WO2019123511A1

WO2019123511A1 - Shovel machine

Info

Publication number: WO2019123511A1
Application number: PCT/JP2017/045290
Authority: WO
Inventors: 春男呉
Original assignee: 住友重機械工業株式会社
Priority date: 2017-12-18
Filing date: 2017-12-18
Publication date: 2019-06-27
Also published as: JPWO2019123511A1; CN111492111B; CN111492111A

Abstract

A shovel machine according to an embodiment of the present invention is provided with: a lower traveling body (1); an upper turning body (3) mounted on the lower traveling body (1); an attachment attached to the upper turning body (3); an operation device (26) installed in a cabin (10) attached to the upper turning body (3); and a controller (30) which controls movement of the attachment that moves according to a combined operation performed on the operation device (26). The controller (30) derives an operation tendency of an operator in a predetermined period and controls the movement of the attachment so as to maintain the movement of the attachment conforming to the operation tendency.

Description

Shovel

The present disclosure relates to a shovel provided with a plurality of hydraulic actuators capable of combined operation.

There is known a shovel that controls the operation of a front work machine by compound operation of a plurality of hydraulic cylinders (see Patent Document 1). The shovel includes an area limiting switch instructing selection of an area limiting excavation control mode, and a setting switch instructing setting of an excavation area (target excavation surface) in the area limiting excavation control mode. The operator of the shovel sets the boundary of the target excavation surface with the setting switch and starts the area limited excavation control mode with the area limiting switch. In the area limited excavation control mode, the shovel controls the operation of the front work machine so that the tip of the bucket moves along the boundary of the excavation area.

JP-A-11-350537

However, the shovel of Patent Document 1 is inconvenient because the operator of the shovel is forced to perform complicated operations such as setting of the excavation area and switching of the mode in order to start the area limited excavation control mode.

Therefore, it is desirable to provide a shovel that makes it easier to use the function that supports complex operations.

A shovel according to an embodiment of the present invention includes a lower traveling body, an upper swing body mounted on the lower travel body, an attachment attached to the upper swing body, and a driver's cab attached to the upper swing body. The control device includes: an installed operation device; and a control device that controls the movement of the attachment that moves in response to a combined operation on the operation device, the control device derives the operation tendency of the operator in a predetermined period, and the operation tendency The movement of the attachment is controlled to maintain the movement of the attachment in time.

By the above-described means, it is possible to provide a shovel that makes it easier to use the function that supports complex operations.

It is a side view of a shovel concerning an example of the present invention. It is a figure which shows the structural example of the drive system of the shovel of FIG. It is a figure which shows the structural example of the operating device with which the adjustment mechanism was attached. It is a side view of a shovel used for explanation of a three-dimensional rectangular coordinate system. It is a top view of the shovel used for description of a three-dimensional orthogonal coordinate system. It is a figure explaining the state of the attachment in XZ plane. It is a flow chart of attachment operation control processing. It is a figure which shows temporal transition of a boom raising operation amount, an arm closing operation amount, toe speed, and a toe angle. It is a block diagram which shows the flow of automatic control. It is a block diagram which shows the flow of automatic control. It is a figure which shows the structural example of the operation system containing an electrical control apparatus. It is a figure which shows another structural example of the operation system containing an electrical control apparatus.

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

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

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

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

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

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

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

The control valve 17 is a hydraulic control device that controls a hydraulic system in the shovel. Specifically, the control valve 17 includes a plurality of control valves that control the flow of the hydraulic fluid discharged by the main pump 14. The control valve 17 selectively supplies the hydraulic fluid discharged by the main pump 14 to one or more hydraulic actuators through the control valves. The control valves have a flow rate of hydraulic fluid flowing from the main pump 14 through the center bypass pipe to the hydraulic fluid tank, a flow rate of hydraulic fluid flowing from the main pump 14 to the hydraulic actuator, and an operation flowing from the hydraulic actuator to the hydraulic fluid tank Control the oil flow rate. The hydraulic actuator includes a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a left traveling hydraulic motor 1L, a right traveling hydraulic motor 1R, and a swing hydraulic motor 2A.

The operating device 26 is a device used by the operator for operating the hydraulic actuator. In the present embodiment, the operating device 26 is installed in the cabin 10, and supplies the hydraulic fluid discharged by the pilot pump 15 to the pilot port of the control valve corresponding to each of the hydraulic actuators via the pilot line. The pressure of the hydraulic fluid supplied to each of the pilot ports (hereinafter referred to as "pilot pressure") is a pressure corresponding to the operating direction and operating amount of the lever or pedal of the operating device 26 corresponding to each of the hydraulic actuators. is there.

The pressure sensor 29 is a sensor for detecting the content of the operation on the operating device 26. In the present embodiment, the pressure sensor 29 detects, for example, the operating direction and operating amount of the lever or pedal of the operating device 26 corresponding to each of the hydraulic actuators in the form of pressure, and outputs the detected values to the controller 30 Do. The operation content of the operating device 26 may be detected using another sensor other than the pressure sensor.

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

The controller 30 is a control device for controlling a shovel. In the present embodiment, the controller 30 is configured by, for example, a computer provided with a CPU, a RAM, an NVRAM, a ROM, and the like. In addition, the controller 30 reads a program corresponding to each of the attachment control unit 31 and the operation tendency determination unit 32 from the ROM, loads the program into the RAM, and causes the CPU to execute a corresponding process.

