Shovel

Abstract

To provide a shovel capable of enhancing operability of an actuator.SOLUTION: A shovel 100 includes an undercarriage 1, a revolving super structure 3, an attachment (a boom 4, an arm 5, a bucket 6), an actuator (a revolving hydraulic motor 2A, a boom cylinder 7, an arm cylinder 8, a bucket cylinder), and a controller 30. The controller 30 controls a test process for calculating the current capacity of the actuator, a calculating process for calculating a parameter for operating the actuator on the basis of the calculated current capacity of the actuator, and a setting process for setting the calculated parameter to a set value for operating the actuator.SELECTED DRAWING: Figure 9

Description

Technical Field

[0001] The present disclosure relates to an excavator.

Background Art

[0002] Patent Document 1 discloses an excavator including a plurality of hydraulic actuators that operate attachments (boom, arm, bucket). In this type of excavator, a combined operation in which a plurality of hydraulic actuators are operated by a user (operator) enables the attachment and / or the upper swing body to be operated simultaneously. Further, the excavator allows a user of the excavator to change settings regarding the capabilities (such as operating speed) of each hydraulic actuator in such a combined operation.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, in the combined operation of an excavator, the balance of the operating speeds of the respective hydraulic actuators changes due to aging deterioration of the excavator, replacement of the bucket, climate, etc. In many cases, the user of the excavator continues to use it without changing the settings because, even if the speed balance of the actuators changes and the operability changes, the user does not notice, or even if the user notices, it is difficult (or troublesome) to adjust. That is, the excavator continues to be used in a state where the operability of the actuators has deteriorated.

[0005] The present disclosure provides an excavator capable of improving the operability of an actuator by appropriately setting the speed balance of the actuators.

Means for Solving the Problems

[0006] According to one aspect of the present disclosure, there is provided an excavator including a lower traveling body, an upper slewing body rotatably provided on the lower traveling body, an attachment provided on the upper slewing body, an actuator for operating the attachment and / or the upper slewing body, and a control unit for controlling the operation of the actuator. The control unit controls a test step of calculating the current capacity of the actuator, a calculation step of calculating a parameter for operating the actuator based on the calculated current capacity of the actuator, and a setting step of setting the calculated parameter as a set value for operating the actuator.

Advantages of the Invention

[0007] The excavator according to one aspect can improve the operability of the actuator.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Mode for Carrying Out the Invention

[0009] Hereinafter, embodiments for carrying out the present disclosure will be described with reference to the drawings. In each drawing, the same reference numerals are given to the same components, and redundant explanations may be omitted.

[0010] First, referring to FIG. 1, an overview of the excavator 100 according to the embodiment will be described. FIG. 1 is a side view of the excavator 100 according to the embodiment.

[0011] The excavator 100 according to the embodiment includes a lower traveling body 1, an upper slewing body 3 that is mounted on the lower traveling body 1 so as to be slewing freely via a slewing mechanism 2, a boom 4, an arm 5, and a bucket 6 as attachments, and a cabin 10.

[0012] The lower traveling body 1 includes, for example, a pair of left and right crawlers, and each crawler is hydraulically driven by traveling hydraulic motors 1L and 1R (see FIG. 2) to make the excavator 100 travel.

[0013] The upper slewing body 3 is driven by a slewing hydraulic motor 2A (see FIG. 2), which is a hydraulic actuator, to slew with respect to the lower traveling body 1. Note that the drive source of the slewing mechanism 2 is not limited to a hydraulic actuator, and an electric motor or the like may be applied.

[0014] The boom 4 is connected to the front center of the upper swing body 3 so as to be capable of pitching motion. The arm 5 is connected to the tip of the boom 4 so as to be rotatable. The bucket 6 is connected to the tip of the arm 5 so as to be rotatable. The boom 4 is hydraulically driven by a boom cylinder 7 which is an attachment hydraulic actuator. The arm 5 is hydraulically driven by an arm cylinder 8 which is an attachment hydraulic actuator. The bucket 6 which is an end attachment is hydraulically driven by a bucket cylinder 9 which is an attachment hydraulic actuator.

[0015] The cab 10 is a driver's cab in which a user (operator) rides and is mounted on the front left side of the upper swing body 3.

[0016] Next, with reference to FIG. 2, a hydraulic circuit of a hydraulic drive system for driving a hydraulic actuator will be described. FIG. 2 is a diagram showing an example of a hydraulic circuit of a hydraulic drive system of the excavator 100. In the figure, the mechanical power line is shown by a double line, the high-pressure hydraulic line is shown by a solid line, and the electric drive / control line is shown by a dotted line.

[0017] The hydraulic drive system for hydraulically driving the hydraulic actuators of the excavator 100 according to the embodiment includes an engine 11, a regulator 13, a main pump 14, a pilot pump 15, and a control valve 17.

[0018] The engine 11 is a main power source in the hydraulic drive system and is mounted, for example, at the rear of the upper swing body 3. The engine 11 rotates at a constant speed at a preset target rotational speed based on direct (or indirect) control by a controller 30 described later and drives the main pump 14 and the pilot pump 15. The engine 11 is, for example, a diesel engine using light oil as fuel.

[0019] The regulator 13 controls the discharge amount of the main pump 14. The regulator 13 adjusts the angle (tilt angle) of the swash plate of the main pump 14 in response to a control command from the controller 30. The regulator 13 includes, for example, regulators 13L and 13R.

[0020] The main pump 14 is mounted, for example, at the rear part of the upper swing body 3, like the engine 11, and supplies hydraulic oil to the control valve 17 through a high-pressure hydraulic line. The main pump 14 is, for example, a variable displacement hydraulic pump, and the stroke length of the piston is adjusted by adjusting the tilting angle of the swash plate by the regulator 13, and the discharge amount (discharge pressure) is controlled. The main pump 14 includes, for example, main pumps 14L and 14R.

[0021] The pilot pump 15 is mounted, for example, at the rear part of the upper swing body 3, and supplies pilot pressure to the operating device 26 through a pilot line. The pilot pump 15 is, for example, a fixed displacement hydraulic pump.

[0022] The control valve 17 is mounted, for example, at the central part of the upper swing body 3, and is a hydraulic control device that controls the hydraulic drive system according to the operation of the operating device 26 by the user. The control valve 17 selectively supplies the hydraulic oil supplied from the main pump 14 through the high-pressure hydraulic line to each hydraulic actuator (travel hydraulic motors 1L and 1R, swing hydraulic motor 2A, boom cylinder 7, arm cylinder 8, and bucket cylinder 9) according to the operation state of the operating device 26. Specifically, the control valve 17 includes control valves 171 to 176 that control the flow rate and flow direction of the hydraulic oil supplied from the main pump 14 to each hydraulic actuator.

[0023] Further, the hydraulic system realized by the hydraulic circuit circulates the hydraulic oil from each of the main pumps 14L and 14R driven by the engine 11 through the center bypass oil passages C1L and C1R and the parallel oil passages C2L and C2R to the hydraulic oil tank.

[0024] The center bypass oil passage C1L starts from the main pump 14L, passes through the control valves 171, 173, 175L, and 176L arranged in the control valve 17 in sequence, and reaches the hydraulic oil tank.

[0025] The center bypass oil passage C1R starts from the main pump 14R, passes through the control valves 172, 174, 175R, and 176R arranged in the control valve 17 in sequence, and reaches the hydraulic oil tank.

[0026] The control valve 171 is a spool valve that supplies the hydraulic oil discharged from the main pump 14L to the travel hydraulic motor 1L and discharges the hydraulic oil discharged from the travel hydraulic motor 1L to the hydraulic oil tank.

[0027] The control valve 172 is a spool valve that supplies the hydraulic oil discharged from the main pump 14R to the travel hydraulic motor 1R and discharges the hydraulic oil discharged from the travel hydraulic motor 1R to the hydraulic oil tank.

[0028] The control valve 173 is a spool valve that supplies the hydraulic oil discharged from the main pump 14L to the swing hydraulic motor 2A and discharges the hydraulic oil discharged from the swing hydraulic motor 2A to the hydraulic oil tank.

[0029] The control valve 174 is a spool valve that supplies the hydraulic oil discharged from the main pump 14R to the bucket cylinder 9 and discharges the hydraulic oil in the bucket cylinder 9 to the hydraulic oil tank.

