Shovel, and connector for shovel

Abstract

To provide a technique for a shovel that can deal with occurrence of an abnormality in an operating portion used by an operator to operate an actuator.SOLUTION: A shovel 100 according to an embodiment of the present disclosure comprises: an electric right lever device 26B corresponding to a boom cylinder 7 and a bucket cylinder 9; an electric pedal device 26C corresponding to traveling hydraulic motors 1ML, 1MR; a harness 76 having a connector 76C at its tip and outputting an operation signal for the right lever device 26B; a harness 77 having a connector 77C at its tip and outputting an operation signal for the pedal device 26C; and connectors 72C, 73C to which the connectors 76C, 77C are respectively connected. By removing the connector 76C from the connector 72C and reconnecting it to the connector 73C, an operator can operate the traveling hydraulic motors 1ML, 1MR using the right lever device 26B.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] The present disclosure relates to a shovel and the like.

Background Art

[0002] Conventionally, for a shovel, a technique for dealing with a case where an abnormality occurs in a device of an actuator operation system is known (see, for example, Patent Document 1).

[0003] Patent Document 1 discloses a method for dealing with an abnormality in an electromagnetic proportional valve that supplies a pilot pressure according to the operation state of an actuator.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, the above technique cannot deal with a case where an abnormality occurs on the operation device side such as a lever device or a pedal device used by an operator to operate the actuator.

[0006] Therefore, in view of the above problems, an object of the present disclosure is to provide a technique for a shovel that can deal with a case where an abnormality occurs on the operation device side used by an operator to operate an actuator.

Means for Solving the Problems

[0007] To achieve the above object, in one embodiment of the present disclosure, a first actuator, a second actuator, an electric first operation unit for an operator to operate the first actuator, an electric second operation unit for an operator to operate the second actuator, a first signal line provided to extend from the first operation unit and provided with a first output connector at its tip, and outputting an electric signal according to the operation state of the first operation unit; a second signal line provided to extend from the second operation unit and provided with a second output connector at its tip, and outputting an electric signal according to the operation state of the second operation unit; a first input connector to which the first output connector is connected; a second input connector to which the second output connector is connected, and comprising: by removing the first output connector from the first input connector and reconnecting it to the second input connector, an operator can operate the second actuator using the first operation unit. A shovel is provided.

[0008] Also, in another embodiment of the present disclosure, a first actuator, a second actuator, an electric first operation unit for an operator to operate the first actuator, an electric second operation unit for an operator to operate the second actuator, and a control device, and comprising: the control device switches from a state where an operator can operate the second actuator using the second operation unit to a state where the operator can operate the second actuator using the first operation unit. A shovel is provided.

[0009] Also, in still another embodiment of the present disclosure, a shovel connector provided at the tip of a first signal line that outputs a signal according to the operation state of a first operation unit used to operate a first actuator of the shovel and connected to a first input connector. It is connectable to a second input connector to which another connector provided at the tip of a second signal line that outputs a signal according to the operation state of a second operation unit used to operate a second actuator of an excavator is connected, and when connected to the second input connector, a signal according to the operation state of the first operation unit is transmitted to the second input connector side so as to be able to operate the second actuator. An excavator connector is provided.

Advantages of the Invention

[0010] According to the above-described embodiment, in the case of an excavator, it is possible to cope with a situation where an abnormality occurs on the operation device side that an operator uses to operate an actuator.

Brief Description of the Drawings

[0011]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Embodiments for Carrying Out the Invention

[0012] Hereinafter, embodiments will be described with reference to the drawings.

[0013] [Outline of Excavator] Referring to FIG. 1, the outline of the excavator 100 according to this embodiment will be described.

[0014] FIG. 1 is a side view showing a first example of the excavator 100. Hereinafter, when explaining the direction in the excavator 100 or the direction seen from the excavator 100, the direction in which the attachment AT extends in the top view of the excavator 100 is defined as "front".

[0015] As shown in FIG. 1, the excavator 100 includes a lower traveling body 1, an upper revolving body 3, an attachment AT including a boom 4, an arm 5, and a bucket 6, and a cabin 10.

