Work machine
Patent Information
- Application Number
- JP2023048606
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2023-03-24
- Publication Date
- 2025-12-15
AI Technical Summary
Existing hydraulic excavator technologies fail to prevent erroneous operations caused by operator misunderstanding of the operating lever patterns, leading to unintended vehicle movements.
Implementing a controller that controls the upper revolving structure and working device based on an operating signal, with initial control at a predetermined speed until a threshold time elapses, followed by speed adjustment corresponding to the operation amount.
Quickly alerts operators to misunderstood operation patterns, preventing significant unintended movements and maintaining operability by reducing load on the system.
Smart Images
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Abstract
Description
[Technical field]
[0001] The present invention relates to a work machine including a lower traveling body, an upper rotating body, and a work implement. [Background technology]
[0002] Conventionally, in hydraulic excavators, the rotation of the upper rotating body, the raising and lowering of the boom, the crowding and dumping of the arm, and the crowding and dumping of the bucket are performed by operating the left and right operating levers. Fig. 7 is a diagram showing a typical example of the operation pattern of a hydraulic excavator. As shown in Fig. 7, the operation patterns of the left and right operating levers may be set differently for each manufacturer or each model.
[0003] Patent Document 1 describes a technology that determines whether the operator is holding the control lever and switches between enabling and disabling operation in order to prevent erroneous operation caused by the inertial force on the control lever generated by the operation of the hydraulic excavator when the driver is not holding the control lever. [Prior art documents] [Patent documents]
[0004] [Patent Document 1] Patent Publication No. 2021-50548 Summary of the Invention [Problem to be solved by the invention]
[0005] The technology of Patent Document 1 can prevent erroneous operation caused by the inertial force accompanying the movement of the vehicle body. However, erroneous operation of the control lever is not only caused by the movement of the vehicle body, but also by misperception by the operator. One example of erroneous operation caused by misperception by the operator is misperception of the operation pattern of the control lever.
[0006] If an operator operates the control lever while misunderstanding the operation pattern of the control lever, the hydraulic excavator will move significantly and unintentionally unless the operator quickly recognizes that he or she has misunderstood the operation pattern and takes action such as ceasing or changing the operation.
[0007] The present invention has been made in consideration of the above-mentioned circumstances, and has an object to provide a work machine that can allow an operator to quickly recognize that he or she has misunderstood the operation pattern, and can prevent the hydraulic excavator from moving significantly due to unintended operations. [Means for solving the problem]
[0008] In order to achieve the above-mentioned object, the present invention provides a work machine comprising a lower running body, an upper rotating body rotatably supported on the lower running body, a working device supported on the upper rotating body, an operation device that outputs an operation signal instructing operation of the upper rotating body or the working device in accordance with an operation amount, and a controller that controls the operation of the upper rotating body or the working device based on the operation signal output from the operation device, wherein the controller executes initial control to control the operation of the upper rotating body or the working device at a predetermined initial speed regardless of the operation amount until a threshold time has elapsed since the output of the operation signal has started, and executes main control to control the operation of the upper rotating body or the working device at a speed corresponding to the operation amount after the threshold time has elapsed since the output of the operation signal has started. Effect of the Invention
[0009] According to the present invention, it is possible to promptly make the operator recognize that he / she has misunderstood the operation pattern, and to prevent the hydraulic excavator from moving significantly due to an unintended operation. Note that problems, configurations, and effects other than those described above will become apparent from the description of the following embodiments. [Brief description of the drawings]
[0010] [Figure 1]FIG. 2 is a side view of the hydraulic excavator. [Diagram 2] FIG. [Diagram 3] FIG. 2 is a diagram showing a drive circuit of a hydraulic excavator. [Figure 4] FIG. 2 is a control block diagram of a hydraulic excavator. [Diagram 5] 4 is a flowchart of a turning control process. [Figure 6] 11A and 11B are diagrams illustrating an example of a transition in the rotation speed of a rotation motor in a rotation control process. [Figure 7] FIG. 2 is a diagram showing a typical example of an operation pattern of a hydraulic excavator. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0011] An embodiment of a hydraulic excavator 1 (working machine) according to the present invention will be described with reference to the drawings. However, a specific example of the working machine is not limited to the hydraulic excavator 1. Furthermore, in this specification, front, back, left and right are based on the viewpoint of an operator who rides on and operates the hydraulic excavator 1, unless otherwise specified.