[0030] The control valves 175L and 175R are spool valves that supply the hydraulic oil discharged from the main pumps 14L and 14R to the boom cylinder 7 respectively and discharge the hydraulic oil in the boom cylinder 7 to the hydraulic oil tank.

[0031] The control valves 176L and 176R supply the hydraulic oil discharged from the main pumps 14L and 14R to the arm cylinder 8 respectively and discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank.

[0032] The control valves 171, 172, 173, 174, 175L, 175R, 176L, and 176R adjust the flow rate of the hydraulic oil supplied to and discharged from each hydraulic actuator or switch the flow direction according to the pilot pressure acting on the pilot port.

[0033] The parallel oil passage C2L supplies the hydraulic oil of the main pumps 14L to the control valves 171, 173, 175L, and 176L in parallel with the center bypass oil passage C1L. Specifically, the parallel oil passage C2L branches from the center bypass oil passage C1L upstream of the control valve 171 and is configured to be able to supply the hydraulic oil of the main pump 14L in parallel to each of the control valves 171, 173, 175L, and 176R. Thereby, when the flow of the hydraulic oil passing through the center bypass oil passage C1L is restricted or blocked by any one of the control valves 171, 173, and 175L, the parallel oil passage C2L can supply the hydraulic oil to the more downstream control valve.

[0034] The parallel oil passage C2R supplies the hydraulic oil of the main pump 14R to the control valves 172, 174, 175R, and 176R in parallel with the center bypass oil passage C1R. Specifically, the parallel oil passage C2R branches from the center bypass oil passage C1R upstream of the control valve 172 and is configured to be able to supply the hydraulic oil of the main pump 14R in parallel to each of the control valves 172, 174, 175R, and 176R. The parallel oil passage C2R can supply the hydraulic oil to the more downstream control valve when the flow of the hydraulic oil passing through the center bypass oil passage C1R is restricted or blocked by any one of the control valves 172, 174, and 175R.

[0035] Each of the regulators 13L and 13R adjusts the discharge amount of the main pumps 14L and 14R by adjusting the tilting angle of the swash plates of the main pumps 14L and 14R under the control of the controller 30.

[0036] The discharge pressure sensor 28L detects the discharge pressure of the main pump 14L, and the detection signal corresponding to the detected discharge pressure is taken into the controller 30. The same applies to the discharge pressure sensor 28R. Thereby, the controller 30 can control the regulators 13L and 13R according to the discharge pressures of the main pumps 14L and 14R.

[0037] In the center bypass oil passages C1L and C1R, negative control throttles (hereinafter referred to as "negative control throttles") 18L and 18R are provided between each of the most downstream control valves 176L and 176R and the hydraulic oil tank. Thereby, the flow of the hydraulic oil discharged by the main pumps 14L and 14R is restricted by the negative control throttles 18L and 18R. And the negative control throttles 18L and 18R generate a control pressure (hereinafter referred to as "negative control pressure") for controlling the regulators 13L and 13R.

[0038] The negative control pressure sensors 19L and 19R detect the negative control pressure, and the detection signals corresponding to the detected negative control pressure are taken into the controller 30.

[0039] The controller 30 controls the regulators 13L and 13R according to the discharge pressures of the main pumps 14L and 14R detected by the discharge pressure sensors 28L and 28R, and adjusts the discharge amounts of the main pumps 14L and 14R. For example, the controller 30 controls the regulator 13L according to the increase in the discharge pressure of the main pump 14L, and reduces the discharge amount by adjusting the swash plate tilt angle of the main pump 14L. The same applies to the regulator 13R. Thereby, the controller 30 can perform the total horsepower control of the main pumps 14L and 14R so that the absorbed horsepower of the main pumps 14L and 14R, which is represented by the product of the discharge pressure and the discharge amount, does not exceed the output horsepower of the engine 11.

[0040] Also, the controller 30 may adjust the discharge amounts of the main pumps 14L and 14R by controlling the regulators 13L and 13R according to the negative control pressure detected by the negative control pressure sensors 19L and 19R. For example, the controller 30 decreases the discharge amounts of the main pumps 14L and 14R as the negative control pressure increases, and increases the discharge amounts of the main pumps 14L and 14R as the negative control pressure decreases.

[0041] Specifically, in the standby state (the state shown in FIG. 3) where none of the hydraulic actuators in the excavator 100 are operated, the hydraulic oil discharged from the main pumps 14L and 14R passes through the center bypass oil passages C1L and C1R and reaches the negative control throttles 18L and 18R. Then, the flow of the hydraulic oil discharged from the main pumps 14L and 14R increases the negative control pressure generated upstream of the negative control throttles 18L and 18R. As a result, the controller 30 decreases the discharge amounts of the main pumps 14L and 14R to the allowable minimum discharge amounts, and suppresses the pressure loss (pumping loss) when the discharged hydraulic oil passes through the center bypass oil passages C1L and C1R.

[0042] On the other hand, when any one of the hydraulic actuators is operated through the operating device 26, the hydraulic oil discharged from the main pumps 14L and 14R flows into the hydraulic actuator to be operated via the control valve corresponding to the hydraulic actuator to be operated. Then, the flow of the hydraulic oil discharged from the main pumps 14L and 14R decreases or disappears the amount reaching the negative control throttles 18L and 18R, and decreases the negative control pressure generated upstream of the negative control throttles 18L and 18R. As a result, the controller 30 increases the discharge amounts of the main pumps 14L and 14R, circulates sufficient hydraulic oil to the hydraulic actuator to be operated, and can surely drive the hydraulic actuator to be operated.

[0043] The controller 30 is provided, for example, in the cab 10 and performs drive control of the excavator 100. The function of the controller 30 may be realized by arbitrary hardware, or a combination of hardware and software. For example, the controller 30 is mainly configured by a microcomputer including a processor such as a CPU (Central Processing Unit), a memory device such as a RAM (Random Access Memory), a nonvolatile auxiliary storage device such as a ROM (Read Only Memory), and various interface devices for input and output. The controller 30 realizes various functions by executing various programs stored in the auxiliary storage device on the processor.

[0044] Returning to FIG. 1, in addition to the controller 30, the control system of the excavator 100 includes an operation device 26, a display device 40, an input device 42, a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a body tilt sensor S4, a slewing state sensor S5, an imaging device S6, a boom rod pressure sensor S7R, a boom bottom pressure sensor S7B, an arm rod pressure sensor S8R, an arm bottom pressure sensor S8B, a bucket rod pressure sensor S9R, a bucket bottom pressure sensor S9B, a positioning device V1, a communication device T1, and the like.

[0045] The operation device 26 is provided near the driver's seat in the cabin 10 and is a device for the user to operate various operating elements (such as the lower traveling body 1, the upper slewing body 3, the boom 4, the arm 5, the bucket 6, etc.). The display device 40 is provided in a place that is easily visible to the seated user in the cabin 10 and is an output device that displays various information images under the control of the controller 30. The input device 42 is provided within the reach of the seated user in the cabin 10, accepts various operation inputs from the user, and outputs a signal corresponding to the operation input to the controller 30. The input device 42 includes a touch panel mounted on the display of a display device that displays various information images, a knob switch provided at the tip of the lever of the operation device 26, a button switch installed around the display device 40, a lever, a toggle, and the like. A sensor for detecting the operation content, which is the operation amount and operation direction of the operation device 26, may be provided.

[0046] The boom angle sensor S1 is attached to the boom 4 and detects the pitching angle of the boom 4 with respect to the upper slewing body 3 (hereinafter referred to as the "boom angle"). For example, in a side view, it detects the angle formed by the straight line connecting the fulcrums at both ends of the boom 4 with respect to the slewing plane of the upper slewing body 3. The boom angle sensor S1 may include, for example, a rotary encoder, an acceleration sensor, a 6-axis sensor, an IMU (Inertial Measurement Unit), and the like. The same applies to the following arm angle sensor S2, bucket angle sensor S3, and body tilt sensor S4.

[0047] The arm angle sensor S2 is attached to the arm 5 and detects the rotation angle of the arm 5 with respect to the boom 4 (hereinafter referred to as the "arm angle"), for example, in a side view, the angle formed by the straight line connecting the fulcrums at both ends of the arm 5 with respect to the straight line connecting the fulcrums at both ends of the boom 4.

