WO2017199939A1

WO2017199939A1 - Excavator

Info

Publication number: WO2017199939A1
Application number: PCT/JP2017/018321
Authority: WO
Inventors: 淳一森田; 塚根　浩一郎; 匠伊藤; 英祐松嵜; 圭二本田
Original assignee: 住友重機械工業株式会社
Priority date: 2016-05-17
Filing date: 2017-05-16
Publication date: 2017-11-23
Also published as: JPWO2017199939A1; JP6911018B2

Abstract

An excavator according to an embodiment of the present invention comprises a lower traveling body (1), an upper turning body (3) that is mounted on the lower traveling body (1) so as to be able to turn, an excavating attachment that is mounted on the upper turning body (3), and a controller (30) that orients the position of the excavating attachment to be suitable for traveling when a prescribed condition is satisfied. The excavating attachment comprises a boom (4), an arm (5), and a bucket (6).

Description

Excavator

The present invention relates to an excavator provided with an attachment.

An excavator is known that tells an operator that an attachment composed of a boom, an arm, and a bucket is in a traveling posture (see, for example, Patent Document 1). The traveling posture of the attachment means a posture that the attachment should take when the excavator travels. This excavator lights the boom indicator when the boom is in the running position, lights the arm indicator when the arm is in the running position, and lights the bucket indicator when the bucket is in the running position. Let

JP 2009-97303 A

However, the excavator of Patent Document 1 only includes an indicator that lights up when the attachment is in a traveling posture by manual operation of the operation lever by the operator. Therefore, the operator of the shovel has to perform troublesome operations such as manually operating the boom, arm, and bucket while visually checking the state of the display when the attachment is in the traveling posture.

In view of the above points, it is desirable to provide an excavator that can more easily shift the posture of the attachment to a desired posture.

An excavator according to an embodiment of the present invention includes a lower traveling body, an upper revolving body that is turnably mounted on the lower traveling body, an attachment attached to the upper revolving body, and a predetermined condition is satisfied. And a control device for changing the posture of the attachment to a predetermined posture.

The above-mentioned means can provide an excavator that allows the attachment posture to be shifted to a desired posture more easily.

It is a side view of the shovel which concerns on the Example of this invention. It is a block diagram of the control system mounted in the shovel of FIG. It is a side view of an excavator working in an indoor work place. It is a side view of the shovel which drive | works an outdoor workplace.

FIG. 1 is a side view of an excavator (excavator) according to an embodiment of the present invention. The excavator in FIG. 1 performs work on the work target TR such as industrial waste mainly at the indoor work place ID while going back and forth between the outdoor work place OD and the indoor work place ID. An upper swing body 3 is mounted on the lower traveling body 1 of the excavator via a swing mechanism 2 so as to be capable of swinging. The upper swing body 3 is provided with a cabin 10 and is mounted with a power source such as an engine 11. A boom 4 as a working body is attached to the upper swing body 3. An arm 5 as a working body is attached to the tip of the boom 4, and a working body and a bucket 6 as an end attachment are attached to the tip of the arm 5. As an end attachment, a grapple, a lifting magnet, a breaker, or the like may be attached.

The boom 4, the arm 5, and the bucket 6 constitute an excavation attachment that is an example of an attachment, and are hydraulically driven by the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9, respectively.

In the example of FIG. 1, the outdoor workshop OD and the indoor workshop ID are separated by a shutter SH. The height H1 of the entrance / exit when the shutter SH is fully opened is lower than the height H2 of the excavation attachment when the excavation attachment is lifted to some extent. Therefore, when the excavator moves between the outdoor work place OD and the indoor work place ID, it is necessary to change the posture of the excavation attachment so that the height of the excavation attachment is lower than the height H1.

An inclination sensor S0 is attached to the upper swing body 3. A boom angle sensor S1 is attached to the boom 4, an arm angle sensor S2 is attached to the arm 5, and a bucket angle sensor S3 is attached to the bucket 6. The tilt sensor S0, the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 are collectively referred to as “attitude sensors”.