[0012] Fig. 1 is a side view of a hydraulic excavator 1. As shown in Fig. 1, the hydraulic excavator 1 includes a lower traveling structure 2 and an upper rotating structure 3 supported by the lower traveling structure 2. The lower traveling structure 2 includes a pair of left and right crawlers 4 which are endless tracks. The pair of left and right crawlers 4 are rotated independently by driving a traveling motor 5. As a result, the hydraulic excavator 1 travels. However, the lower traveling structure 2 may be of a wheeled type instead of the crawlers 4.
[0013] The upper rotating body 3 is supported on the lower traveling body 2 so as to be rotatable by a swing motor 6. That is, the rotation of the swing motor 6 causes the upper rotating body 3 to swing relative to the lower traveling body 2 (hereinafter referred to as a "swing operation"). The upper rotating body 3 mainly comprises a swing frame 7 serving as a base, a counterweight 9 arranged at the rear of the swing frame 7, a front work machine 10 (working device) attached to the front center of the swing frame 7 so as to be rotatable in the vertical direction, and a cab (operator's seat) 20 arranged on the front left side of the swing frame 7.
[0014] The front working implement 10 includes a boom 11 supported on the upper rotating body 3 so as to be able to be raised and lowered, an arm 12 supported at the tip of the boom 11 so as to be able to rotate (crowd, dump), a bucket 13 (attachment) supported at the tip of the arm 12 so as to be able to rotate (crowd, dump), a boom cylinder 14 that drives the boom 11, an arm cylinder 15 that drives the arm 12, and a bucket cylinder 16 that drives the bucket 13. Note that specific examples of the attachment are not limited to the bucket 13, and may include a grapple, cutter, crusher, breaker, etc. The counterweight 9 is used to balance the weight with the front working implement 10, and is a heavy object that has an arc shape when viewed from above.
[0015] The raising and lowering of the boom 11, the rotation of the arm 12, and the rotation of the bucket 13 are examples of work operations of the front working implement 10. Furthermore, the rotation operation of the upper rotating body 3 and the work operations of the front working implement 10 are examples of specific operations. More specifically, among the work operations of the front working implement 10, only work operations that increase the rotation radius of the hydraulic excavator 1 (i.e., lowering the boom 11, dumping the arm 12, and dumping the bucket 13) may be included in the specific operations. Furthermore, the operation of the operating levers 23, 24 that instruct a specific operation is referred to as a "specific operation."
[0016] The cab 20 is disposed adjacent to the front working implement 10 in the left-right direction (width direction of the vehicle body). More specifically, the cab 20 is disposed to the left (one side in the left-right direction) of the front working implement 10. However, the location of the cab 20 is not limited to the example described above, and the cab 20 may be disposed on one side of the front working implement 10 in the left-right direction.
[0017] Fig. 2 is a schematic diagram showing the inside of the cab 20. The cab 20 has an internal space in which an operator who operates the hydraulic excavator 1 sits. As shown in Fig. 2, a seat 21 on which the operator sits and an operating device 22 operated by the operator seated on the seat 21 are provided inside the cab 20.
[0018] The operation device 22 includes a pair of left and right operation levers 23, 24 for operating the upper rotating body 3 and the front working machine 10, and a pair of left and right travel pedals 25, 26 for operating the lower traveling body 2. When an operator in the cab 20 operates the operation device 22, the lower traveling body 2 travels, the upper rotating body 3 rotates, and the front working machine 10 performs a work operation.
[0019] The operating levers 23, 24 are tilted forward, backward, left or right by the operator, and thereby output an operating signal to a controller 50 (see FIG. 4) described below. The operating signal indicates the tilt direction and the amount of tilt (i.e., the amount of operation) of the operating levers 23, 24. The operating signal may be represented, for example, by a voltage value or by the duty ratio of a PWM (Pulse Width Modulation) signal. In other words, the operating levers 23, 24 output an operating signal with a larger voltage value or duty ratio as the amount of operation increases.