[0048] The bucket angle sensor S3 is attached to the bucket 6 and detects the rotation angle of the bucket 6 with respect to the arm 5 (hereinafter referred to as the "bucket angle"), for example, in a side view, the angle formed by the straight line connecting the fulcrum and the tip (cutting edge) of the bucket 6 with respect to the straight line connecting the fulcrums at both ends of the arm 5.

[0049] The machine body tilt sensor S4 detects the tilt state of the machine body (the upper slewing body 3 or the lower traveling body 1) with respect to the horizontal plane. The machine body tilt sensor S4 is attached to, for example, the upper slewing body 3 and detects the tilt angles around two axes in the front-rear direction and the left-right direction of the upper slewing body 3.

[0050] The slewing state sensor S5 outputs detection information regarding the slewing state of the upper slewing body 3. The slewing state sensor S5 detects, for example, the slewing angular velocity and the slewing angle of the upper slewing body 3. The slewing state sensor S5 includes, for example, a gyro sensor, a resolver, a rotary encoder, etc.

[0051] The imaging device S6 images the periphery of the excavator 100. The imaging device S6 includes a camera that images the front of the excavator 100, a camera that images the left side of the excavator 100, a camera that images the right side of the excavator 100, a camera that images the rear of the excavator 100, etc. As the imaging device S6, a monocular wide-angle camera having a wide angle of view, a stereo camera, a distance image camera, etc. can be applied.

[0052] The boom rod pressure sensor S7R and the boom bottom pressure sensor S7B are attached to the boom cylinder 7 and detect the pressure in the rod side oil chamber (boom rod pressure) and the pressure in the bottom side oil chamber (boom bottom pressure) of the boom cylinder 7.

[0053] The arm rod pressure sensor S8R and the arm bottom pressure sensor S8B are attached to the arm cylinder 8 and detect the pressure in the rod side oil chamber (arm rod pressure) and the pressure in the bottom side oil chamber (arm bottom pressure) of the arm cylinder 8.

[0054] The bucket rod pressure sensor S9R and the bucket bottom pressure sensor S9B are respectively attached to the bucket cylinder 9 and detect the pressure in the rod side oil chamber (bucket rod pressure) and the pressure in the bottom side oil chamber (bucket bottom pressure) of the bucket cylinder 9.

[0055] The positioning device V1 measures the position and orientation of the upper slewing body 3. The positioning device V1 is, for example, a GNSS (Global Navigation Satellite System) compass. The communication device T1 communicates with external devices through a predetermined network including a mobile communication network, a satellite communication network, an Internet network, etc. having a base station as an end point.

[0056] When the above-mentioned excavator 100 is operated by the user using the operating device 26, a combined operation may be performed in which a plurality (for example, two) of hydraulic actuators operate simultaneously. In this case, the controller 30 controls the regulators 13L and 13R in Fig. 2 so that each hydraulic actuator operates based on preset parameters, and adjusts the discharge amounts of the main pumps 14L and 14R. Specifically, in the combined operation, the controller 30 controls the regulators 13L and 13R so that the flow rate distribution of the hydraulic oil supplied to each hydraulic actuator becomes the preset content. For example, when the boom 4 is raised and the upper swing body 3 is swung simultaneously (hereinafter referred to as "boom raising and swinging operation"), the swing hydraulic motor 2A is operated by the hydraulic oil of the main pump 14L, and the boom cylinder 7 is operated by the hydraulic oil of the main pumps 14L and 14R. At this time, hydraulic oil flows into the swing hydraulic motor 2A from the upstream side (main pump 14L side) of the boom cylinder 7 in the center bypass oil passage C1L. Therefore, the controller 30 can relatively increase the flow rate of the swing hydraulic motor 2A by increasing the discharge amount of the main pump 14L. On the other hand, the boom cylinder 7 can receive the supply of hydraulic oil not only from the main pump 14L but also from the main pump 14R. The controller 30 can relatively increase the flow rate of the boom cylinder 7 by increasing the discharge amount of the main pump 14R. In this way, the controller 30 can adjust the flow rate of the hydraulic oil supplied to each hydraulic actuator to the set content by controlling the discharge amounts of the main pumps 14L and 14R in the combined operation based on the operation of the operating device 26.

[0057] For example, in response to an operation on the input device 42 by the user, the controller 30 sets the relative degree of responsiveness (hereinafter referred to as "relative responsiveness") of each hydraulic actuator with respect to the operation input to the operating device 26 in the combined operation. The relative responsiveness of each hydraulic actuator is the distribution of the operating speeds of the respective hydraulic actuators when the respective hydraulic actuators are operated simultaneously. The relative responsiveness has a trade-off relationship such that when one of the respective hydraulic actuators is increased, the other decreases. The relative responsiveness of each hydraulic actuator may include the respective reaction times from the operation of each hydraulic actuator to the start of operation when the respective hydraulic actuators are operated simultaneously, the respective operating speeds of the respective hydraulic actuators, the operating acceleration, and the like. In other words, the relative responsiveness of each hydraulic actuator is the relative priority regarding which of the respective hydraulic actuators is to be operated preferentially. The relative responsiveness of each hydraulic actuator can be changed, for example, by adjusting the flow rate distribution of the hydraulic oil supplied to each hydraulic actuator.

[0058] The controller 30 enables the setting of the relative responsiveness (hereinafter referred to as "relative responsiveness setting") of each hydraulic actuator in the combined operation, which is realized by executing a program stored in a non-volatile auxiliary storage device. FIG. 3 is a block diagram showing the functional units formed in the controller 30 when performing the combined operation of the excavator 100. As shown in FIG. 3, inside the controller 30, an operation screen display processing unit 301, a combined operation setting unit 302, a distribution control unit 303, and an automatic setting unit 304 are constructed.

[0059] The operation screen display processing unit 301 causes the display device 40 to display various operation screens for the combined operation. For example, the operation screen display processing unit 301 displays a selection screen 300 (see FIG. 4) for selecting a combined operation to be the setting target (or confirmation target) of the relative responsiveness from among a plurality of types of pre-defined combined operations, a setting screen 400 (see FIG. 5) for setting the relative responsiveness, and the like. Thereby, the user of the excavator 100 can set the relative responsiveness of each hydraulic actuator or confirm the setting content for each of the plurality of types of combined operations.

[0060] FIG. 4 is a diagram showing an example of a selection screen 300 displayed on the display device 40 of the excavator 100. When an option for screen transition (for example, a button icon) on a predetermined operation screen (so-called home screen) displayed on the display device 40 is operated through the input device 42, the operation screen display processing unit 301 causes a transition to the selection screen 300 of the display device 40.

[0061] The selection screen 300 includes a list 310 of a plurality of selectable types of combined operations arranged at the central part in the vertical direction. The selection screen 300 also includes button icons 311 arranged in the left-right direction at the lower end for performing cursor operations.

[0062] The list 310 includes, as selectable types of combined operations, a combined operation of the closing operation of the arm 5 and the boom raising operation during fine grading work (hereinafter referred to as "arm closing and boom raising operation") ("Arm in & Boom up"). The list 310 also includes, as selectable types of combined operations, a combined operation of the arm closing operation and the bucket 6 closing operation during digging work (hereinafter referred to as "arm closing and bucket closing operation") ("Arm in & Bucket close"). The list 310 also includes, as selectable types of combined operations, the arm closing and boom raising operation during digging work. The list 310 also includes, as selectable types of combined operations, a combined operation of the bucket closing operation and the boom raising operation during digging work (hereinafter referred to as "bucket closing and boom raising operation") ("Bucket close & Boom up"). The list 310 also includes, as selectable types of combined operations, the boom raising and swing operation during the operation of loading earth and sand etc. onto the truck ("Truck loading") ("Boom up & Swing").

[0063] Note that in this example, different relative response degrees between the arm cylinder 8 and the boom cylinder 7 can be set for the arm closing and boom raising operations during leveling work and the arm closing and boom raising operations during excavation work. In this case, the controller 30 determines the work content of the excavator 100, and controls the flow rate distribution to the arm cylinder 8 and the boom cylinder 7 corresponding to the work content according to whether the determined work content is excavation work or leveling work. For example, the controller 30 can determine whether it is excavation work or leveling work based on the measured value of the cylinder pressure of the boom cylinder 7, the image of the camera that images the front of the excavator 100, and the like.