The inclination sensor S0 acquires the inclination angle of the upper swing body 3 with respect to the horizontal plane as the vehicle body inclination angle. The vehicle body inclination angle includes an inclination angle around an axis extending in the vehicle width direction and an inclination angle around the axis extending in the vehicle longitudinal direction. The boom angle sensor S1 acquires the rotation angle of the boom 4 with respect to the upper swing body 3 as the boom angle. The arm angle sensor S2 acquires the rotation angle of the arm 5 with respect to the boom 4 as the arm angle. Bucket angle sensor S3 acquires the rotation angle of bucket 6 with respect to arm 5 as the bucket angle. In the present embodiment, the tilt sensor S0, the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 are all acceleration sensors. However, each sensor may be a combination of an acceleration sensor and a gyro sensor. In this case, desired angles such as a vehicle body tilt angle, a boom angle, an arm angle, and a bucket angle are calculated from the outputs of the acceleration sensor and the gyro sensor. The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 are a potentiometer that uses a variable resistor, a stroke sensor that detects the stroke amount of the corresponding hydraulic cylinder, and a rotary that detects the rotation angle around the connecting pin. An encoder or the like may be used.

Next, the control system mounted on the excavator of FIG. 1 will be described with reference to FIG. FIG. 2 is a block diagram of the control system.

The controller 30 functions as a main control unit that performs drive control of the excavator. In this embodiment, the controller 30 is composed of an arithmetic processing unit including a CPU and an internal memory. Various functions of the controller 30 are realized by the CPU executing programs stored in the internal memory. The controller 30 is connected to an input device, an audio output device, a storage device, and the like.

The input device is a device for an excavator operator to input various information to the controller 30. In this embodiment, the input device is a hardware switch installed in the cabin 10. The input device may be a touch panel.

The audio output device outputs various audio information according to the audio output command from the controller 30. In the present embodiment, the audio output device is an in-vehicle speaker provided in the cabin 10. The sound output device may be an alarm device such as a buzzer.

The controller 30 may be connected to a microphone as a voice input device. The microphone is installed in the cabin 10, for example. In this case, the controller 30 may convert the voice of the operator input through the microphone into a control signal associated in advance with a voice identification function. Then, the shovel may be controlled using the control signal. The voice input device may be a multifunctional portable information terminal such as a smartphone. In this case, for example, the multifunctional portable information terminal may activate a voice identification function by receiving a signal generated when a switch provided on the operation lever is pressed, wirelessly or by wire. Then, the voice of the operator may be converted into a control signal associated in advance with the voice identification function, and the control signal may be transmitted to the controller 30. With such a configuration, the operator can execute a predetermined function of the excavator without releasing the hand from the operation lever.

The storage device is a device for storing various information. In this embodiment, the storage device is a non-volatile storage medium such as a semiconductor memory. The storage device stores various information output by the controller 30 and the like.

The display device 40 outputs various image information in accordance with instructions from the controller 30. In the present embodiment, the display device 40 is a liquid crystal display provided in the cabin 10. The display device 40 includes a conversion processing unit 40 a that generates an image to be displayed on the image display unit 41. The conversion processing unit 40 a generates a camera image to be displayed on the image display unit 41 based on the output of the imaging device 80. Therefore, the imaging device 80 is connected to the display device 40 through a dedicated line, for example. The display device 40 is connected to the controller 30 via a communication network such as CAN or LIN. The display device 40 may be connected to the controller 30 via a dedicated line.

The conversion processing unit 40a converts, for example, data to be displayed on the image display unit 41 among data input to the display device 40 into an image signal. Data input to the display device 40 includes image data from the imaging device 80. The imaging device 80 may include, for example, a left side monitoring camera, a rear side monitoring camera, and a right side monitoring camera. In this case, image data output from each of the left side monitoring camera, the rear side monitoring camera, and the right side monitoring camera is input to the display device 40. The imaging device 80 may include a front monitoring camera that images the excavation attachment. The front monitoring camera is, for example, a stereo camera, and is used for grasping the posture of the excavation attachment using image recognition technology.

Further, the conversion processing unit 40 a generates an image to be displayed on the image display unit 41 based on the output of the controller 30. In the present embodiment, the conversion processing unit 40a converts data to be displayed on the image display unit 41 among data input to the controller 30 into an image signal. The data input to the controller 30 includes, for example, data indicating the temperature of engine cooling water, data indicating the temperature of hydraulic oil, data indicating the remaining amount of urea water, data indicating the remaining amount of fuel, and the like. The conversion processing unit 40 a outputs the converted image signal to the image display unit 41 and causes the image display unit 41 to display a corresponding image.