The attachment control unit 31 is a functional element that controls the movement of the attachment. The operation tendency determination unit 32 is a functional element that determines the operation tendency of the operator. Basically, the attachment moves in response to the operation on each of the plurality of operating devices 26. Then, the operation tendency determination unit 32 derives the operation tendency of the operator in the predetermined period, for example, when the operation content of each of the plurality of operating devices 26 in the predetermined period satisfies the predetermined start condition. Then, the attachment control unit 31 controls the movement of the attachment so as to maintain the movement of the attachment matching the operation tendency until the predetermined release condition is satisfied.

The start condition includes, for example, “the operation amount of each of the plurality of operating devices 26 has been held for a predetermined period”. Specifically, “the operation amount of each of the plurality of operation devices 26 is less than the predetermined operation amount over a predetermined period”, “the operation amount of each of the plurality of operation devices 26 is less than the predetermined operation amount over a predetermined period And the fluctuation range is less than a predetermined value.

The operation tendency is derived and determined by the operation tendency determination unit 32 based on, for example, the moving direction of the end attachment in a predetermined period. The movement direction is represented, for example, by an angle with respect to the horizontal plane. The operation tendency may be derived and determined based on the movement speed and movement direction of the end attachment.

Specifically, the operation tendency is, for example, an operation tendency to bring the tip of the bucket 6 linearly close to the body, an operation tendency to put the tip of the bucket 6 away from the body linearly, and an operation to raise the toe of the bucket 6 linearly. The tendency includes an operation tendency of lowering the tip of the bucket 6 linearly. Also, linear motion may include pivotal motion. This is to realize the leveling operation in the turning direction.

The release condition is, for example, that "the operation amount of any of the plurality of operating devices 26 is equal to or more than the predetermined operation amount", or "the operation speed of any of the plurality of operation devices 26 is equal to or more than the predetermined speed" , “Any of the operating devices 26 in operation has been returned to the neutral position”, “Any of the operating devices 26 in operation has been operated in the reverse direction beyond the neutral position”, and the like.

Basically, the digging attachment moves in response to operations on the boom operating lever, the arm operating lever and the bucket operating lever as the operating device 26. The operation tendency determination unit 32 grasps each operation content based on, for example, the pilot pressure generated by each of the boom operation lever and the arm operation lever. Then, when the operation content of each of the boom operation lever and the arm operation lever in the predetermined period satisfies the predetermined start condition, the operation tendency of the operator in the predetermined period is derived from the operation content. At this time, the operation tendency determination unit 32 may consider the operation content of the bucket operation lever, the turning operation lever, and the like. In the present embodiment, the boom control lever and the bucket control lever are described as separate control levers, but in fact they are one and the same control lever and differ only in the tilting direction. The same applies to the relationship between the arm control lever and the turning control lever.

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

The operation tendency is derived, for example, as an operation tendency (horizontal pulling in floor digging work) in which the toes of the bucket 6 are linearly brought close along the horizontal surface. In this case, the movement direction of the toe of the bucket 6 is derived as a direction in which the angle with respect to the horizontal plane is zero degrees.

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

Specifically, the attachment control unit 31 automatically performs the boom cylinder 7 and the arm cylinder 8 so as to maintain the moving direction (target moving direction) of the tip of the bucket 6 that matches the operation tendency derived by the operation tendency determination unit 32. To stretch. The bucket cylinder 9 may be automatically extended and contracted, and the swing hydraulic motor may be automatically rotated.

For example, when the attachment control unit 31 determines that the toe movement direction (pre-adjustment movement direction), which is calculated based on the actual operation amount of the boom operation lever and the arm operation lever by the operator, deviates from the target movement direction, The target movement direction is maintained by the adjustment operation of the drilling attachment. In this case, the attachment control unit 31 causes the boom cylinder 7 and the arm cylinder 8 to automatically expand and contract independently of the actual operation amount by the operator so that the target movement direction is maintained.

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

The adjustment mechanism 50 is a mechanism that adjusts the pilot pressure generated by the arm control lever 26A to a desired pilot pressure, and mainly includes an electromagnetic valve 51, an electromagnetic valve 52L, an electromagnetic valve 52R, and the like. The desired pilot pressure is the pilot pressure required to align the pre-adjustment moving direction of the toe of the bucket 6 with the target moving direction. The attachment control unit 31 calculates a desired pilot pressure based on the output of the posture detection device S1 or the like.

The solenoid valve 51 is an electromagnetic proportional pressure reducing valve placed in a pipe line connecting the pilot pump 15 and the arm control lever 26A, and increases or decreases its opening area according to the control current from the controller 30.

The solenoid valve 52L is a solenoid switching valve placed in the conduit C1 connecting the arm control lever 26A and the left pilot port 17L of the flow control valve for arm 17A installed in the control valve 17, and the command from the controller 30 Switch the valve position accordingly. The solenoid valve 52L has a first valve position and a second valve position. The first valve position brings the conduit C11 into communication with the conduit C12, and cuts off the communication between the conduit C3 and the conduit C12. The second valve position interrupts the communication between the conduit C11 and the conduit C12, and connects the conduit C3 and the conduit C12. The conduit C11 connects the arm control lever 26A and the solenoid valve 52L. The conduit C12 connects the solenoid valve 52L and the left pilot port 17L of the arm flow control valve 17A. The conduit C3 connects the solenoid valve 51 and the solenoid valve 52L.