[0064] The user can move the cursor up and down by operating the arrow button icon 311 via the input device 42, and select a desired type of composite operation. Then, in a state where the desired type of composite operation is selected by the cursor, the user can confirm the selected type of composite operation by operating the check button icon 311. When the type of the composite operation is confirmed, the operation screen display processing unit 301 changes the display content of the display device 40 to a setting screen 400 related to the composite operation for which the selection has been confirmed.

[0065] FIG. 5 is a diagram showing an example of the setting screen 400 for the arm closing and boom raising operation in leveling work. The setting screen 400 displays a shovel image 401 imitating the composite operation to be set (the arm closing and boom raising operation in leveling work) at the center. Further, the setting screen 400 displays arrow icons 402 and 403 imitating the arm closing operation and the boom raising operation adjacent to the portions corresponding to the arm 5 and the boom 4 of the shovel image 401. Further, the setting screen 400 displays a bar graph 404 indicating the relative response degree between the arm cylinder 8 and the boom cylinder 7 below the shovel image 401. Further, similar to the selection screen 300, the setting screen 400 has a button icon 405 for performing cursor operations.

[0066] The bar graph 404 includes a bar graph 404A showing the relative responsiveness of the arm cylinder 8 corresponding to the arm closing operation, and a bar graph 404B showing the relative responsiveness of the boom cylinder 7 corresponding to the boom raising operation. The bar graphs 404A and 404B are arranged vertically side by side and extend to the left and right of the setting screen 400.

[0067] In this example, the bar graphs 404A and 404B are each displayed in 10 levels. The bar graphs 404A and 404B are each displayed in the range from "Level 1" to "Level 9", and the sum of both is "Level 10". In the state of FIG. 5, the bar graph 404A shows "Level 4", and the bar graph 404B shows "Level 6", indicating a state where the operation of the boom cylinder 7 is slightly prioritized over the operation of the arm cylinder 8. In this way, the setting screen 400 makes it easy for the user to visually confirm the relative responsiveness of the two hydraulic actuators (the arm cylinder 8 and the boom cylinder 7), and thus enables the user to easily set the relative responsiveness.

[0068] For example, the user moves the cursor up and down by operating the up and down arrow button icons 405 via the input device 42, and selects either the bar graph 404A or 404B. Then, with either the bar graph 404A or 404B selected, the user operates the right arrow button icon 405 to increase the level of the selected bar graph by one level at a time. Conversely, the user operates the left arrow button icon 405 to decrease the level of the selected bar graph by one level at a time. At this time, the operation screen display processing unit 301 automatically increases or decreases the level of the other bar graph that is not selected in accordance with the increase or decrease of the level of the selected bar graph, and maintains a state where the sum of both is "Level 10".

[0069] Then, with the stages of the bar graphs 404A and 404B changed to the desired content, the user can determine the setting of the relative responsiveness of the arm cylinder 8 and the boom cylinder 7 by operating the check button icon 405. At this time, the composite operation setting unit 302 stores in the memory device (or auxiliary storage device) the relative responsiveness of the arm cylinder 8 and the boom cylinder 7 during the arm closing and boom raising operations for leveling work, corresponding to the display content of the bar graphs 404A and 404B.

[0070] The composite operation setting unit 302 sets the relative responsiveness of each hydraulic actuator in the arm closing and boom raising operations for leveling work according to the user's operation on the setting screen 400 via the input device 42. Note that a plurality of types of composite operations are prepared in advance as described above. Therefore, the composite operation setting unit 302 can set the relative responsiveness of each composite operation.

[0071] The distribution control unit 303 reads out the relative responsiveness of each hydraulic actuator stored in the memory device during the actual composite operation of the excavator 100. Then, the distribution control unit 303 controls the regulators 13L and 13R based on the read relative responsiveness to adjust the flow rate distribution of the hydraulic oil to each hydraulic actuator to be controlled. Thereby, in the composite operation, the excavator 100 has the operating speed of each hydraulic actuator corresponding to the distributed hydraulic oil, and the excavator 100 can be controlled with the set balance.

[0072] However, as described above, the relative responsiveness, which is the balance of the operating speeds of each hydraulic actuator in the composite operation of the excavator 100, changes due to the aging deterioration of the excavator 100, the replacement of the bucket, the climate, etc. It is difficult for the user to set the optimal relative responsiveness of each hydraulic actuator according to such a change in the current capacity of the excavator 100. Therefore, even when the balance of the operating speeds of each hydraulic actuator changes, the user often continues to use the excavator 100 without changing the setting of the relative responsiveness.

[0073] Therefore, as shown in FIG. 3, the excavator 100 according to the embodiment is configured such that the automatic setting unit 304 formed inside the controller 30 automatically sets the relative response degrees of the respective hydraulic actuators in the composite operation to an optimal balance. This automatic setting unit 304 includes a test control unit 305, a detection information acquisition unit 306, a balance calculation unit 307, and a setting change unit 308 inside.

[0074] Specifically, the test control unit 305 executes a test mode (test process) for detecting the current capabilities of the excavator 100 in order to obtain parameters for operating the actuator. For example, the test control unit 305 automatically tests the current capabilities of boom cylinders 7, arm cylinders 8, bucket cylinders 9, etc., which are hydraulic actuators for attachments (boom 4, arm 5, bucket 6). The current capabilities of the hydraulic actuator include the moving speed of the shaft, acceleration, moving time (moving start timing, moving end timing), angle range, damping effectiveness, load applied to the shaft, etc. when the attachment operates. In the test mode, at least one of these capabilities of the hydraulic actuator is detected and stored in the memory device. Alternatively, the current capabilities of the actuator can be calculated based on any one of the discharge pressure of the hydraulic pumps (main pump 14, pilot pump 15) in the test mode, the operation content of the operation device 26, and the pilot pressure of the pilot port. Note that in the test mode of the hydraulic actuator, the test control unit 305 may test the current capabilities of the travel hydraulic motors 1L, 1R, swing hydraulic motor 2A, etc. in addition to the attachment hydraulic actuators.

[0075] The test control unit 305 determines whether or not a trigger condition for starting the test is satisfied, and starts the test mode when the trigger condition is satisfied. Examples of the trigger condition include a case where an operation to start automatic setting is performed by the user via an input device 42 such as a dedicated button, and a case where an automatic setting command is issued by external communication such as a management device.

[0076] For example, the trigger conditions constantly monitor states such as boom rod pressure, boom bottom pressure, arm rod pressure, arm bottom pressure, bucket rod pressure, and bucket bottom pressure. One example is when the pressure required for appropriate operation significantly changes from the previous pressure. Alternatively, the trigger conditions may be when a predetermined period has elapsed since the timing of the previous relative reactivity setting, when the boom cylinder 7 end attachment is replaced, when the detected temperature (e.g., the temperature of the hydraulic oil) significantly changes, and so on. Furthermore, the trigger conditions may monitor the operation of the excavator 100 and be executed at a timing that does not interfere with the work by determining before the start of various operations such as excavation work, after the end of various operations, or during the intervals between various operations.

[0077] In the test mode, the test control unit 305 tests the capabilities of each of the boom cylinder 7, arm cylinder 8, bucket cylinder 9, and swing hydraulic motor 2A (individually). FIG. 6 is a side view illustrating a single-cylinder test of the arm cylinder 8. As an example, when performing a single-cylinder test of the arm cylinder 8, the test control unit 305 controls to operate only the arm 5 with the arm cylinder 8 while fixing the upper swing body 3, boom 4, and bucket 6 in appropriate postures. In the test mode, the capabilities of the boom cylinder 7, arm cylinder 8, bucket cylinder 9, and swing hydraulic motor 2A may be detected by operating a plurality of hydraulic actuators simultaneously. Also, when operating a plurality of hydraulic actuators simultaneously, a pre-prepared combined operation may be performed.