The conversion processing unit 40a may be realized not as a function of the display device 40 but as a function of the controller 30. In this case, the imaging device 80 is connected to the controller 30 instead of the display device 40.

The display device 40 includes a switch panel 42 as an input unit. The switch panel 42 is a panel including various hardware switches. In this embodiment, the switch panel 42 includes a light switch 42a as a hardware button, a wiper switch 42b, and a window washer switch 42c. The light switch 42 a is a switch for switching on / off of a light attached to the outside of the cabin 10. The wiper switch 42b is a switch for switching operation / stop of the wiper. Further, the window washer switch 42c is a switch for injecting window washer fluid.

The display device 40 operates by receiving power from the storage battery 70. The storage battery 70 is charged with the electric power generated by the alternator 11a. The electric power of the storage battery 70 is also supplied to the electric equipment 72 of the excavator. The starter 11b is driven by the electric power from the storage battery 70 to start the engine 11.

The engine 11 is controlled by an engine control unit (ECU) 74. The ECU 74 transmits various data indicating the state of the engine 11 to the controller 30. The various data includes, for example, data indicating the cooling water temperature detected by the water temperature sensor 11c. The controller 30 can store this data in the internal temporary storage unit 30a and transmit it to the display device 40 when necessary.

The controller 30 receives various data and stores them in the temporary storage unit 30a. For example, data indicating the swash plate angle is received from the regulator 14a of the main pump 14 which is a variable displacement hydraulic pump. In addition, data indicating the discharge pressure of the main pump 14 is received from the discharge pressure sensor 14b. Further, data indicating the temperature of the working oil flowing through the pipe line is received from an oil temperature sensor 14c provided in the pipe line between the main pump 14 and the tank in which the working oil sucked by the main pump 14 is stored.

The operation device 26 is a device for operating various actuators, and includes an operation lever, an operation pedal, an operation switch, and the like. The pilot pressure sent to the control valve 17 when the operating device 26 is operated is detected by the

pilot pressure sensors

15L and 15R. The controller 30 receives data indicating the pilot pressure from the

pilot pressure sensors

15L and 15R. A switch button 27 is provided on the operation lever as the operation device 26. The operator can send a command signal to the controller 30 by operating the switch button 27 while operating the operation lever. The controller 30 executes various functions based on a command signal from the switch button 27.

The engine speed adjustment dial 75 is a dial for adjusting the engine speed. In the present embodiment, the engine speed adjustment dial 75 enables the engine speed to be switched in four stages: SP mode, H mode, A mode, and idling mode. FIG. 5 shows a state in which the H mode is selected with the engine speed adjustment dial 75.

The SP mode is a rotation speed mode that is selected when priority is given to the amount of work, and uses the highest engine speed. The H mode is a rotation speed mode that is selected when both the work amount and the fuel consumption are desired, and uses the second highest engine speed. The A mode is a rotation speed mode that is selected when it is desired to operate the shovel with low noise while giving priority to fuel consumption, and uses the third highest engine speed. The idling mode is a rotation speed mode that is selected when the engine is desired to be in an idling state, and uses the lowest engine speed. The engine 11 is controlled at a constant speed at the engine speed in the speed mode set by the engine speed adjustment dial 75.

The pressure sensor S7B detects the pressure of hydraulic oil in the bottom side oil chamber of the boom cylinder 7, and the pressure sensor S7R detects the pressure of hydraulic oil in the rod side oil chamber of the boom cylinder 7. The pressure sensor S8B detects the pressure of the working oil in the bottom side oil chamber of the arm cylinder 8, and the pressure sensor S8R detects the pressure of the working oil in the rod side oil chamber of the arm cylinder 8. The pressure sensor S9B detects the pressure of the hydraulic oil in the bottom side oil chamber of the bucket cylinder 9, and the pressure sensor S9R detects the pressure of the hydraulic oil in the rod side oil chamber of the bucket cylinder 9. The outputs of these pressure sensors may be used to derive the attitude of the drilling attachment.

The posing switch SW is a switch for starting the posing function. The posing function is a function for shifting the posture of the excavation attachment to a predetermined posture. The posing switch SW may be a software switch displayed on the screen of the image display unit 41 of the display device 40, a hardware switch installed inside the cabin 10, or installed outside the cabin 10. It may be a hardware switch. The posing switch SW may be a switch button 27 provided at the tip of the operation lever. However, the posing function may be started not in response to a switch input such as the posing switch SW but in response to a voice input via a voice input device such as a smartphone.