[0020] The pair of left and right operating levers 23, 24 according to this embodiment is set with an operation pattern 1 shown in Fig. 7. However, the pair of left and right operating levers 23, 24 may be set with operation patterns 2 to 3 shown in Fig. 7, or may be set with an operation pattern different from the operation patterns 1 to 3. In addition, specific examples of the operating device 22 are not limited to the above-mentioned examples, and include a lever, a steering wheel, a pedal, a switch, etc.
[0021] Furthermore, the operation device 22 includes an engine switch 27 (see FIG. 4). The engine switch 27 receives an operation by an operator to start and stop an engine 31 (see FIG. 3), which will be described later, and outputs a start signal and a stop signal to the controller 50. The specific form of the engine switch 27 is not particularly limited, and may be, for example, a form in which a key is inserted and turned, or a form of a push button.
[0022] Fig. 3 is a diagram showing a drive circuit of the hydraulic excavator 1. As shown in Fig. 3, the hydraulic excavator 1 mainly includes an engine 31, a hydraulic oil tank 32, a main pump 33, a pilot pump 34, directional control valves 35, 36, 37, 38, and pilot control valves 40a, 40b, 41a, 41b, 42a, 42b, 43a, 43b. However, the specific configuration of the drive circuit is not limited to the example in Fig. 3.
[0023] The engine 31 is a power source that generates a driving force for driving the hydraulic excavator 1. The hydraulic oil tank 32 stores hydraulic oil. The main pump 33 is rotated by the power of the engine 31, and pressure-feeds the hydraulic oil stored in the hydraulic oil tank 32 to the hydraulic oil supply flow path L1. The pilot pump 34 is rotated by the power of the engine 31, and pressure-feeds the hydraulic oil stored in the hydraulic oil tank 32 to the pilot supply flow path L3 as pilot pressure oil.
[0024] The hydraulic oil supply flow path L1 is a flow path for hydraulic oil that runs from the hydraulic oil tank 32 through the main pump 33 and the directional control valves 35-38 to the hydraulic actuators 6, 14-16 (the traveling motor 5 is not shown in FIG. 3). That is, the hydraulic oil supply flow path L1 is a supply flow path that supplies the hydraulic oil pressure-fed by the main pump 33 to the hydraulic actuators 6, 14-16.
[0025] In addition, the hydraulic actuators 6, 14-16 are connected to the hydraulic oil tank 32 through a hydraulic oil return flow path L2. The hydraulic oil return flow path L2 is a flow path that leads from the hydraulic actuators 6, 14-16 to the hydraulic oil tank 32 via the directional control valves 35-38. In other words, the hydraulic oil return flow path L2 is a return flow path that returns the hydraulic oil discharged from the hydraulic actuators 6, 14-16 to the hydraulic oil tank 32.
[0026] The pilot supply flow path L3 is a flow path for pilot pressure oil that runs from the hydraulic oil tank 32 through the pilot pump 34 and the pilot control valves 40a to 43b to the pilot ports 35a to 38b of the directional control valves 35 to 38. That is, the pilot supply flow path L3 is a flow path that supplies the pilot pressure oil pressure-fed by the pilot pump 34 to the pilot ports 35a to 38b.
[0027] In addition, the pilot ports 35a to 38b are connected to the hydraulic oil tank 32 through a pilot return flow path L4. The pilot return flow path L4 is a flow path that leads from the pilot ports 35a to 38b to the hydraulic oil tank 32 via the pilot control valves 40a to 43b. In other words, the pilot return flow path L4 is a flow path that returns the pilot pressure oil discharged from the pilot ports 35a to 38b to the hydraulic oil tank 32.