[0078] At this time, the test control unit 305 arranges the boom 4 at a position where the arm 5 is in the most open state (arm open limit position) and is horizontal with respect to the ground. Further, the test control unit 305 arranges the bucket 6 at a bucket closed limit position where the tip (claw) side of the bucket 6 is close to the arm 5 side. Then, while fixing the upper swing body 3, the boom 4, and the bucket 6, the test control unit 305 operates the arm cylinder 8 to move (open and close) the arm 5 between the arm open limit position and the arm closed limit position. The hydraulic oil supplied to the arm cylinder 8 that is the test object in this test mode may use the previous setting or the reference setting for the test mode.

[0079] The detection information acquisition unit 306 (see FIG. 3) measures, by means of a timer in the controller 30, for example, the movement time of the arm 5 from the arm open limit position to the arm closed limit position (and / or from the arm closed limit position to the arm open limit position). In the measurement of the movement time, various times including the movement start timing at which the arm 5 starts to move from the supply of the hydraulic oil and the movement stop timing at which the arm 5 stops moving may be measured. At this time, the test control unit 305 recognizes the arm open limit position and the arm closed limit position using the arm angle information of the arm angle sensor S2. The arm open limit position and the arm closed limit position are predefined according to the structure of the attachment, and the controller 30 holds the distance between the arm open limit position and the arm closed limit position. Therefore, the detection information acquisition unit 306 can calculate the movement speed of the arm 5 by obtaining the movement time of the arm 5. Further, the discharge pressure sensors 28L and 28R may be used to obtain the discharge pressures of the main pumps 14L and 14R, and the pilot pressures acting on the respective pilot ports of the control valves 171, 172, 173, 174, 175L, 175R, 176L, and 176R may be obtained. The operation amount and operation direction of the operation device 26 may be obtained, and various times including the movement start timing at which the arm 5 starts to move and the movement stop timing at which the arm 5 stops moving may be measured.

[0080] For example, in the test mode, the effectiveness of the damper of the arm cylinder 8 near the arm opening limit position and near the arm closing limit position is confirmed. In this case, the detection information acquisition unit 306 monitors the arm angle with the arm angle sensor S2, and acquires the arm rod pressure of the arm rod pressure sensor S8R and the arm bottom pressure of the arm bottom pressure sensor S8B near the arm opening limit position and near the arm closing limit position. The effectiveness of the damper can be confirmed using the arm rod pressure and the arm bottom pressure as indicators.

[0081] Note that in the single test, the detection information acquisition unit 306 may appropriately acquire the detection information of various sensors provided in the excavator 100 as an indicator of the current capabilities of each hydraulic actuator. For example, the detection information acquisition unit 306 may acquire the acceleration during the movement of the arm 5 with the arm angle sensor S2, or may detect the pressure applied to the hydraulic oil with a pressure sensor (not shown) to acquire the load applied during the drive of the arm cylinder 8.

[0082] Also, although FIG. 6 shows the case of performing a single test on the arm cylinder 8, it goes without saying that the single tests on the boom cylinder 7, the bucket cylinder 9, and the swing hydraulic motor 2A can be executed in the same manner. For example, in the single test of the boom cylinder 7, the arm 5 and the bucket 6 are fixed at appropriate positions, and the boom 4 is pivoted between the boom upper limit position and the boom lower limit position only by the boom cylinder 7. Thereby, the detection information acquisition unit 306 can acquire the time taken for the movement of the boom 4 (i.e., the movement speed), the effectiveness of the damper, and the like. Also, for example, in the single test of the bucket cylinder 9, the boom 4 and the arm 5 are fixed at appropriate positions, and the bucket 6 is rotated between the bucket opening limit position and the bucket closing limit position only by the bucket cylinder 9. Thereby, the detection information acquisition unit 306 can acquire the time taken for the movement of the bucket 6 (i.e., the movement speed), the effectiveness of the damper, and the like.

[0083] The balance calculation unit 307 in FIG. 3 calculates the relative response degree (parameter) of each hydraulic actuator in each combined operation based on the capabilities of the acquired attachment hydraulic actuators (boom cylinder 7, arm cylinder 8, bucket cylinder 9). For example, in the combined operation of the arm closing and boom raising operation during leveling work shown in FIG. 5, the balance calculation unit 307 reads the capabilities of the corresponding boom cylinder 7 and arm cylinder 8, and recognizes the difference between the current capabilities of the attachment hydraulic actuators and the reference capabilities. The reference capabilities of the attachment hydraulic actuators are those set at a predetermined time, for example, those inspected and set at the time of factory shipment (axial movement speed, acceleration, movement time (movement start timing, movement end timing), angle range of the actuator driven by the attachment hydraulic actuator, damping effect, load on the axis, etc.). The predetermined time is not limited to the inspection at the time of factory shipment, which is the initial state before the user starts using, but may be set regularly or irregularly from the time of factory shipment until before the start of the test mode, or even when set by the user's operation. Also, a plurality of reference capabilities of the attachment hydraulic actuators may be set and made selectable.

[0084] FIG. 7(A) is a first diagram for explaining the concept of calculating the relative response degree based on the results of the test mode. FIG. 7(B) is a second diagram for explaining the concept of calculating the relative response degree based on the results of the test mode. By the test mode of the test control unit 305, as shown in FIG. 7(A), the balance calculation unit 307 recognizes that the movement speed of the boom cylinder 7 is lower than the reference speed (for example, the speed at the time of factory shipment), while the movement speed of the arm cylinder 8 remains unchanged from the reference speed. In this case, it can be considered that the boom cylinder 7 is affected by aging deterioration or the like.

[0085] Based on the test mode results of the boom cylinder 7 and the arm cylinder 8, the balance operation unit 307 performs an operation to increase the moving speed of the boom cylinder 7 (or decrease the moving speed of the arm cylinder 8). The increase amount of the moving speed of the boom cylinder 7 (or the decrease amount of the moving speed of the arm cylinder 8) may be calculated based on the difference between the reference speed and the current moving speed of the boom cylinder 7. Thereby, the balance operation unit 307 can calculate an appropriate relative responsiveness considering the current capabilities of the boom cylinder 7 and the arm cylinder 8.

[0086] The relative responsiveness calculated by the balance operation unit 307 may be, for example, a parameter that enables the operation of each hydraulic actuator at the time of factory shipment, which is one of the predetermined times of the excavator 100. Thereby, the excavator 100 can return to the operability at the initial stage (at the time of factory shipment).

[0087] Alternatively, when the relative responsiveness is set by the user, the relatively responsiveness once calculated may be changed based on the user parameters set by the user. That is, the controller 30 can change the relative responsiveness setting previously set by the user according to the current capabilities of each hydraulic actuator by calculating change parameters according to the user settings.

[0088] Also, assume that, depending on the test mode of the test control unit 305, the balance calculation unit 307 recognizes that, as shown in FIG. 7(B), the moving speed of the boom cylinder 7 has decreased below the reference speed and the moving speed of the arm cylinder 8 has also decreased below the reference speed. In this case, the balance calculation unit 307 may calculate an appropriate relative response degree based on the relative difference between the difference in the capabilities of the boom cylinder 7 and the difference in the capabilities of the arm cylinder 8. For example, when the moving speed of the arm cylinder 8 has decreased significantly from the reference speed compared to the moving speed of the boom cylinder 7, the moving speed of the arm cylinder 8 is increased. In other words, the balance calculation unit 307 can obtain an appropriate relative response degree by increasing the moving speed of the cylinder with the larger difference among the difference in the capabilities of the boom cylinder 7 and the difference in the capabilities of the arm cylinder 8 and decreasing the other. Of course, when the decrease in the moving speed of the boom cylinder 7 and the decrease in the moving speed of the arm cylinder 8 are about the same, the balance calculation unit 307 does not need to change the relative response degree.

[0089] Further, when the excavator 100 replaces the bucket 6, which is an end attachment, the moving speed of the boom cylinder 7 and / or the moving speed of the arm cylinder 8 may increase. Also in this case, the balance calculation unit 307 can obtain an appropriate relative response degree by performing the same method as described above. Furthermore, when the moving speed of the boom cylinder 7 and / or the moving speed of the arm cylinder 8 decreases due to a change in the temperature of the surrounding environment (for example, the flow of the hydraulic oil slows down in a cold region), the balance calculation unit 307 can also obtain an appropriate relative response degree by performing the same method as described above.