The predetermined posture is a target posture determined by using, for example, a boom angle, an arm angle, and a bucket angle, and includes a posture suitable for traveling (hereinafter referred to as a “traveling posture”). In the present embodiment, the predetermined posture is a posture determined by using the boom angle, the arm angle, and the bucket angle and stored in advance in the storage device. For example, the upper end of the boom 4 has a predetermined first height. It is the attitude | position which satisfy | fills the conditions that the lower end of the bucket 6 as an end attachment is higher than predetermined | prescribed 2nd height. The predetermined posture may be determined by the boom angle and the arm angle, or may be determined only by the boom angle. The boom angle, the arm angle, and the bucket angle that define the predetermined posture may be represented by specific angle values or may be represented by an angle range. The predetermined posture may be specified using the stroke amounts of the boom cylinder 7 and the arm cylinder 8, and specified using the stroke amounts of the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9. It may be.

The operator of the excavator can also memorize a desired posture related to the excavation attachment as a target posture. For example, the operator can store the desired posture as the target posture by operating the operation device 26 and pressing the posture memory switch in a state where the excavation attachment is in the desired posture.

The posture memory switch is a switch for storing the current posture of the excavation attachment as a target posture. As with the posing switch SW, the attitude memory switch may be a software switch displayed on the image display unit 41 of the display device 40 or a hardware switch installed in the cabin 10. Alternatively, a hardware switch installed outside the cabin 10 or a switch button 27 provided at the tip of the operation lever may be used. Alternatively, the target posture may be stored using a voice input device. For example, the controller 30 may store the current posture of the excavation attachment as the target posture when a predetermined sound such as “posture memory” is input.

The control valve 50 is a valve for controlling the pilot pressure acting on the pilot port of the flow control valve. In the present embodiment, the control valve 50 is an electromagnetic valve that operates according to a command from the controller 30. The flow rate control valve is a spool valve included in the control valve 17 and includes a left pilot port and a right pilot port. The flow rate control valve is a boom flow rate control valve that controls the flow of hydraulic fluid in the boom cylinder 7, an arm flow rate control valve that controls the flow of hydraulic fluid in the arm cylinder 8, and a bucket flow rate that controls the flow of hydraulic fluid in the bucket cylinder 9. Includes control valve.

The control valve 50L, which is an example of the control valve 50, is a pilot line that connects the left side (raising operation side) port of the boom operation lever, which is an example of the operating device 26, and the left side (raising operation side) pilot port of the boom flow control valve. is set up. The control valve 50R, which is another example of the control valve 50, is installed in a pilot line that connects the right side (down operation side) port of the boom operation lever and the right side (down operation side) pilot port of the boom flow control valve.

When the command from the controller 30 is not received, the control valve 50L communicates the left port of the boom operation lever with the left pilot port of the boom flow control valve, and is generated when the boom operation lever is operated in the upward direction. Pilot pressure is applied to the left pilot port. Similarly, the control valve 50R communicates the right port of the boom operation lever with the right pilot port of the boom flow control valve, and applies the pilot pressure generated when the boom operation lever is operated in the downward direction to the left pilot port. Let

Upon receiving a command from the controller 30, the control valve 50L blocks communication between the left port of the boom operation lever and the left pilot port of the boom flow control valve, and communicates with the pilot pump 15 and the left pilot port of the boom flow control valve. Let Then, using the hydraulic oil discharged from the pilot pump 15, a pilot pressure having a magnitude corresponding to a command from the controller 30 is generated, and the pilot pressure is applied to the left pilot port of the boom flow control valve. Similarly, the control valve 50R blocks communication between the right port of the boom operation lever and the right pilot port of the boom flow control valve, and connects the pilot pump 15 and the right pilot port of the boom flow control valve. Then, using the hydraulic oil discharged from the pilot pump 15, a pilot pressure having a magnitude corresponding to a command from the controller 30 is generated, and the pilot pressure is applied to the right pilot port of the boom flow control valve.

The same applies to the control valve installed in the pilot line connecting the arm operation lever and the arm flow control valve, and the control valve installed in the pilot line connecting the bucket operation lever and the bucket flow control valve.