The solenoid valve 52R is a solenoid switching valve placed in the conduit C2 connecting the arm control lever 26A and the right pilot port 17R of the arm flow control valve 17A, and switches the valve position according to a command from the controller 30. . The solenoid valve 52R has a first valve position and a second valve position. The first valve position allows the conduit C21 and the conduit C22 to communicate with each other, and blocks the communication between the conduit C4 and the conduit C22. The second valve position interrupts the communication between the conduit C21 and the conduit C22, and connects the conduit C4 and the conduit C22. The conduit C21 connects the arm control lever 26A and the solenoid valve 52R. The conduit C22 connects the solenoid valve 52R and the right pilot port 17R of the arm flow control valve 17A. The conduit C4 connects the solenoid valve 51 and the solenoid valve 52R.

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

When the arm cylinder 8 is automatically extended, the attachment control unit 31 outputs a command current to the solenoid valve 51 and outputs an open command to the solenoid valve 52L. The solenoid valve 51 receiving the command current realizes an opening area according to the command current. The solenoid valve 52L that has received the open command switches to the second valve position, and causes the hydraulic fluid discharged by the pilot pump 15 to flow into the conduit C12. Thus, the attachment control unit 31 generates a desired arm closing pilot pressure.

Similarly, when automatically contracting the arm cylinder 8, the attachment control unit 31 outputs a command current to the solenoid valve 51 and outputs an open command to the solenoid valve 52R. The solenoid valve 51 receiving the command current realizes an opening area according to the command current. The solenoid valve 52R that has received the open command switches to the second valve position, and causes the hydraulic fluid discharged by the pilot pump 15 to flow into the conduit C22. Thus, the attachment control unit 31 generates a desired arm opening pilot pressure.

Thus, the controller 30 sets, for example, the moving speed and the moving direction of the bucket 6 in a predetermined period as the target moving speed and the target moving direction. Then, based on the detection value of the posture detection device S1, a command is output to the solenoid valve 51, the solenoid valve 52L, and the solenoid valve 52R so that the moving speed and moving direction of the bucket 6 become the target moving speed and target moving direction. Do.

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

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

An X-axis orthogonal to the Z-axis extends in the extension direction of the attachment, and a Y-axis orthogonal to the Z-axis extends in the direction perpendicular to the extension direction of the attachment. The X axis and the Y axis rotate about the Z axis as the shovel turns. In addition, turning angle (theta) of a shovel makes a counterclockwise direction a positive direction regarding Z-axis by top view as shown to FIG. 4B.

Moreover, as shown to FIG. 4A, the attachment position of the boom 4 with respect to the revolving super structure 3 is represented by the boom pin position P1 which is a position of the boom pin as a boom rotating shaft. Similarly, the mounting position of the arm 5 with respect to the boom 4 is represented by an arm pin position P2, which is a position of an arm pin as an arm rotation axis. Moreover, the attachment position of the bucket 6 with respect to the arm 5 is represented by the bucket pin position P3 which is a position of the bucket pin as a bucket rotating shaft. Further, the tip end position of the bucket 6 (for example, the tip end position of the bucket 6) is represented by a bucket tip end position P4.

The length of the line segment SG1 connecting the boom pin position P1 and the arm pin position P2 is represented by a predetermined value L ₁ as boom length, arm length is the length of the line segment SG2 connecting the arm pin position P2 and the bucket pin position P3 as represented by a predetermined value L _2, the length of the line segment SG3 connecting the bucket pin position P3 and the bucket toe position P4 is represented by a predetermined value L ₃ as a bucket length.

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

Here, the three-dimensional coordinates of the boom pin position P1 are (X, Y, Z) = (H0X, 0, H0Z), and the three-dimensional coordinates of the bucket toe position P4 are (X, Y, Z) = (Xe, Ye, Assuming that Ze), Xe and Ze are represented by Formula (1) and Formula (2), respectively. In addition, Xe and Ye represent the planar position of the toe of the bucket 6, and Ze represents the height of the toe of the bucket 6.
Xe = H _0X + L ₁ cos β ₁ + L ₂ cos β ₂ + L ₃ cos β ₃ (1)
_{_{Ze = H 0z + L 1 sinβ}} 1 + L 2 sinβ 2 + L 3 sinβ 3 ··· (2)
Note that Ye is 0. The bucket toe position P4 is on the XZ plane.

Further, since the coordinate value of the boom pin position P1 is a fixed value, the boom rotation angle beta _1, arm rotation angle beta _2, once the bucket rotation angle beta _3, the coordinate values of the bucket toe position P4 is uniquely determined. Similarly, once the boom rotation angle beta _1, the coordinate values of the arm pin position P2 is determined uniquely, once the boom rotation angle beta ₁ and the arm rotational angle beta _2, the coordinate values of the bucket pin position P3 is uniquely determined Be done.

Next, with reference to FIG. 4A, the case where the position of the toe of the bucket 6 which is the working part is moved along the X axis while maintaining the values of the Y coordinate and the Z coordinate will be described. When the toe position of the bucket 6 moves from the point X0 to the point X1, the arm 5 rotates in the closing direction about the arm pin position P2. Accordingly, the boom 4 rotates in the lifting direction about the boom pin position P1. Thereafter, when moving from point X1 to point X2 after the toe position has reached point X1, arm 5 rotates in a closing direction about arm pin position P2, but boom 4 centers boom pin position P1. Rotate in the downward direction. Thus, the rotational direction of the boom 4 is reversed with the point X1 as the boundary. Therefore, even in the case where the work site is linearly moved in the same direction, the operator needs complicated operation.