[0090] Returning to FIG. 3, the setting change unit 308 automatically sets (saves) in the memory device the relative reactivity in the arm closing boom raising operation of the leveling operation calculated by the balance calculation unit 307. The setting change unit 308 can overwrite and change the relative reactivity calculated by the balance calculation unit 307 with respect to a preset relative reactivity. Alternatively, the setting change unit 308 may display the relative reactivity calculated by the balance calculation unit 307 on the display device 40 and confirm with the user whether to make a setting change. Thereby, the user can easily recognize the relative reactivity of the calculated combined operation and determine whether to apply it, and can also prevent a setting change when the user wants to maintain the relative reactivity set by himself / herself.

[0091] Also, as described above, when the balance calculation unit 307 calculates both the factory shipment parameters (relative reactivity) and the changed parameters (relative reactivity) based on the user's settings, the setting change unit 308 may propose these two parameters to the user. For example, the setting change unit 308 may take a configuration in which the two parameters are displayed on the display device 40 and the user is allowed to select one of the proposed parameters. Thereby, the user can obtain more optimal operability in the excavator 100.

[0092] Note that in the above description, the setting of the relative reactivity in the arm closing boom raising operation of the leveling operation is described as an example. The controller 30 is not limited to this, and can automatically set the relative reactivity in various combined operations, for example, as shown in FIGS. 8(A) and 8(B).

[0093] FIG. 8(A) is a diagram showing a setting screen 410 for a boom raising and slewing operation in the operation of loading earth and sand onto a truck. Similar to the case of FIG. 5, the setting screen 410 includes, at the center, a shovel image 411 simulating a combined operation to be set (boom raising and slewing operation during loading operation). The setting screen 410 also includes arrow icons 412 and 413 simulating a slewing operation and a boom raising operation, which are arranged at positions adjacent to the shovel image 411. Further, the setting screen 410 includes a bar graph 414 showing the relative responsiveness between the boom cylinder 7 and the slewing hydraulic motor 2A, which is arranged below the shovel image 411. The setting screen 410 also includes a button icon 415 arranged at the lower end for performing a cursor operation.

[0094] Regarding the relative responsiveness of the slewing hydraulic motor 2A and the boom cylinder 7 during the boom raising and slewing operation of this loading operation, the controller 30 can also automatically set it in the same manner as described above. For example, the test control unit 305 performs a test mode including a single test of the boom cylinder 7 and a single test of the slewing hydraulic motor 2A. The detection information acquisition unit 306 stores the current capabilities (such as moving speed) of the boom cylinder 7 and the current capabilities of the slewing hydraulic motor 2A in the test in the memory device. The balance calculation unit 307 can appropriately calculate the relative responsiveness during the boom raising and slewing operation of the loading operation based on the current capabilities of the boom cylinder 7 and the current capabilities of the slewing hydraulic motor 2A. Thereby, the setting change unit 308 can automatically set the calculated relative responsiveness.

[0095] FIG. 8(B) is a diagram showing a setting screen 420 for the arm closing and bucket closing operations in the excavation work. The setting screen 420 also includes a shovel image 421 simulating the composite operation to be set (the arm closing and bucket closing operations in the excavation work). Further, the setting screen 420 includes arrow icons 422 and 423 arranged adjacent to the shovel image 421 and simulating the arm closing and bucket closing operations. Furthermore, the setting screen 420 includes a bar graph 424 showing the relative responsiveness between the boom cylinder 7 and the swing hydraulic motor 2A, which is arranged below the shovel image 421. The setting screen 420 also includes a button icon 425 arranged at the lower end for performing cursor operations.

[0096] Regarding the relative responsiveness of the arm cylinder 8 and the bucket cylinder 9 in the arm closing and bucket closing operations of this excavation work, the controller 30 can also automatically set it in the same manner as described above. For example, the test control unit 305 performs a test mode including a single test of the arm cylinder 8 and a single test of the bucket cylinder 9. The detection information acquisition unit 306 stores the current capabilities (such as moving speed) of the arm cylinder 8 and the current capabilities of the bucket cylinder 9 in the test in the memory device. The balance calculation unit 307 can appropriately calculate the relative responsiveness during the arm closing and bucket closing operations in the excavation work based on the current capabilities of the arm cylinder 8 and the current capabilities of the bucket cylinder 9. Thereby, the setting change unit 308 can automatically set the calculated relative responsiveness.

[0097] The excavator 100 according to the embodiment is basically configured as described above. Hereinafter, a processing flow (composite operation parameter setting method) for setting the relative responsiveness of each hydraulic actuator in the composite operation will be described with reference to FIG. 9. FIG. 9 is a flowchart showing the composite operation parameter setting method.

[0098] The excavator 100 automatically sets the relative responsiveness of each hydraulic actuator in the composite operation by executing steps S101 to S104 shown in FIG. 9 under the control of the controller 30.

[0099] Specifically, the controller 30 first determines whether or not a trigger condition for automatically setting the relative responsiveness is satisfied (step S101). For example, when the above-described trigger condition is satisfied (step S101: YES), the controller 30 starts a process of automatically setting the relative responsiveness.

[0100] The controller 30 first shifts to the test mode by the test control unit 305 and performs a unit test on each of the hydraulic actuators (step S102). When performing the test mode, the test control unit 305 preferably notifies the user of information to the effect that the unit test is being performed via the display device 40 or the like. Thereby, the user can smoothly recognize that the excavator 100 operates automatically in the test mode without depending on his / her own operation. The test control unit 305 operates each of the plurality of hydraulic actuators independently as described above in the test mode. The operation order of each hydraulic actuator is not particularly limited, but for example, it may be performed in the order of the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, and the swing hydraulic motor 2A. The detection information acquisition unit 306 acquires detection information for each unit test of each hydraulic actuator from a timer or a sensor, and associates it with the information of each hydraulic actuator and stores it in the memory device.

[0101] Next, the balance calculation unit 307 of the controller 30 reads out the capabilities (detection information) of each hydraulic actuator corresponding to each of a plurality of types of combined operations from the memory device, and calculates the optimum relative responsiveness of each hydraulic actuator for each combined operation (step S103). That is, the balance calculation unit 307 calculates the relative responsiveness of each hydraulic actuator in the combined operation based on the current capabilities of each hydraulic actuator.

[0102] Then, the setting change unit 308 of the controller 30 reflects (updates) the relative responsiveness calculated by the balance calculation unit 307 in the settings of each composite operation and stores it in the memory device (step S104). Thereby, the excavator 100 can easily and accurately set the balance (relative responsiveness) of each hydraulic actuator in the composite operation without imposing a burden on the user.

[0103] Note that the excavator 100 according to the present disclosure is not limited to the above-described embodiment and can take various modifications. For example, in the above-described embodiment, it has been described that the parameters of each hydraulic actuator in the composite operation of the excavator 100 are automatically set. The excavator 100 is not limited thereto, and the parameters when operating the hydraulic actuator independently may be set by the same method as described above.

[0104] FIG. 10 is a diagram showing another example of a pilot circuit that applies a pilot pressure to a control valve (control valve) that hydraulically controls the boom cylinder 7. Note that the pilot circuits for hydraulically controlling the arm cylinder 8 and the bucket cylinder 9, respectively, are also represented in the same manner as the pilot circuit of FIG. 10 that hydraulically controls the boom cylinder 7. Moreover, the pilot circuit for hydraulically controlling the swing hydraulic motor 2A is also represented in the same manner as the pilot circuit of FIG. 10. As shown in FIG. 10, the excavator 100 can have a configuration in which each hydraulic actuator is operated by a lever device 26A that generates an electric signal and / or a configuration in which each hydraulic actuator autonomously operates via a pilot circuit.

[0105] The pilot circuit includes a solenoid valve 60 for boom raising operation and a solenoid valve 62 for boom lowering operation. The solenoid valve 60 adjusts the pressure of the hydraulic oil in the oil passage (pilot line) connecting the pilot pump 15 and the boom raising side pilot port of the pilot pressure operated control valve 17 (specifically, the control valve 175 (see FIG. 2)). The solenoid valve 62 adjusts the pressure of the hydraulic oil in the oil passage (pilot line) connecting the pilot pump 15 and the lowering side pilot port of the control valve 17 (control valve 175).