[0016] The lower traveling body 1 uses a pair of left and right crawlers 1C to move the excavator 100. The left crawler 1C and the right crawler 1C are hydraulically driven by traveling hydraulic motors 1ML and 1MR (see FIG. 2), respectively. Thereby, the lower traveling body 1 can travel by itself.

[0017] The upper revolving body 3 is rotatably mounted on the lower traveling body 1 via a slewing mechanism 2. For example, the upper revolving body 3 can rotate with respect to the lower traveling body 1 when the slewing mechanism 2 is hydraulically driven by a slewing hydraulic motor 2M (see FIG. 2).

[0018] The boom 4 is attached to the center of the front part of the upper revolving body 3 so as to be able to pitch about a rotation axis along the left - right direction. The arm 5 is attached to the tip of the boom 4 so as to be able to rotate about a rotation axis along the left - right direction. The bucket 6 is attached to the tip of the arm 5 so as to be able to rotate about a rotation axis along the left - right direction.

[0019] The bucket 6 is an example of an end attachment and is used, for example, in excavation work, slope work, leveling work, etc.

[0020] The bucket 6 is attached to the tip of the arm 5 in a manner that can be appropriately replaced according to the work content of the shovel 100. That is, at the tip of the arm 5, instead of the bucket 6, a bucket of a different type from the bucket 6, for example, a large bucket relatively large with respect to the bucket 6, a bucket for slopes, a dredging bucket, etc. may be attached. Also, at the tip of the arm 5, an end attachment of a type other than the bucket, for example, a stirrer, a breaker, a crusher, etc. may be attached. Further, between the arm 5 and the end attachment, a preliminary attachment such as a quick coupling or a tilt rotator may be provided.

[0021] The boom 4, the arm 5, and the bucket 6 are each hydraulically driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9.

[0022] The cabin 10 is a cab (also referred to as an "operator's cab") for the operator to board and operate the shovel 100. The cabin 10 is mounted, for example, on the front left side of the upper slewing body 3.

[0023] [Configuration of the Shovel] Next, in addition to FIG. 1, with reference to FIGS. 2 to 6, the configuration of the shovel 100 will be described.

[0024] FIG. 2 is a diagram showing an example of the hardware configuration of the excavator 100. It is a diagram showing an example of the operation system of the excavator 100. FIG. 4 is a top view showing an example of the interior of the cab 10. FIG. 5 is a diagram showing a specific example of the assignment of the operation method of the operation device 26 for each hydraulic actuator HA. FIG. 5 includes FIGS. 5A to 5D. FIG. 5A is a diagram showing an example of the assignment of the operation method using the operation device 26 for each hydraulic actuator HA when the operation device 26 is normal. FIG. 5B is a diagram showing an example of the assignment of the operation method of the operation device 26 for each hydraulic actuator HA when the pedal device 26C is abnormal. FIG. 5C is a diagram showing an example of the assignment of the operation method of the operation device 26 for each hydraulic actuator HA when the left lever device 26A is abnormal. FIG. 5D is a diagram showing an example of the assignment of the operation method of the operation device 26 for each hydraulic actuator HA when the right lever device 26B is abnormal. FIG. 6 is a diagram showing a specific example of the flow in which the operation state of the operation device 26 is reflected in the operation of the hydraulic actuator HA. FIG. 6 includes FIGS. 6A and 6B. FIG. 6A is a diagram showing an example of the flow in which the operation state of the operation device 26 is reflected in the operation of the hydraulic actuator HA when the operation device 26 is normal, corresponding to the assignment of FIG. 5A. FIG. 6B is a diagram showing an example of the flow in which the operation state of the operation device 26 is reflected in the operation of the hydraulic actuator HA when the pedal device 26C is abnormal, corresponding to the assignment of FIG. 5B.

[0025] In FIGS. 2, 3, and 6, the path through which mechanical power is transmitted is indicated by a double line, the path through which high-pressure hydraulic oil for driving the hydraulic actuator flows is indicated by a thick solid line, the path through which the pilot pressure is transmitted is indicated by a broken line, the path of fuel is indicated by a one-dot chain line, and the path through which an electric signal is transmitted is indicated by a dotted line, respectively. Also, in FIG. 3, a hydraulic cylinder is drawn for convenience as the hydraulic actuator HA. Further, in FIG. 6, for convenience, the illustration of the harness 70 corresponding to the location where the harnesses 71 to 73 are bundled is omitted.