Next, with reference to FIG. 5, the relationship between the outputs of the boom angle sensor, the arm angle sensor, and the bucket angle sensor and the boom rotation angle β ₁ , the arm rotation angle β _2, and the bucket rotation angle β ₃ will be described. FIG. 5 is a view for explaining the state of the attachment in the XZ plane.

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

Boom angle sensor detects and outputs an angle alpha ₁ which is formed between the line segment SG1 and vertical line. Arm angle sensor, detects and outputs the angle alpha ₂ which is formed between the extension line and the line segment SG2 of segment SG1. Bucket angle sensor, detects and outputs the angle alpha ₃ formed between the extended line of the line segment SG2 and the line segment SG3. 5, the angle alpha ₁ is the counterclockwise direction as positive direction relates segment SG1. Similarly, the angle alpha ₂ is the counterclockwise direction as positive direction relates segment SG2, the angle alpha ₃ is a counterclockwise direction as positive direction relates segment SG3. Further, in FIG. 5, for the boom rotation angle β ₁ , the arm rotation angle β ₂ , and the bucket rotation angle β ₃ , the counterclockwise direction is a positive direction with respect to a line parallel to the X axis.

From the above relationship, the boom rotation angle β ₁ , the arm rotation angle β ₂ , and the bucket rotation angle β ₃ are expressed by Equations (3), (4) and (5) respectively using the angles α ₁ , α ₂ and α _3. It is represented by).
β ₁ = 90-α ₁ (3)
β ₂ = β ₁ -α ₂ = 90-α ₁ -α ₂ (4)
β ₃ = β ₂ -α ₃ = 90-α ₁ -α ₂ -α ₃ (5)
And as above-mentioned, (beta) ₁ , (beta) ₂ , (beta) ₃ is represented as inclination of the boom 4, the arm 5, and the bucket 6 with respect to a horizontal surface.

Therefore, using Equations (1) to (5), if the angles α ₁ , α ₂ and α ₃ are determined, the boom rotation angle β ₁ , the arm rotation angle β ₂ and the bucket rotation angle β ₃ are uniquely determined. And, the coordinate value of the bucket toe position P4 is uniquely determined. Similarly, once the angle alpha _1, the coordinate value of the boom rotation angle beta ₁ and the arm pin position P2 is determined uniquely, the angle alpha _1, if alpha ₂ is Kimare, coordinates of the arm rotational angle beta ₂ and the bucket pin position P3 The value is determined uniquely.

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

Next, with reference to FIG. 6, a process in which the controller 30 controls the movement of the attachment (hereinafter, referred to as “attachment operation control process”) will be described. FIG. 6 is a flowchart of attachment operation control processing.

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

Thereafter, the controller 30 determines whether or not the operation amount of each of the boom operation lever and the arm operation lever is held for a predetermined period (step ST2). For example, the controller 30 refers to temporal transition of operation amounts of the boom operation lever and the arm operation lever stored in the RAM, and determines whether or not each operation amount is less than the predetermined operation amount over a predetermined period. Alternatively, it may be determined whether or not each operation amount is less than the predetermined operation amount over the predetermined period and the fluctuation range of each operation amount over the predetermined period is less than the predetermined value. Here, a period (predetermined period) required for the determination, a fluctuation range (predetermined value), and the like may be arbitrarily determined for each work content, each model, and each operator, for example. Further, the controller 30 may determine whether or not each operation amount has been held for a predetermined period, based on whether or not the toe of the bucket 6, which is the work site, is linearly operated within the predetermined period. That is, the controller 30 may determine whether or not the toe of the bucket 6, which is the work site, is linearly operated within the predetermined period in order to derive the operation tendency of the operator in the predetermined period.

When it is determined that each operation amount is held for a predetermined period (YES in step ST2), the controller 30 determines a target moving speed of the tip of the bucket 6 (step ST3). For example, the controller 30 derives the movement locus and movement distance of the tip of the bucket 6 in a predetermined period based on the output of the posture detection device S1. Then, the controller 30 calculates an average moving speed of the toe, and sets the average moving speed as a target moving speed. Here, when controlling the excavation attachment so as to maintain the movement of the excavation attachment matching the operation tendency, the controller 30 informs the operator that the operation mode has been changed from the normal operation mode to the support mode. It is also good. Specifically, in order to inform the operator that the operation mode has been changed from the normal operation mode to the support mode, that effect may be displayed on the display device or may be output as voice. Moreover, while control is performed so as to maintain the movement of the digging attachment, that may be notified continuously.

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

In this manner, the controller 30 can automatically maintain and control the movement direction and movement speed of the toe of the bucket 6 as the work site regardless of the operation amount of the operation lever. Generate movement speed and control movement of attachment.