[0106] When the boom 4 (boom cylinder 7) is manually operated, the controller 30 generates a boom raising operation signal or a boom lowering operation signal according to the operation signal output by the lever device 26A. The boom raising operation signal and the boom lowering operation signal of the lever device 26A vary according to the operation content (operation amount and operation direction) of the lever device 26A.

[0107] When the lever device 26A is operated in the boom raising direction, the controller 30 outputs a boom raising operation signal corresponding to the operation amount to the solenoid valve 60. The solenoid valve 60 operates according to the boom raising operation signal and controls the pilot pressure acting on the boom raising side pilot port of the control valve 175. Similarly, when the lever device 26A is operated in the boom lowering direction, the controller 30 outputs a boom lowering operation signal corresponding to the operation amount to the solenoid valve 62. The solenoid valve 62 operates according to the boom lowering operation signal and controls the pilot pressure acting on the boom lowering side pilot port of the control valve 175. Thereby, the control valve 17 can operate the boom cylinder 7 (boom 4) according to the operation content of the lever device 26A.

[0108] On the other hand, when the boom 4 (boom cylinder 7) performs autonomous operation, the controller 30 generates a boom raising operation signal or a boom lowering operation signal according to a correction operation signal, regardless of, for example, the operation signal output by the operation signal generation unit of the lever device 26A. The correction operation signal may be an electric signal generated by the controller 30 or an electric signal generated by a control device other than the controller 30. Thereby, the control valve 17 can autonomously operate the boom 4 (boom cylinder 7) according to the correction operation signal.

[0109] Also, regarding the operations of the arm 5 (arm cylinder 8), the bucket 6 (bucket cylinder 9), the upper swing body 3 (swing hydraulic motor 2A), and the lower traveling body 1 (traveling hydraulic motors 1L, 1R), the same operations as those of the boom 4 (boom cylinder 7) can be performed.

[0110] And even with this configuration, the controller 30 can automatically set the relative responsiveness of each hydraulic actuator in order to perform the combined operation of the excavator 100. Therefore, when the excavator 100 performs autonomous control of the combined operation, it is possible to operate each hydraulic actuator based on the set relative responsiveness.

[0111] FIG. 11 is a diagram showing an example of a work support system SYS including the excavator 100. As shown in FIG. 11, the excavator 100 may be remotely operated by the work support system SYS. For example, the work support system SYS may be composed of the excavator 100, a support device 200, a management device 250, a remote operation room RC, and the like.

[0112] The work support system SYS according to the modification example can perform work support for the excavator 100 from the support device 200, the management device 250, or the remote operation room RC based on communication between the support device 200, the management device 250, or the remote operation room RC and the excavator 100. Note that the excavator 100 included in the work support system SYS may be one or a plurality. Also, each of the support device 200 and the management device 250 included in the work support system SYS may be one or a plurality.

[0113] The support device 200 is used, for example, by a user related to the excavator 100 (such as an operator, supervisor, or operator of the excavator 100 at the work site of the excavator 100) to support the work of the excavator 100. The support device 200 is, for example, a user terminal used by a user related to the excavator 100. Specifically, the support device 200 may be a portable terminal such as a smartphone, a tablet terminal, or a laptop computer terminal. Also, the support device 200 may be a stationary terminal such as a desktop computer terminal installed in a temporary office at the work site.

[0114] The support device 200 is communicably connected to the excavator 100 and the management device 250 through a predetermined communication network such as a mobile communication network or a satellite communication network with a base station as an end point. In this case, the support device 200 may be communicably connected to the excavator 100 via the management device 250. Further, the support device 200 may be directly communicable with the excavator 100 through, for example, a predetermined short-range communication (such as Bluetooth (registered trademark) or WiFi).

[0115] The support device 200 may be configured to be able to transmit a control command for work support to the excavator 100 in response to, for example, a user's operation. Specifically, the user may remotely operate the excavator 100 through the support device 200.

[0116] On the other hand, the management device 250 manages the operation, work, operation, etc. of the excavator 100 from a location relatively distant from the excavator 100. The management device 250 is, for example, a server device installed in a management center or the like outside the work site. Further, the management device 250 may be a management computer terminal installed in a temporary office or the like inside the work site. Further, the management device 250 may be a portable computer terminal (for example, a laptop-type computer terminal, a tablet terminal, a mobile terminal such as a smartphone).

[0117] The management device 250 is communicably connected to the excavator 100 through a predetermined communication network such as a mobile communication network or a satellite communication network with a base station as an end point, similar to the support device 200.

[0118] The management device 250 is configured to be able to transmit a control command for work support to the excavator 100 in response to an operation by an administrator or the like. Further, an administrator or the like may install a control program for remote operation in the management device 250 in advance to cause the management device 250 to perform autonomous remote operation.

[0119] On one hand, the remote operation room RC is equipped with a remote controller 30R, a sound output device A2, an indoor imaging device C2, a display device RD, and a communication device T2. Also, in the remote operation room RC, there is a driver's seat DE where an operator who remotely operates the excavator 100 sits.

[0120] The remote controller 30R is an arithmetic device that executes various operations. The remote controller 30R is composed of a computer including one or more processors and a memory, similar to the controller 30 of the excavator 100. Various functions of the remote controller 30R are realized by the processor executing a program stored in the memory.

[0121] The sound output device A2 is a device that outputs sound and is configured to reproduce the sound collected by a sound collection device (not shown) attached to the excavator 100.

[0122] The indoor imaging device C2 is a device that images the inside of the remote operation room RC. For example, the indoor imaging device C2 is a camera installed inside the remote operation room RC and images the operator OP sitting on the driver's seat DE.

[0123] The display device RD is a device that displays information regarding the situation around the excavator 100. For example, the display device RD is a multi-display composed of a total of nine monitors arranged in three rows vertically and three columns horizontally, and is configured to display the states of the spaces in front of, to the left of, and to the right of the excavator 100. Alternatively, the display device RD may be a head-mounted display wearable by the operator.

[0124] The communication device T2 is configured to be able to communicate with the communication device T1 of the excavator 100, the communication device of the management device 250, etc.

[0125] In addition, the remote operation room RC has substantially the same structure as the driver's seat installed in the cabin 10 of the excavator 100 around the driver's seat DE. Specifically, a left console box is arranged on the left side of the driver's seat DE, and a right console box is arranged on the right side of the driver's seat DE. A left operation lever is arranged at the front end of the upper surface of the left console box, and a right operation lever is arranged at the front end of the upper surface of the right console box. Also, a travel lever and travel pedals are arranged in front of the driver's seat DE. The left operation lever, the right operation lever, the travel lever, and the travel pedals constitute the operation device 26E of the remote operation room.

[0126] An operation sensor 29A for detecting the operation content of the operation device 26E is installed in the operation device 26E. Examples of the operation sensor 29A include an inclination sensor for detecting the inclination angle of the operation lever, an angle sensor for detecting the swing angle around the swing axis of the operation lever, etc. The operation sensor 29A may be composed of other sensors such as a pressure sensor, a current sensor, a voltage sensor, or a distance sensor. The operation sensor 29A outputs information regarding the detected operation content of the operation device 26E to the remote controller 30R. The remote controller 30R generates an operation signal based on the received information and transmits the generated operation signal to the excavator 100.

[0127] In this way, at least one of the support device 200, the management device 250, and the remote operation room RC can transmit a control command for remote operation to the excavator 100 according to the operations of the user, administrator, etc., or according to the operation of the control program installed in itself. In this case, the display device 40 may display the image information around the excavator 100 transmitted from the excavator 100 on the display devices 40 of the support device 200 and the management device 250. Thereby, the user, administrator, etc. can perform remote operation while grasping the situation when looking around the excavator 100 from outside the cabin 10 of the excavator 100.

[0128] In the work support system SYS of the excavator 100 as described above, in order to perform a combined operation of the excavator 100 under the command or control of the support device 200 or the management device 250, the relative responsiveness of each hydraulic actuator can be automatically set.

[0129] The technical idea and effects of the present disclosure described in the above embodiments will be described below.