[0026] The excavator 100 includes respective components such as a hydraulic drive system, an operation system, a user interface system, and a control system.

[0027] <Hydraulic drive system> The hydraulic drive system of the excavator 100 is a group of components related to the hydraulic drive of the driven elements of the excavator 100.

[0028] As shown in FIG. 2, the hydraulic drive system of the excavator 100 includes, as described above, hydraulic actuators HA that hydraulically drive each of the driven elements such as the lower traveling body 1 (i.e., the left and right crawlers 1C), the upper swing body 3, the boom 4, the arm 5, and the bucket 6. Further, the hydraulic drive system of the excavator 100 according to the present embodiment includes the engine 11, the regulator 13, the main pump 14, and the control valve 17.

[0029] The hydraulic actuators HA include traveling hydraulic motors 1ML, 1MR, a swing hydraulic motor 2M, a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9, etc.

[0030] Note that in the excavator 100, some or all of the hydraulic actuators HA may be replaced with electric actuators. That is, the excavator 100 may be a hybrid excavator or an electric excavator.

[0031] The engine 11 is the prime mover of the excavator 100 and is the main power source in the hydraulic drive system. The engine 11 is, for example, a diesel engine that uses light oil as fuel. The engine 11 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 under the direct or indirect control of a controller 30 described later, and drives the main pump 14 and the pilot pump 15.

[0032] Note that instead of or in addition to the engine 11, other prime movers (for example, an electric motor) etc. may be mounted on the excavator 100.

[0033] The regulator 13 adjusts the discharge amount of the main pump 14 under the control of the controller 30. For example, the regulator 13 adjusts the angle of the swash plate (hereinafter, "tilt angle") of the main pump 14 in response to a control command from the controller 30.

[0034] The main pump 14 supplies hydraulic oil to the control valve 17 through a high-pressure hydraulic line. The main pump 14 is mounted, for example, at the rear part of the upper swing body 3, similar to the engine 11. The main pump 14 is driven by the engine 11 as described above. The main pump 14 is, for example, a variable displacement hydraulic pump. As described above, under the control of the controller 30, the tilt angle of the swash plate is adjusted by the regulator 13, so that the stroke length of the piston is adjusted, and the discharge flow rate and discharge pressure are controlled.

[0035] The control valve 17 drives the hydraulic actuator HA according to the operation of the operator on the operating device 26. The control valve 17 is mounted, for example, at the central part of the upper swing body 3. The control valve 17 is connected to the main pump 14 through a high-pressure hydraulic line as described above, and selectively supplies the hydraulic oil supplied from the main pump 14 to each hydraulic actuator according to the operation of the operator on the operating device 26. Specifically, the control valve 17 includes direction switching valves 17A to 17F that control the flow rate and flow direction of the hydraulic oil supplied from the main pump 14 to each of the hydraulic actuators HA.

[0036] The direction switching valve 17A controls the flow rate and flow direction of the hydraulic oil supplied to the boom cylinder 7. Thereby, the direction switching valve 17A can extend and contract the boom cylinder 7 with variable speed. The direction switching valve 17A is, for example, a spool valve.

[0037] The direction switching valve 17B controls the flow rate and flow direction of the hydraulic oil supplied to the arm cylinder 8. Thereby, the direction switching valve 17B can extend and contract the arm cylinder 8 with variable speed. The direction switching valve 17B is, for example, a spool valve.

[0038] The direction change valve 17C controls the flow rate and direction of the hydraulic oil supplied to the bucket cylinder 9. Thereby, the direction change valve 17C can expand and contract the bucket cylinder 9 with variable speed. The direction change valve 17C is, for example, a spool valve.

[0039] The direction change valve 17D controls the flow rate and direction of the hydraulic oil supplied to the travel hydraulic motor 1ML. Thereby, the direction change valve 17D can rotate the travel hydraulic motor 1ML in both directions with variable speed. The direction change valve 17D is, for example, a spool valve.