However, the controller 30 may generate the target moving speed based on the operation amount of the control lever related to any of the boom 4, the arm 5 and the bucket 6 without automatically maintaining the moving speed. For example, when it is determined that the toe of the bucket 6 as the work site is moved along the slope direction (the inclined surface direction) based on the operation tendency, or moved in the front-rear direction (substantially horizontal direction) of the machine If it is determined that the target moving speed is determined, the target moving speed may be generated based on the amount of operation of the arm control lever. Alternatively, if it is determined that the toe of the bucket 6 is moved in the vertical direction (substantially vertical direction) along the wall surface of the groove based on the operation tendency, the target movement speed is calculated based on the operation amount of the boom operation lever. It may be generated. As described above, the controller 30 (for example, the operation tendency determination unit 32) may determine, based on the operation amount of which operation lever, the target moving speed is generated based on the operation tendency. That is, based on the operation tendency, one operation lever related to the derivation of the target moving speed of the work site may be selected from a plurality of operation levers. Then, while generating the target movement speed based on the determined (selected) operation amount of the operation lever, the operation part may be moved in the movement direction determined based on the operation tendency.

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

Further, as a determination method, not the temporal transition of the operation amount but the temporal transition of the position of the bucket 6 may be referred to. In this case, it is determined whether or not the fluctuation range of the movement direction of the bucket 6 is less than a predetermined value and the movement speed is less than a predetermined value over a predetermined period. Alternatively, it may be determined whether the moving speed of the bucket 6 is less than a predetermined value for a predetermined period and the fluctuation range of the moving speed of the bucket 6 for a predetermined period is less than the predetermined value.

Next, the effect of the attachment operation control process will be described with reference to FIG. FIG. 7 shows the operation amount of the boom operation lever in the raising direction (boom raising operation amount), the operation amount of the arm operation lever in the closing direction (arm closing operation amount), the moving speed of the tip of the bucket 6 (toe speed), And the time transition of the angle (toe angle) which shows the moving direction of the toe of the bucket 6 is shown. In this example, the operator of the shovel performs floor digging work to draw the bucket 6 toward the machine body along the horizontal plane by the combined operation of the boom operation lever and the arm operation lever.

Specifically, the operator of the shovel starts the operation in the raising direction of the boom operation lever at time t1 as shown in FIG. 7A, and then the operation in the raising direction with a substantially constant operation amount B1 To continue. Further, as shown in FIG. 7B, the operator starts the operation in the closing direction of the arm operating lever at time t1, and then continues the operation in the closing direction with a substantially constant operation amount A1.

The toe speed of the bucket 6 starts to rise at time t1 as shown in FIG. 7C, and thereafter maintains a substantially constant toe speed V1. The toe angle of the bucket 6 maintains a substantially constant toe angle D1 from time t1 as shown in FIG. 7 (D). As a result, the toes of the bucket 6 move substantially horizontally in the machine direction.

When it is determined that each of the boom raising operation amount and the arm closing operation amount is held for a predetermined period at time t2, the controller 30 determines the target moving speed of the toe of the bucket 6. For example, when the boom raising operation amount during the period from time t11 to time t2 is always less than the predetermined operation amount TH1 and the arm closing operation amount is always less than the predetermined operation amount TH2, the controller 30 performs boom raising operation over a predetermined period. It is determined that each of the amount and the arm closing operation amount is held. Then, the average value of the toe speeds V1 in the period from time t11 to time t2 is set as the target moving speed.

When it is determined that each of the boom raising operation amount and the arm closing operation amount is held for a predetermined period at time t2, the controller 30 determines the target moving direction of the toe of the bucket 6. For example, the controller 30 sets an average value of the toe angles D1 in a period from time t11 to time t2 as an angle indicating the target movement direction.

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

As a result, even when the actual boom raising operation amount falls below the operation amount B1 after time t2 as shown by the solid line in FIG. 7A, the boom flow control valve 17B 7A receives substantially the same boom raising pilot pressure as when the boom raising operation amount is maintained at the operation amount B1 as indicated by the one-dot chain line in FIG. 7A. In the present embodiment, the controller 30 automatically controls the toe speed and the toe angle of the bucket 6 based on the command. The shaded area in FIG. 7A represents the divergence width between the actual boom raising operation amount and the operation amount B1. The deviation width corresponds to the boom raising operation amount corresponding to the automatic extension of the boom cylinder 7 by the controller 30.

The amount of automatic operation of the boom operating lever (the difference between before and after the automatic adjustment of the pilot pressure) for maintaining the set target moving speed of the tip of the bucket 6 and the angle indicating the target moving direction changes depending on the work environment. That is, although the example which receives the boom raising pilot pressure substantially the same as when the boom raising operation amount is maintained by operation amount B1 was shown in FIG. 7 (A), this invention is not limited to this structure. For example, the boom raising pilot pressure may be adjusted such that the boom raising operation amount increases at a predetermined inclination, or the boom raising operation amount decreases at a predetermined inclination. In the example shown in FIG. 4A, the boom raising pilot pressure becomes lower than zero and becomes a negative value when passing the point X1. In this case, the boom 4 is moved in the lowering direction.

Further, as shown by the solid line in FIG. 7B, even when the actual arm closing operation amount fluctuates up and down near the operation amount A1 after time t2, the flow control valve for arm 17A is not shown in FIG. As indicated by the alternate long and short dash line in (B), the arm closing pilot pressure is substantially the same as when the arm closing operation amount is maintained at the operation amount A1. In the present embodiment, the controller 30 automatically controls the toe speed and the toe angle of the bucket 6 based on the command. The shaded area in FIG. 7 (B) represents the difference between the actual amount of closing operation of the arm and the amount of operation A1. The deviation width corresponds to the operation amount of the arm operation lever corresponding to the automatic expansion and contraction of the arm cylinder 8 by the controller 30.