[0130] One aspect of the present disclosure is an excavator 100 including a lower traveling body 1, an upper slewing body 3 rotatably provided on the lower traveling body 1, an attachment (boom 4, arm 5, bucket 6) provided on the upper slewing body 3, an actuator (travel hydraulic motors 1L, 1R, slewing hydraulic motor 2A, boom cylinder 7, arm cylinder 8, bucket cylinder 9) for operating the attachment and / or the upper slewing body 3, and a control unit (controller 30) for controlling the operation of the actuator. The control unit controls a test process for calculating the current capacity of the actuator, a calculation process for calculating parameters for operating the actuator based on the calculated current capacity of the actuator, and a setting process for setting the calculated parameters as set values for operating the actuator.

[0131] According to the above, the excavator 100 can correct the operation of the actuator based on the current capacity of the actuator (travel hydraulic motors 1L, 1R, slewing hydraulic motor 2A, boom cylinder 7, arm cylinder 8, bucket cylinder 9). That is, even when the current capacity of the actuator changes due to aging deterioration, bucket replacement, climate, etc., the excavator 100 can optimize the parameters of the actuator by performing the test process, the calculation process, and the setting process. Therefore, the excavator 100 can improve the operability of the user, and it is possible to expect an improvement in work efficiency by the excavator 100.

[0132] Also, in the test process, one or more actuators (travel hydraulic motors 1L and 1R, swing hydraulic motor 2A, boom cylinder 7, arm cylinder 8, bucket cylinder 9) that are the objects to be detected are actually operated. Thereby, the excavator 100 can accurately detect the current capabilities of the actuators.

[0133] Also, in the test process, the actuator (travel hydraulic motors 1L and 1R, swing hydraulic motor 2A, boom cylinder 7, arm cylinder 8, bucket cylinder 9) that is the object to be detected is of one type, and the actuators other than the object to be detected stop operating. Thereby, the excavator 100 can more accurately detect the current capabilities of individual actuators.

[0134] Also, the current capabilities of the actuators (travel hydraulic motors 1L and 1R, swing hydraulic motor 2A, boom cylinder 7, arm cylinder 8, bucket cylinder 9) calculated in the test process include any one of the moving speed, acceleration, moving time, angle range, damping effect, and load applied to the shaft of the actuator to be detected. Thereby, the excavator 100 can easily recognize the current capabilities of the actuators.

[0135] Also, the current capabilities of the actuators (travel hydraulic motors 1L and 1R, swing hydraulic motor 2A, boom cylinder 7, arm cylinder 8, bucket cylinder 9) are calculated based on any one of the discharge pressures of the hydraulic pumps (main pump 14, pilot pump 15), the operation content of the operation device 26, and the pilot pressure of the pilot port. Thereby, the excavator 100 can smoothly calculate the current capabilities of the actuators.

[0136] In addition, the attachment (boom 4, arm 5, bucket 6) and / or the upper swing body 3 can be operated simultaneously by a combined operation that simultaneously operates a plurality of actuators (travel hydraulic motors 1L, 1R, swing hydraulic motor 2A, boom cylinder 7, arm cylinder 8, bucket cylinder). In the calculation process, parameters for optimizing the balance of the operations of the plurality of actuators in the combined operation are calculated. As a result, the excavator 100 can achieve an optimal balance in the operations of the respective hydraulic actuators in the combined operation.

[0137] In addition, the plurality of actuators (travel hydraulic motors 1L, 1R, swing hydraulic motor 2A, boom cylinder 7, arm cylinder 8, bucket cylinder) are hydraulic actuators. In the calculation process, as parameters, the flow rate distribution (relative responsiveness) of the hydraulic oil supplied to the plurality of actuators in the combined operation is calculated. As a result, the excavator 100 can appropriately adjust the distribution of the hydraulic oil supplied to each hydraulic actuator in the combined operation.

[0138] In addition, in the calculation process, parameters for enabling the operation of the actuator at a predetermined time are calculated. As a result, the excavator 100 can return to the state at a predetermined time and perform the operation of the actuator.

[0139] In addition, the predetermined time includes the initial state before the user starts using it. As a result, the excavator 100 can return to the initial state before the user starts using it and perform the operation of the actuator.

[0140] In addition, the parameters can be arbitrarily set by the user from the settings at a predetermined time. In the setting process, based on the user parameters set by the user, a change parameter is calculated from the parameters calculated in the calculation process, and the change parameter is proposed to the user. As a result, even when the excavator 100 automatically sets the parameters of the actuator, it can provide parameters according to the user's settings.

[0141] In the setting process, the user is made to select a parameter enabling the operation of an actuator (travel hydraulic motors 1L and 1R, swing hydraulic motor 2A, boom cylinder 7, arm cylinder 8, bucket cylinder) at a predetermined time and a change parameter. As a result, the user of the excavator 100 can arbitrarily set the parameters of the actuator, and the operability can be improved.

[0142] Also, the parameter can be arbitrarily set by the user from the setting at a predetermined time, and in the setting process, the change parameter is calculated from the parameter calculated in the calculation process based on the user parameter set by the user, and the parameter is changed to the change parameter. As a result, even when the excavator 100 automatically sets the parameters of the actuator, it can be smoothly changed to the parameter according to the user's setting.

[0143] The excavator 100 according to the embodiment disclosed this time is illustrative in all respects and not restrictive. The embodiment can be modified and improved in various forms without departing from the scope and gist of the appended claims. The matters described in the above plurality of embodiments can also adopt other configurations and can be combined within a non - conflicting range.

Description of Reference Numerals

[0144] 1 Lower Travel Body 2A Swing Hydraulic Motor 3 Upper Swing Body 4 Boom 5 Arm 6 Bucket 7 Boom Cylinder 8 Arm Cylinder 9 Bucket Cylinder 30 Controller 100 Excavator

Claims

1. A lower traveling body, an upper slewing body rotatably provided on the lower traveling body, an attachment provided on the upper slewing body, an actuator for operating the attachment and / or the upper slewing body, a control unit for controlling the operation of the actuator, and a hydraulic excavator comprising: The control unit a test step of calculating the current capacity of the actuator, a calculation step of calculating parameters for operating the actuator based on the calculated current capacity of the actuator, a setting step of setting the calculated parameters as set values for operating the actuator, and controlling a hydraulic excavator.

2. In the test step, one or more of the actuators to be detected are actually operated. The hydraulic excavator according to claim 1.

3. In the test step, the actuator to be detected is one type of actuator, and the actuators other than the actuator to be detected stop operating. The hydraulic excavator according to claim 2.

4. The current capacity of the actuator calculated in the test step includes any one of the moving speed, acceleration, moving time, angle range, damping effect of the damper, and load applied to the shaft of the actuator to be detected. The hydraulic excavator according to any one of claims 1 to 3.

5. The current capacity of the actuator is calculated based on any one of the discharge pressure of the hydraulic pump, the operation content of the operating device, and the pilot pressure of the pilot port. The hydraulic excavator according to any one of claims 1 to 3.

6. The attachment and / or the upper slewing body can be operated simultaneously by a combined operation of simultaneously operating a plurality of the actuators. In the calculation step, the parameters for optimizing the balance of the operations of the plurality of actuators in the combined operation are calculated. The hydraulic excavator according to any one of claims 1 to 3.

7. The plurality of actuators are hydraulic actuators. In the calculation step, as the parameters, the flow rate distribution of the hydraulic oil supplied to the plurality of actuators in the combined operation is calculated. The hydraulic excavator according to claim 6.

8. In the calculation step, the parameters capable of executing the operation of the actuator at a predetermined time are calculated. The hydraulic excavator according to any one of claims 1 to 3.

9. The predetermined time period includes an initial state before the user starts using the product. The excavator according to claim 8.

10. The parameter can be arbitrarily set by the user from the setting of the predetermined time period. In the setting step, a change parameter is calculated from the parameter calculated in the calculation step based on the user parameter set by the user, and the change parameter is proposed to the user. The excavator according to claim 8.

11. In the setting step, the user is made to select the parameter capable of executing the operation of the actuator at the predetermined time period and the change parameter. The excavator according to claim 10.

12. The parameter can be arbitrarily set by the user from the setting of the predetermined time period. In the setting step, a change parameter is calculated from the parameter calculated in the calculation step based on the user parameter set by the user, and the parameter is changed to the change parameter. The excavator according to claim 8.

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