[0028] The directional control valves 35-38 are disposed on the hydraulic oil supply passage L1 and the hydraulic oil return passage L2. The directional control valves 35-38 control the supply amount and supply direction of the hydraulic oil supplied to the hydraulic actuators 6, 14-16 through the hydraulic oil supply passage L1 and the discharge amount of the hydraulic oil discharged from the hydraulic actuators 6, 14-16 through the hydraulic oil return passage L2.
[0029] More specifically, directional control valve 35 controls the supply and discharge of hydraulic oil to the swing motor 6, directional control valve 36 controls the supply and discharge of hydraulic oil to the boom cylinder 14, directional control valve 37 controls the supply and discharge of hydraulic oil to the arm cylinder 15, and directional control valve 38 controls the supply and discharge of hydraulic oil to the bucket cylinder 16. Since the directional control valves 35 to 38 have a common configuration, directional control valve 38 will be described in detail below.
[0030] The directional control valve 38 has a spool that moves between a shutoff position A, a dump position B, and a cloud position C. The shutoff position A is a position where the hydraulic oil supply passage L1 and the hydraulic oil return passage L2 are shut off to stop the supply and discharge of hydraulic oil to the bucket cylinder 16. The dump position B and the cloud position C are supply and discharge positions where the hydraulic oil supply passage L1 and the hydraulic oil return passage L2 are opened to supply and discharge hydraulic oil to the bucket cylinder 16. The dump position B and the cloud position C are located on opposite sides of the shutoff position A.
[0031] More specifically, the dump position B is a position where the bucket cylinder 16 is contracted by supplying hydraulic oil to the rod chamber of the bucket cylinder 16 and discharging hydraulic oil from the bottom chamber. The cloud position C is a position where the bucket cylinder 16 is extended by supplying hydraulic oil to the bottom chamber of the bucket cylinder 16 and discharging hydraulic oil from the rod chamber. Also, the closer the spool is to the blocking position A, the less the amount of hydraulic oil supplied to and discharged from the bucket cylinder 16. On the other hand, the closer the spool is to the dump position B or the cloud position C, the more the amount of hydraulic oil supplied to and discharged from the bucket cylinder 16 increases.
[0032] The initial spool position of the directional control valve 38 is the shutoff position A. The directional control valve 38 moves from the shutoff position A toward the dump position B as pilot pressure oil is supplied to the pilot port 38a and the pilot pressure oil is discharged from the pilot port 38b. The directional control valve 38 moves from the shutoff position A toward the cloud position C as pilot pressure oil is supplied to the pilot port 38b and the pilot pressure oil is discharged from the pilot port 38a.
[0033] The pilot control valves 40a to 43b are disposed on the pilot supply passage L3 and the pilot return passage L4. The pilot control valves 40a to 43b control the supply amount of hydraulic oil supplied to the pilot ports 35a to 38b through the pilot supply passage L3 and the discharge amount of hydraulic oil discharged from the pilot ports 35a to 38b through the pilot return passage L4. The pilot control valves 40a to 43b are solenoid switching valves that control the supply amount under the control of the controller 50. Since the pilot control valves 40a to 43b have a common configuration, the pilot control valves 43a, 43b will be described in detail below.
[0034] The pilot control valve 43a is disposed between the pilot port 38a, the pilot pump 34, and the hydraulic oil tank 32. The pilot control valve 43a also includes a spool that moves between a supply position D and a return position E. The supply position D is a position where the pilot pressure oil pumped from the pilot pump 34 is supplied to the pilot port 38a. The return position E is a position where the pilot pressure oil discharged from the pilot port 38a is returned to the hydraulic oil tank 32. The initial position of the spool of the pilot control valve 43a is the return position E. The larger the command current output from the controller 50 becomes, the closer the spool moves from the return position E to the supply position D.
[0035] The pilot control valve 43b is disposed between the pilot port 38b and the pilot pump 34 and hydraulic oil tank 32. The pilot control valve 43b also includes a spool that moves between a supply position D and a return position E. The pilot control valve 43b is switched to the supply position D or the return position E by moving the spool in accordance with the magnitude of a command current.