Next, the movement of the excavator when the posing switch SW is operated will be described with reference to FIG. FIG. 3 is a side view of the excavator working in the indoor work place ID, and corresponds to FIG.

When the posing switch SW is pressed in the state shown in FIG. 1, the controller 30 determines that a predetermined condition is satisfied, and reads information related to the traveling posture of the excavation attachment stored in the storage device. The information on the running posture includes, for example, a boom angle, an arm angle, and a bucket angle when the posture of the excavation attachment is set to the running posture (hereinafter, the running posture boom angle, the running posture arm angle, and the running posture bucket, respectively). Called an angle).

The controller 30 outputs a command to the control valve 50 in order to set the excavation attachment posture to the traveling posture. In the example of the posture change from the state shown in FIG. 1 to the state shown in FIG. 3, the controller 30 first closes the bucket operation lever closing side port and the bucket flow control valve so as to automatically close the bucket 6. A command is output to the control valve 50 provided in the pilot line connecting the pilot port of the closing operation side. Then, after closing the bucket 6 to the running posture bucket angle, it is provided in a pilot line connecting the closing operation side port of the arm operation lever and the closing operation side pilot port of the arm flow control valve so that the arm 5 is automatically closed. A command is output to the received control valve 50. Then, after the arm 5 is closed to the traveling posture arm angle, the boom 4 is automatically lowered, and is provided in a pilot line connecting the lower operation side port of the boom operation lever and the lower operation side pilot port of the boom flow control valve. A command is output to the received control valve 50. Thus, the controller 30 moves the bucket 6, the arm 5, and the boom 4 in order to change the posture of the excavation attachment to the traveling posture shown in FIG. 3.

The traveling posture shown in FIG. 3 is a posture in which the uppermost portion of the excavation attachment has a minimum height when the excavator can travel. In the traveling posture shown in FIG. 3, the lowermost bucket link portion of the excavation attachment is separated from the ground by a predetermined height. The bucket angle is, for example, an angle when the bucket 6 is closed to the close limit or near the close limit, and the arm angle is, for example, an angle when the arm 5 is closed to the close limit or near the close limit. “Closed limit” means the most closed state. “When the bucket 6 is closed to the closing limit” means, for example, when the cylinder stroke amount of the bucket cylinder 9 is maximized, and “when the arm 5 is closed to the closing limit” means, for example, the arm It means when the cylinder stroke amount of the cylinder 8 is maximized. The boom angle is, for example, a predetermined angle that satisfies the traveling condition. It is preferable that the height of the lowermost bucket link portion of the excavation attachment from the ground is 30 cm or more. More desirably, it is 40 cm or more.

As a result, the excavation attachment height H3, which is the height of the excavator, is lower than the entrance height H1 when the shutter SH is fully opened. Therefore, the excavator can move from the indoor work place ID to the outdoor work place OD without bringing the excavation attachment into contact with the shutter SH.

In the example of FIG. 3, the controller 30 sets the attitude of the excavation attachment to the traveling attitude on condition that the posing switch SW is pressed. However, the present invention is not limited to this configuration. For example, the controller 30 may change the posture of the excavation attachment to the traveling posture when a predetermined lever operation is performed. The predetermined lever operation includes, for example, continuously inclining both the left and right operation levers provided in the cabin 10 in a predetermined direction over a predetermined time within a dead zone.

Next, another example of the running posture will be described with reference to FIG. FIG. 4 is a side view of an excavator that travels in the outdoor workplace OD and corresponds to FIGS. 1 and 3.

The traveling posture shown in FIG. 3 (hereinafter referred to as “first traveling posture”) is a traveling posture suitable for passing through the shutter SH, but is optimal for traveling in an outdoor workplace OD having no height restriction. It is not a good driving posture. This is because the boom 4 is greatly lowered and it is difficult to achieve a balance.

Therefore, when the excavator operator runs the excavator in the outdoor work place OD, the excavation attachment may be set to the second running posture by pressing a second posing switch different from the posing switch SW. Or the operator of the excavator may change the posture of the excavation attachment to the second traveling posture by voice input via a voice input device such as a smartphone instead of switch input such as the second posing switch.

