as the turning position information,
The turning control unit calculates an actual turning angle from the start of turning based on detection information from the turning position detection unit when the operation unit is operated for turning, and the actual turning angle is calculated as the target turning. The hydraulic excavator according to claim 1, wherein the swivel body is stopped when the angle is reached. It further includes a reset unit that can be operated by the operator,
The hydraulic excavator according to claim 1, wherein the turning position information updating unit updates the turning position information when the reset unit is operated.

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