[0036] Fig. 4 is a control block diagram of the hydraulic excavator 1. As shown in Fig. 4, the hydraulic excavator 1 includes a controller 50 having a CPU 51 (Central Processing Unit) and a memory 52. The memory 52 is configured, for example, with a ROM (Read Only Memory), a RAM (Random Access Memory), an HDD (Hard Disk Drive), or a combination of these. The controller 50 realizes the processing described below by the CPU 51 reading and executing program codes stored in the memory 52.
[0037] However, the specific configuration of the controller 50 is not limited to this, and may be realized by hardware such as an application specific integrated circuit (ASIC) or a field programmable gate array (FPGA).
[0038] The controller 50 controls the overall operation of the hydraulic excavator 1. The controller 50 starts the engine 31 when a start signal is output from the engine switch 27, and stops the engine 31 when a stop signal is output from the engine switch 27. Furthermore, based on an operation signal output from the operating device 22, the controller 50 rotates the engine 31, the main pump 33, and the pilot pump 34, and opens and closes the pilot control valves 40a to 43b (outputs a command current).
[0039] A first flag is stored in the memory 52. The first flag is set to "ON (first value)" indicating that a specific operation has not yet been performed since the engine 31 was started, or "OFF (second value)" indicating that a specific operation has already been performed since the engine 31 was started. When a start signal is output from the engine switch 27, the controller 50 starts the engine 31 and sets the first flag to "ON."
[0040] Fig. 5 is a flowchart of the swing control process. Fig. 6 is a diagram showing an example of the transition of the rotation speed of the swing motor 6 in the swing control process. In this embodiment, the swing operation of the upper swing body 3 will be described as an example of the specific operation. However, specific examples of the specific operation are not limited to the swing operation, and may be work operations of the front working implement 10 (typically, lowering of the boom 11, dumping of the arm 12, and dumping of the bucket 13). The controller 50 executes the swing control process shown in Fig. 5 when the operating lever 23 is lowered to the left or right while the engine 31 is being driven.
[0041] First, the controller 50 judges the setting value of the initial flag stored in the memory 52 (S11). Then, when the controller 50 judges that the initial flag is set to "ON" (S11: Yes), the controller 50 rotates the swing motor 6 at a predetermined initial speed regardless of the amount of tilt of the operating lever 23 (S12). Step S12 is an example of initial control.
[0042] That is, the controller 50 performs initial control when an operation signal is output for the first time after the engine 31 is started. More specifically, the controller 50 controls the opening of the pilot control valves 40a, 40b (i.e., the flow rate of the hydraulic oil supplied to the swing motor 6 through the directional control valve 35) so that the swing motor 6 rotates at an initial speed. The initial speed is set to a speed slower than the minimum speed corresponding to the operation amount of the operating lever 23, for example.
[0043] Next, the controller 50 continues the process of step S12 until the lowering of the operation lever 23 is completed (i.e., the output of the operation signal is stopped) or the elapsed time from the start of rotation of the swing motor 6 at the initial speed reaches a predetermined threshold time (S13: No & S14: No). The threshold time is set, for example, to a value that allows the operator to recognize that he or she has misunderstood the operation pattern and that does not excessively deteriorate the operability of the hydraulic excavator 1.
[0044] Next, if the time elapsed since the start of the process of step S12 reaches the threshold time (S14: Yes), the controller 50 rotates the swing motor 6 at a speed (hereinafter referred to as the "target speed") corresponding to the amount of operation of the operating lever 23 (S15). The larger the amount of operation of the operating lever 23, the higher the target speed becomes.
[0045] More specifically, the controller 50 controls the openings of the pilot control valves 40a, 40b so that the swing motor 6 rotates at the target speed. Then, the controller 50 continues the process of step S15 until the lowering of the operating lever 23 is completed (S16: No). Step S15 is an example of main control.
[0046] However, as shown in Fig. 6, when there is a large difference between the initial speed and the target speed, increasing the speed from the initial speed to the target speed in a short time increases the load on the swing motor 6 and also deteriorates the operability of the hydraulic excavator 1. Therefore, the controller 50 performs transitional control between the initial control and the main control (i.e., when switching between the initial control and the main control). The transitional control may be omitted when the difference between the initial speed and the target speed is small.