The amount of automatic operation of the arm control lever (the difference between before and after the automatic adjustment of the pilot pressure) for maintaining the set target moving speed of the tip of the bucket 6 and the angle indicating the target moving direction changes depending on the work environment. That is, although the example which receives the arm closing pilot pressure substantially the same as when the arm closing operation amount is maintained by operation amount A1 was shown in FIG. 7 (B), this invention is not limited to this structure. For example, the arm closing pilot pressure may be adjusted such that the arm closing operation amount increases at a predetermined inclination, or the arm closing operation amount decreases at a predetermined inclination.

The toe speed is maintained constant at a toe speed V1 as a target moving speed as shown in FIG. 7C after time t2. Similarly, after the time t2, the toe angle is maintained constant at the toe angle D1 indicating the target moving direction as shown in FIG. 7 (D). The alternate long and short dash lines in FIG. 7C and FIG. 7D indicate temporal transition when the attachment operation control process is not performed.

In this example, since the actual boom raising operation amount deviates downward from the operation amount B1, when the attachment operation control process is not executed, the toe angle is as indicated by the one-dot chain line in FIG. It gradually deviates from the toe angle D1 indicating the target movement direction. This means that the toe position of the bucket 6 is gradually deepened, and the load of the floor digging operation is gradually increased. Then, the toe speed gradually decreases as shown by the dashed-dotted line in FIG. 7C as the load of the floor digging work increases. The controller 30 can avoid such a deviation of the toe angle and a decrease in toe speed by executing the attachment operation control process. In addition, it is possible to prevent the finished surface from being an inclined surface instead of a horizontal surface.

With the above configuration, the operator of the shovel is suitable for pulling the bucket 6 along the horizontal surface even if the actual boom raising operation amount is insufficient to pull the bucket 6 along the horizontal surface. The same movement of the digging attachment as when operating with the boom raising operation amount can be realized. The same applies to the case where the bucket 6 is moved away from the horizontal surface, or when the bucket 6 is moved closer to or away from the slope.

In addition, the operator may use special operations or the like to enable or disable the assistance at the time of switching between the rough excavation operation requiring no assistance by the controller 30 and the finish excavation operation requiring assistance by the controller 30. There is no need for work. Therefore, the operator can receive the assistance from the controller 30 at an appropriate timing while freely switching between the rough digging operation and the finishing operation without being aware of the enabling / disabling of the assistance by the controller 30. Therefore, the shovel according to the embodiment of the present invention can improve the working efficiency.

In addition, since the operator of the shovel does not notice that the boom raising operation amount is insufficient and that the automatic control by the controller 30 is started, a comfortable feeling of operation can be obtained. However, when the boom cylinder 7 is automatically extended and contracted, the controller 30 may notify the operator of that effect. For example, an operator may be notified of that using an on-vehicle display, an on-vehicle speaker, an LED lamp, or the like. In this case, the operator can recognize that the boom raising operation amount is insufficient, and the fact can be used to improve the operation technology in the future. The same applies to the case where other hydraulic actuators such as the arm cylinder 8 are automatically operated.

The automatic control by the controller 30 realizes the movement of the digging attachment desired by the operator along the content of the actual combined operation by the operator, and allows the movement apart from the content of the actual combined operation by the operator It is not something to do. For example, since the target movement direction and the target movement speed are set based on the content of the actual combined operation by the operator, the movement of the digging attachment realized by the controller 30 may largely deviate from the movement desired by the operator Absent. In addition, even when the attachment operation control process is executed, the operator of the shovel stops the movement of the digging attachment at a desired timing or causes the digging attachment to perform another movement by satisfying the release condition. be able to. Therefore, there is no sense of incongruity regarding the operation of the shovel.

Next, an example of the flow of automatic control by the controller 30 will be described with reference to FIGS. 8 and 9. 8 and 9 are block diagrams showing the flow of automatic control by the controller 30. FIG. Specifically, FIGS. 8 and 9 determine which operation lever the controller 30 (for example, the operation tendency determination unit 32) generates the target movement speed based on which operation lever, and the target movement based on the determined operation lever It is explanatory drawing in the case of moving a work part to the move direction determined based on the operation tendency, generating speed.

When automatic control is started, as shown in FIG. 8, the controller 30 determines a unit time based on the toe target moving speed, the toe target moving direction, and the three-dimensional coordinates (Xe, Ye, Ze) of the toe position of the current bucket 6. Three-dimensional coordinates (Xer, Yer, Zer) of the toe position after the lapse are calculated.

The operation tendency determination unit 32 of the controller 30 determines whether each operation amount is held for a predetermined period based on the lever operation amount. The operation tendency determination unit 32 receives an input of the position of the toe of the bucket 6 which is the work site, and determines whether the movement of the toe position of the bucket 6 is held to be a constant movement over a predetermined period. Good. Then, when it is determined that each operation amount is held for a predetermined period, the operation tendency determination unit 32 generates a toe target moving speed.