The second traveling posture is a posture in which the turning radius of the excavation attachment is minimized when the excavator can travel. In the second traveling posture, the lowermost bucket link portion of the excavation attachment is separated from the ground by a predetermined height. The bucket angle is, for example, an angle when the bucket 6 is closed to the close limit or near the close limit, and the arm angle is, for example, an angle when the arm 5 is closed to the close limit or near the close limit. The boom angle is, for example, an angle when the boom 4 is raised to the upper limit or near the upper limit. “When the boom 4 is raised to the upper limit” means, for example, when the cylinder stroke amount of the boom cylinder 7 is maximized. In the second traveling posture, the height of the bottom bucket link portion of the excavation attachment from the ground is preferably 30 cm or more. More desirably, it is 40 cm or more.

The second posing switch may be a posing switch SW. In this case, for example, when the excavator is operated when the excavator is in the first traveling posture, the posing switch SW starts a posing function for shifting the posture of the excavation attachment from the first traveling posture to the second traveling posture. On the other hand, when operated when the excavator is in a posture other than the first traveling posture, a posing function for shifting the posture of the excavation attachment from the current posture to the first traveling posture is started.

FIG. 4 shows a state in which the boom 4, the arm 5, and the bucket 6 are moved in order and the attitude of the excavation attachment is in the second traveling attitude. The second traveling posture has, for example, the same traveling posture bucket angle and traveling posture arm angle as the first traveling posture, and has a traveling posture boom angle larger than the traveling posture boom angle of the first traveling posture.

When the second posing switch is pressed in the state of the first traveling posture, the controller 30 determines that the predetermined condition is satisfied, and reads information on the second traveling posture of the excavation attachment stored in the storage device.

Then, the controller 30 outputs a command to the control valve 50 in order to change the posture of the excavation attachment to the second traveling posture. In the example of FIG. 4, the controller 30 is a control provided in a pilot line that connects a boom operation lever raising operation side port and a boom flow control valve raising operation side pilot port so as to automatically raise the boom 4. A command is output to the valve 50. In this manner, the controller 30 can raise the boom 4 to shift the excavation attachment posture from the first traveling posture to the second traveling posture.

With the above-described configuration, the controller 30 can automatically switch the attitude of the excavation attachment to a predetermined attitude. Therefore, the excavator operator does not need to manually operate the operation lever to move the excavation attachment posture to the first traveling posture when the excavator is moved from the indoor work place ID to the outdoor work place OD, for example. Further, the excavator is caused to travel without the arm 5 being closed and the boom 4 being lowered sufficiently, and the excavation attachment is not brought into contact with the shutter SH.

As mentioned above, although the form for implementing this invention was explained in full detail, this invention is not limited to the above specific Examples. Various modifications and changes can be applied to the above-described embodiments within the scope of the gist of the present invention described in the claims.

For example, in the above-described embodiment, the hydraulic operating device 26 is employed, but the present invention is not limited to this configuration. For example, instead of the hydraulic operation device 26, an electric operation device may be employed. In this case, the flow control valve included in the control valve 17 may be configured by an electromagnetic valve instead of a hydraulic spool valve.

In the above-described embodiment, the controller 30 moves the bucket 6, the arm 5, and the boom 4 in order to change the excavation attachment posture to the traveling posture. However, the controller 30 may change the operation order and the operation direction of the work body according to the posture of the excavation attachment when the posing switch SW is operated. For example, when the posing switch SW is operated when the arm 5 is widely opened and the boom 4 is greatly lowered, if the work body is moved in the order of the bucket 6, the arm 5, and the boom 4, the bucket 6 It touches the ground. Therefore, the controller 30 first raises the boom 4, then closes the bucket 6, closes the arm 5, and further lowers the boom 4. The controller 30 may move a plurality of work bodies simultaneously. For example, at least one of the bucket 6 and the arm 5 may be closed while the boom 4 is raised, and at least one of the bucket 6 and the arm 5 may be closed while the boom 4 is lowered.

Further, the controller 30 may shift the posture of the excavation attachment to a predetermined posture while maintaining the height of the lowermost end of the excavation attachment at a predetermined height or more. The predetermined height is, for example, a height relative to a plane including the ground contact surface of the lower traveling body 1, and is typically a height relative to a horizontal ground.