[0047] The transitional control is a control for increasing the rotational speed (operation speed) of the swing motor 6 from an initial speed to a target speed according to a predetermined speed pattern. More specifically, the controller 50 gradually increases the opening of the pilot control valves 40a, 40b so that the swing motor 6 increases its speed from the initial speed to the target speed according to the speed pattern. The speed pattern in the transitional control may be, for example, a linear pattern (constant acceleration pattern) shown in Fig. 6, or a quadratic curve pattern, an exponential curve pattern, or the like.
[0048] Then, when the lowering of the operating lever 23 ends during execution of the transitional control or main control (S16: Yes), the controller 50 stops the swing motor 6 (i.e., switches the pilot control valves 40a, 40b to the reflux position E), sets the initial flag to "OFF", starts measuring the no-operation period (S17), and ends the swing control process. The no-operation period refers to a period during which the output of the operation signal for the specific operation is stopped. In other words, the no-operation period is the period from when the operation signal for the specific operation was last output, through a state in which the output was stopped, to when it is output this time.
[0049] Furthermore, when the lowering of the operating lever 23 is completed during the execution of the initial control (S13: Yes), the controller 50 executes the process of step S17 without executing the processes of steps S15 to S16, and ends the swing control process. That is, when the upper swing body 3 swings at the initial speed and the operator realizes that he has misunderstood the operation pattern, if the lowering of the operating lever 23 is completed, the transitional control and the main control are not executed.
[0050] On the other hand, when the controller 50 determines that the first flag is set to "OFF" (S11: No), it determines whether or not the no-operation period whose measurement was started in the most recently executed step S17 or step S21 is equal to or longer than the threshold period (S18). The threshold period is set to a period during which the operator who recognizes the operation pattern by operating the operation lever 23 may forget the operation pattern of the operation device 22, for example.
[0051] Then, when an operation signal is outputted for the second or subsequent time after the engine 31 is started (S11: No), if the controller 50 determines that the no-operation period is equal to or longer than the threshold period (S18: Yes), it executes the processes in and after step S12. That is, when an operation signal is outputted for the second or subsequent time after the engine 31 is started, if the no-operation period from when the operation signal for a specific operation was outputted last time to when it is outputted this time is equal to or longer than the threshold period, the controller 50 performs the initial control.
[0052] Note that "the operation signal is output for the second time" refers to the operation signal being output for the first time (first time) since the engine 31 is started, then the state in which the output of the operation signal is stopped, and then the operation signal being output again (second time). Similarly, the state in which the output of the operation signal is stopped and the state in which the operation signal is output are repeated below, thereby resulting in "the operation signal being output for the second or subsequent time."
[0053] On the other hand, when an operation signal is output for the second or subsequent time after the engine 31 is started (S11: No), if the controller 50 determines that the no-operation period is shorter than the threshold period (S18: No), the controller 50 executes steps S19 to S20 without executing steps S12 to S14. The processes of steps S19 to S20 are the same as steps S15 to S16.
[0054] That is, when an operation signal is output for the second or subsequent time after the engine 31 is started, if the no-operation period is less than the threshold period, the controller 50 performs transitional control and main control without performing initial control. Furthermore, if the lowering of the operating lever 23 ends during execution of the transitional control or main control (S20: Yes), the controller 50 stops the swing motor 6, resets the measurement of the no-operation period (S21), and ends the swing control process.
[0055] According to the above embodiment, for example, the following advantageous effects are achieved.
[0056] For example, assume that an operator riding on the hydraulic excavator 1 for which operation pattern 1 has been set erroneously recognizes that this is operation pattern 2 and tilts the operation lever 23 to the left. At this time, even though the operator operates the operation lever with the intention of dumping the arm 12, the upper rotating body 3 rotates to the left. In other words, the operator's misrecognition of the operation pattern causes the hydraulic excavator 1 to perform an operation that the operator does not intend.