The toe target moving speed is generated, for example, based on the operation tendency. The toe target moving direction is determined based on, for example, a lever operation. The operation tendency is determined, for example, based on the lever operation amount. Current toe position, for example, the boom rotation angle beta _1, arm rotation angle beta _2, and is calculated based on the bucket rotation angle beta _3. The unit time is, for example, a time corresponding to an integral multiple of the control cycle. In the present embodiment, the Y coordinate value of the toe position is unchanged before and after movement. That is, the value Yer of the Y coordinate of the toe position after the unit time has elapsed is the same as the value Ye of the Y coordinate of the current toe position. In the present embodiment, the controller 30 determines the movement path of the subsequent toe position when control is started. That is, the coordinate value of the toe position at each point in time of each future unit time is determined. However, the controller 30 may recalculate the coordinate values of the toe position at one or more future time points for each unit time.

When the controller 30 automatically controls the moving direction and the moving speed of the toe of the bucket 6 as the work site regardless of the operation amount of the operation lever, the controller 30 determines the target moving direction and the target in the operation tendency determination unit 32. The movement speed may be generated.

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

After that, the controller 30 generates command values β _1r , β _2r and β _3r related to the rotational motions of the boom 4, the arm 5 and the bucket 6 based on the calculated X coordinate value Xer and Z coordinate value Zer. The command value β 1 _r represents, for example, the rotation angle of the boom 4 when the toe position can be adjusted to the three-dimensional coordinates (Xer, Yer, Zer). The same applies to the command value _β2r and the command value _β3r .

The controller 30 generates a command value using, for example, a preset calculation formula. In the present embodiment, the controller 30 uses the equations (1) and (2) described above, and the command values β _1r , β when the toe position can be adjusted to the three-dimensional coordinates (Xer, Yer, Zer) Calculate _2r and _β3r . This is based on the fact that the X coordinate value Xer and the Z coordinate value Zer are both functions of the command values β _1r , β _2r and β _3r . In this case, the controller 30 sets, for example, the command values β _1r , β _2r , β under the premise that the bucket rotation angle β ₃ is unchanged and both the boom rotation angle β ₁ and the arm rotation angle β ₂ are changed. Calculate _3r . However, the controller 30 may calculate the command values β _1r , β _2r and β _3r under other assumptions. Alternatively, the controller 30 may generate the command value with reference to a table in which the relationship between the toe position, the boom rotation angle β ₁ , the arm rotation angle β _2, and the bucket rotation angle β ₃ is stored in advance.

Thereafter, as shown in FIG. 9, the controller 30 generates command values β ₁ r, β ₂ r, and the actual measurement values of the boom rotation angle β ₁ , the arm rotation angle β ₂ and the bucket rotation angle β ₃ are generated. The boom 4, the arm 5 and the bucket 6 are operated so as to be β ₃ r. In this case, the controller 30 may derive command values α _1r , α _2r and α _3r corresponding to the command values β _1r , β _2r and β _3r using the equations (3) to (5). Then, the controller 30 is a boom so that the angles α ₁ , α ₂ and α ₃ which are outputs of the boom angle sensor, arm angle sensor and bucket angle sensor become the derived command values α _1r , α _2r and α _3r 4, the arm 5 and the bucket 6 may be operated.

Specifically, the controller 30 generates a boom cylinder pilot pressure command corresponding to the difference [Delta] [beta] ₁ of the current value of the boom rotational angle beta ₁ and a command value beta _{1 r.} Then, the control current corresponding to the boom cylinder pilot pressure command is output to the boom solenoid proportional valve as the solenoid valve 51. The boom solenoid proportional valve causes the pilot pressure corresponding to the control current corresponding to the boom cylinder pilot pressure command to act on the boom flow control valve 17B.

Thereafter, the boom flow control valve 17B which has received the pilot pressure generated by the boom solenoid proportional valve supplies the hydraulic fluid discharged by the main pump 14 to the boom cylinder 7 in the flow direction and flow rate corresponding to the pilot pressure. The boom cylinder 7 is expanded and contracted by the hydraulic oil supplied via the boom flow control valve 17B. Boom angle sensor detects the angle alpha ₁ of the boom 4 is moved by a boom cylinder 7 expands and contracts.

Thereafter, the controller 30, an angle alpha ₁ of the boom angle sensor detects into Equation (3) calculates the boom rotation angle beta _1. Then, as the current value of the boom rotational angle beta ₁ for use in generating a boom cylinder pilot pressure command, and feeds back the calculated value.

Although the above description relates to the operation of the boom 4 based on the command value β ₁ r, the operation of the arm 5 based on the command value β ₂ r and the operation of the bucket 6 based on the command value β ₃ r Is equally applicable. Therefore, the description of the operation of the arm 5 based on the command value β ₂ r and the flow of the operation of the bucket 6 based on the command value β ₃ r will be omitted.

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

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

Thus, the controller 30 determines the calculation of three-dimensional coordinates (Xer, Yer, Zer), the generation of the command values β _1r , β _2r and β _3r , and the determination of the discharge amount of the main pump 14 as one control cycle. Execute automatic control by repeating this control cycle. Further, the controller 30 can improve the accuracy of automatic control by performing feedback control of the toe position based on the output of the posture detection device S1. Specifically, the accuracy of automatic control can be improved by feedback controlling the flow rate of hydraulic fluid flowing into each of boom cylinder 7, arm cylinder 8 and bucket cylinder 9 based on the output of posture detection device S1. .