Further, the controller 30 may prohibit the posture of the excavation attachment from being automatically switched when the height of the lowermost end of the excavation attachment is lower than a predetermined height. That is, when the height of the lowermost end of the excavation attachment is lower than a predetermined height, the posture of the excavation attachment may not be changed even when the posing switch SW is pressed. This is because changing the attitude of the excavation attachment may cause the excavation attachment to come into contact with surrounding features. The height of the lowermost end of the excavation attachment may be derived based on the output of the attitude sensor or may be derived based on the output of the camera. This is particularly effective when the ground shape has a large undulation and the ground contact surface of the lower traveling body 1 and the surface below the excavation attachment are not coplanar (not parallel). In this case, the controller 30 may notify the operator that the posing function cannot be started. Specifically, a voice message may be output from the voice output device, or a text message may be displayed on the image display unit 41 of the display device 40.

In the above-described embodiment, the traveling posture is adopted as the target posture regarding the excavation attachment. However, a posture suitable for parking, a posture suitable for turning, and the like may be adopted. The posture suitable for parking is, for example, a posture in which the excavation attachment is brought into contact with the ground in substantially the same posture as the first traveling posture in FIG.

This application claims priority based on Japanese Patent Application No. 2016-098880 filed on May 17, 2016, the entire contents of which are incorporated herein by reference.

DESCRIPTION OF SYMBOLS 1 ... Lower traveling body 2 ... Turning mechanism 3 ... Upper turning body 4 ... Boom 5 ... Arm 6 ... Bucket 7 ... Boom cylinder 8 ... Arm cylinder 9 ... Bucket cylinder 10 ... cabin 11 ... engine 11a ... alternator 11b ... starter 11c ... water temperature sensor 14 ... main pump 14a ... regulator 14b ... discharge pressure sensor 14c ... Oil temperature sensor 15 ...

Pilot pump

15L, 15R ... Pilot pressure sensor 17 ... Control valve 26 ... Operating device 27 ... Switch button 30 ... Controller 30a ... Temporary storage unit 40 ... Display device 40a ... Conversion processing part 41 ... Image display part 42 ... Switch panel 42a ... Light switch 42b ... Wiper switch 42c ... Window washer switch 70 ... Storage battery 72 ... Electrical equipment 74 ... Engine control device 75 ... Engine speed adjustment dial 80・・ Imaging device S0 ... Inclination sensor S1 ... Boom angle sensor S2 ... Arm angle sensor S3 ... Bucket angle sensor S7B, S7R, S8B, S8R, S9B, S9R ... Pressure sensor SW ...・ Posing switch

Claims

A lower traveling body,
An upper revolving unit mounted on the lower traveling unit so as to be able to swivel;
An attachment attached to the upper swing body;
A control device that changes the posture of the attachment to a predetermined posture when a predetermined condition is satisfied,
Excavator.
The predetermined posture is a posture suitable for traveling,
The excavator according to claim 1.
The posture suitable for traveling is set by using a software switch displayed on the screen of the display device or a hardware switch installed inside or outside the cabin.
The shovel according to claim 2.
The predetermined condition includes that a predetermined lever operation has been performed, a predetermined software switch displayed on the screen of the display device has been operated, or a predetermined hardware switch has been operated,
The excavator according to claim 1.
The attachment is composed of an end attachment, an arm, and a boom,
The control device moves the end attachment, the arm, and the boom in order to change the posture of the attachment to a predetermined posture.
The excavator according to claim 1.
The control device makes the posture of the attachment a predetermined posture while maintaining the height of the lowermost end of the attachment at a predetermined height or more,
The predetermined height is a height relative to a plane including a ground contact surface of the lower traveling body,
The excavator according to claim 1.
The control device does not change the posture of the attachment when the height of the lowermost end of the attachment is lower than the predetermined height.
The excavator according to claim 6.
The height of the lowermost end of the attachment is derived based on the output of the attitude sensor or camera.
The excavator according to claim 1.
The predetermined posture is a posture of the attachment that satisfies a condition that the upper end of the boom is lower than the first height and the lower end of the end attachment is higher than the second height.
The excavator according to claim 1.
The predetermined posture is the posture of the attachment when the boom is raised to the upper limit or near the upper limit and the arm is closed to the close limit or close to the close limit.
The excavator according to claim 1.
The posture suitable for the running is set using a voice input device.
The shovel according to claim 2.
The voice input device is a portable information terminal;
The control device receives a control signal generated by a voice identification function of the portable information terminal;
The excavator according to claim 11.