[0057] Therefore, according to the above embodiment, the swing motor 6 rotates at the initial speed until the threshold time has elapsed after the start of the specific operation, regardless of the amount of tilt of the operation lever 23. Therefore, it is possible to prevent the upper swing body 3 from swinging too much before the operator realizes that he has misjudged the operation pattern. In addition, since the upper swing body 3 actually rotates, the operator can be made to quickly recognize that he has misjudged the operation pattern.
[0058] Furthermore, it is often the case that the operator misidentifies the operation pattern immediately after boarding the hydraulic excavator 1. Therefore, according to the above embodiment, by determining the set value of the initial flag, it is possible to perform initial control only in situations where there is a high possibility of misidentifying the operation pattern. On the other hand, in the second and subsequent specific operations after the engine 31 is started, the initial control can be skipped, thereby preventing a decrease in the operability of the hydraulic excavator 1.
[0059] Furthermore, even if a specific operation is performed for the second or subsequent times after the engine 31 is started, if there is a long period of no operation during which no specific operation is performed (for example, the vehicle is traveling for a long period of time), there is a possibility that the operation pattern will be misrecognized again. Therefore, by determining whether or not initial control is required depending on whether or not the period of no operation is equal to or longer than a threshold period, it is possible to achieve both the effect of making the operator quickly recognize that the operation pattern has been misrecognized and the effect of preventing a decrease in the operability of the hydraulic excavator 1.
[0060] Furthermore, according to the above embodiment, the speed of the swing motor 6 can be gradually increased from the initial speed to the target speed by performing transitional control between the initial control and the main control. This makes it possible to reduce the load applied to the swing motor 6 and prevent the operability of the hydraulic excavator 1 from deteriorating.
[0061] The above-described embodiments are illustrative examples of the present invention, and are not intended to limit the scope of the present invention to these embodiments. Those skilled in the art can implement the present invention in various other forms without departing from the gist of the present invention. [Explanation of symbols]
[0062] 1. Hydraulic excavator (working machine) 2 Undercarriage 3. Upper rotating body 4. Crawler 5. Travel motor 6 Swivel motor 7 Swivel Frame 9 Counterweight 10 Front work equipment (working device) 11. Boom 12 Arm 13. Bucket 14 Boom cylinder 15 Arm Cylinder 16 Bucket Cylinder 20 Cab 21 sheets 22 Control device 23,24 Operating lever 25,26 Travel pedal 27 Engine switch 31 Engine 32 Hydraulic Oil Tank 33 Main pump 34 Pilot pump 35~38 Directional control valve 35a~38b Pilot port 40a~43b Pilot control valve 50 Controller 51 CPU 52 Memory
Claims
1. a lower running body; an upper rotating body rotatably supported on the lower traveling body; a working device supported on the upper rotating body; an operation device that outputs an operation signal that instructs an operation of the upper rotating body or the working device in accordance with an operation amount; a controller that controls the operation of the upper rotating body or the working device based on the operation signal output from the operation device; The engine that serves as the power source, In a work machine equipped with The controller an initial control is executed to control the operation of the upper revolving body or the working device at a predetermined initial speed regardless of the amount of operation until a threshold time has elapsed since the output of the operation signal was started, and a main control is executed to control the operation of the upper revolving body or the working device at a speed corresponding to the amount of operation after the threshold time has elapsed since the output of the operation signal was started, When the operation signal is output for the first time after the engine is started, the initial control is performed; When the operation signal is output for the first time after the engine is started, and then the output of the operation signal is stopped, and then the operation signal is output again, the main control is executed without executing the initial control. A work machine characterized by:
2. 2. The work machine according to claim 1, The controller When the operation signal is output for the first time after the engine is started, and then the output of the operation signal is stopped, and then the operation signal is output again, When the no-operation period during which the output of the operation signal is stopped is equal to or longer than a threshold period, the initial control is performed; When the no-operation period is less than the threshold period, the main control is performed without performing the initial control. A work machine characterized by:
3. 2. The work machine according to claim 1, The controller When switching between the initial control and the main control, a transitional control is performed to increase the operation speed of the upper rotating body or the working device from the initial speed to a speed corresponding to the operation amount in accordance with a predetermined speed pattern. A work machine characterized by: