Work machine
A technology for operating machinery and operating tools, which is applied to mechanically driven excavators/dredgers, earth movers/shovels, construction, etc., which can solve the problems of reducing the moving speed of the stick and achieve the effect of improving efficiency
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no. 1 Embodiment approach ＞
[0039] -Overall structure of hydraulic excavator-
[0040] figure 1 It is a side view of the hydraulic excavator according to the embodiment of the present invention, figure 2 is a diagram showing a controller of a hydraulic excavator according to an embodiment of the present invention together with a hydraulic drive device, image 3 yes figure 2 A detailed view of hydraulic unit 160 is shown.
[0041] Such as figure 1 As shown, a hydraulic excavator 101 includes a vehicle body 1B and an articulated front working device (hereinafter simply referred to as a working device) 1A attached to the vehicle body 1B. The vehicle body 1B has traveling hydraulic motors 3a, 3b (refer to figure 2 ) and the lower traveling body 11 that travels, and the lower traveling body 11 that is installed on the lower traveling body 11 and is rotated by the hydraulic motor 4 (refer to figure 2 ) and the upper rotating body 12 that rotates.
[0042] In the working device 1A, a plurality of dri...
no. 2 Embodiment approach ＞
[0184] refer to Figure 14 ~ Figure 21B , the hydraulic excavator 201 of the second embodiment will be described. In addition, in the figure, the same code|symbol is attached|subjected to the part which is the same as or equivalent to 1st Embodiment, and a different point is mainly demonstrated. Figure 14 It is a figure which shows the state which the hydraulic excavator 201 of 2nd Embodiment performs horizontal traction (horizontal push-out). Figure 15A Indicates the target pilot pressure and angle when the arm retracting operation (maximum operation) is performed in the hydraulic excavator 101 according to the first embodiment diagram of the relationship. Figure 15B Indicates the target pilot pressure and angle when the arm release operation (maximum operation) is performed in the hydraulic excavator 101 according to the first embodiment diagram of the relationship.
[0185] The hydraulic excavator 201 of the second embodiment has the same configuration as that of t...
Deformed example 1
[0215] In the above-mentioned embodiment, it was explained that when the magnitude relationship between the pin-target surface distance H2(n) and the pin-bucket distance Dpb is directly compared and the distance H2(n) is greater than or equal to the distance Dpb, the bucket is not executed. Example of deceleration control of rod 9 (refer to Figure 10 Step S140 and Figure 11 Step S240), but the present invention is not limited thereto. The margin ΔD may be added to the distance Dpb, and the comparison may be performed after correction. That is, the deceleration control of the arm 9 may not be executed when the distance H2(n) is equal to or greater than the corrected distance Dpb′ (=Dpb+ΔD). Alternatively, the margin ΔH may be subtracted from the distance H2 to perform correction and then compare. That is, the deceleration control of the arm 9 may not be executed when the corrected distance H2(n)' (= H2(n)-ΔH) is equal to or greater than the distance Dpb. By having the mar...
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