The preferred embodiments of the present invention have been described above in detail. However, the present invention is not limited to the embodiments described above. Various modifications, substitutions, and the like may be applied to the embodiment described above without departing from the scope of the present invention. Also, the features described separately can be combined as long as no technical contradiction arises.

For example, in the above-mentioned embodiment, although the hydraulic control device is adopted as the control device 26, an electrical control device may be adopted. FIG. 10 shows a configuration example of an operation system including an electric control device. Specifically, the operation system of FIG. 10 is an example of a boom operation system, and mainly includes a pilot pressure control valve 17, a boom operation lever 26B as an electric operation lever, a controller 30, and a boom It is comprised by the solenoid valve 60 for raising operation, and the solenoid valve 62 for boom lowering operation. The operation system of FIG. 10 may be applied to an arm operation system, a bucket operation system, and the like as well.

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

When the manual operation is performed, the controller 30 receives the boom raising operation signal (electric signal) or the boom lowering operation signal (electric signal) according to the operation signal (electric signal) output from the operation signal generation unit of the boom operation lever 26B. Generate The operation signal output from the operation signal generation unit of the boom operation lever 26B is an electrical signal that changes in accordance with the operation amount and the operation direction of the boom operation lever 26B.

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

When executing the automatic control, the controller 30 controls the boom raising operation signal (electric signal) or the boom lowering according to the correction operation signal (electric signal) instead of the operation signal output from the operation signal generation unit of the boom operation lever 26B. An operation signal (electrical signal) is generated. The correction operation signal may be an electrical signal generated by the controller 30, or may be an electrical signal generated by an external control device or the like other than the controller 30.

FIG. 11 shows another configuration example of the operation system including the electric operation device. Specifically, the operation system of FIG. 11 is another example of a boom operation system, mainly including an electromagnetic control valve 17, a boom operation lever 26B as an electric operation lever, and a controller 30. It is configured. The operation system of FIG. 11 may be applied to an arm operation system, a bucket operation system, and the like as well.

The electromagnetically operated control valve 17 includes a boom flow control valve, an arm flow control valve, a bucket flow control valve, and the like, each of which is configured of an electromagnetic spool valve that operates according to a command from the controller 30.

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

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

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

Thus, the shovel according to the embodiment of the present invention can operate similarly to the case where the hydraulic operating device is adopted even when the electric operating device is adopted.

1 ... undercarriage 1L ... left traveling hydraulic motor 1R ... right traveling hydraulic motor 2 ... turning mechanism 2A ... hydraulic swing motor 3 ... upper swing body 4 ... boom 5, · · · Arm 6 · · · Bucket 7 · · · Boom cylinder 8 · · · Arm cylinder 9 · · · Bucket cylinder 10 · · · cabin 11 · · · · · · · · · · · · · 13・ Pilot pump 17 ・・・ Control valve 17A ・・・ Arm flow control valve 17B ・・・ Boom flow control valve 17L ・・・ Left pilot port 17R ・・・ Right pilot port 26 ・・・ Operating device 26A ・・Arm control lever 26B: Boom control lever 29: Pressure sensor 29L, 29R · Pilot pressure sensor 30 · · · Controller 31 · · · Attachment control section 32 · · · Operation tendency judgment section 50 · · ·

Adjustment mechanism

51, 52L, 52R · · ·

Solenoid valve

60, 62 · · · Solenoid valve C1 ... C4, C11, C12, C21, C22 ... pipeline

Claims

The lower traveling body,
An upper swing body mounted on the lower traveling body;
An attachment attached to the upper swing body;
An operating device installed in a driver's cab attached to the upper swing body;
A control device that controls the movement of the attachment that moves in response to a combined operation on the operation device;
The control device derives the operation tendency of the operator in a predetermined period, and controls the movement of the attachment so as to maintain the movement of the attachment in accordance with the operation tendency.
Excavator.
The operation tendency is derived based on the movement speed and movement direction of the end attachment in the predetermined period detected by the posture detection device.
The shovel according to claim 1.
The control device grasps the operation content of the operating device based on the pilot pressure generated by the operating device, and the operating amount of each of at least two of the operating devices is held for the predetermined period. Controlling the movement of the attachment to maintain the movement of the attachment in accordance with the operation tendency;
The shovel according to claim 1.
The control device grasps the operation content of the operation device based on the movement speed and movement direction of the end attachment detected by the posture detection device, and the movement speed and movement direction of the end attachment are maintained over the predetermined period. Control the movement of the attachment so as to maintain the movement of the attachment in accordance with the operation tendency,
The shovel according to claim 2.
The control device notifies an operator that the movement of the attachment is controlled to maintain the movement of the attachment in accordance with the operation tendency.
The shovel according to claim 1.
The control device controls the movement of the attachment to correspond to the movement speed and movement direction of the work site derived based on the operation tendency.
The shovel according to claim 1.
The control device controls the movement of the attachment so as to correspond to the movement direction of the work part derived based on the operation tendency and the movement speed of the work part derived based on the operation amount of the control lever. Do,
The shovel according to claim 1.
The control device selects one operation lever related to the derivation of the movement speed of the work site from a plurality of operation levers based on the operation tendency.
The shovel according to claim 7.
The control device selects the boom operation lever when it is determined that the work site is moved in the substantially vertical direction.
The shovel according to claim 8.
The control device selects an arm control lever when it is determined that the work site is moved in the slope direction or substantially horizontal direction.
The shovel according to claim 8.