[0040] The direction change valve 17E controls the flow rate and direction of the hydraulic oil supplied to the travel hydraulic motor 1MR. Thereby, the direction change valve 17E can rotate the travel hydraulic motor 1MR in both directions with variable speed. The direction change valve 17E is, for example, a spool valve.

[0041] The direction change valve 17F controls the flow rate and direction of the hydraulic oil supplied to the swing hydraulic motor 2M. Thereby, the direction change valve 17F can rotate the swing hydraulic motor 2M in both directions with variable speed. The direction change valve 17F is, for example, a spool valve.

[0042] Hereinafter, any one of the direction change valves 17A to 17F may be generically referred to as the direction change valve 17X.

[0043] <Operating system> The operating system of the excavator 100 is a group of components related to the operation of the driven elements.

[0044] As shown in FIGS. 2 and 3, the operating system of the excavator 100 includes a pilot pump 15, a gate lock valve 25V, an operating device 26, and a hydraulic control valve 31.

[0045] Hereinafter, in the description of the operating system of the excavator 100, unless otherwise specified, it is assumed that components such as the operating device 26 are in a normal state.

[0046] The pilot pump 15 supplies pilot pressure to various hydraulic devices (for example, the operating device 26) mounted on the excavator 100 via the pilot line 25. The pilot pump 15 is, for example, a fixed displacement hydraulic pump and is driven by the engine 11 as described above.

[0047] Incidentally, the pilot pump 15 may be omitted. In this case, the operating oil discharged from the main pump 14 and reduced to a predetermined pilot pressure via a pressure reducing valve or the like may be supplied to various hydraulic devices such as the operating device 26.

[0048] The gate lock valve 25V is provided upstream of all the various hydraulic devices that receive the supply of the operating oil from the pilot pump 15 in the pilot line 25. The gate lock valve 25V switches the communication and cutoff (non-communication) of the pilot line 25 according to the ON / OFF of a limit switch 25s interlocked with the operating state of a gate lever (not shown) inside the cabin 10.

[0049] Incidentally, the gate lever is a mechanical input device for switching between a state where the excavator 100 can be started and operated by the operating device 26 and a state where the excavator 100 cannot be started and operated. For example, the controller 30 controls whether or not the excavator 100 can be started, including starting the engine 11, according to the operating state of the gate lever. Also, as described above, by switching the communication and non-communication of the pilot line 25 according to the operating state of the gate lever, the state where the hydraulic actuator HA of the excavator 100 can be operated and the state where it cannot be operated are switched.

[0050] Also, a gate bar 140 interlocked with the operating state of the gate lever is disposed on the front surface of the console 120A on the left side of the driver's seat 101. When the gate lever is in a state where the shovel 100 can be operated, the gate bar 140 is in a state of rising forward so as to block the left - right movement between the driver's seat 101 and the entrance of the cabin 10 (see Fig. 4). On the other hand, when the gate lever is in a state where the shovel 100 cannot be operated, the gate bar 140 is housed inside the console 120A in a state of being laid downwards so as to allow the left - right movement between the driver's seat 101 and the entrance of the cabin 10. Thereby, unless the gate bar 140 pops out forward, the operator cannot start or operate the shovel 100 according to the operation of the gate lever, and the safety of the shovel 100 can be improved.

[0051] The operating device 26 is provided within the reach of the operator in the driver's seat 101 of the cabin 10 and is used for the operator to operate respective driven elements, that is, the left and right crawlers of the lower traveling body 1, the upper slewing body 3, the boom 4, the arm 5, and the bucket 6, etc. Specifically, the operating device 26 is used for the operator to operate the hydraulic actuators HA that drive respective driven elements.

[0052] As shown in Figs. 2 and 3, the operating device 26 is electric. Specifically, the operating device 26 outputs an electric signal (hereinafter, "operation signal") corresponding to the operation content, and the operation signal is taken into the controller 30. Then, the controller 30 outputs an operation command corresponding to the content of the operation signal, that is, an operation command (control signal) corresponding to the operation content for the operating device 26, to the hydraulic control valve 31. Thereby, a pilot pressure corresponding to the operation content of the operating device 26 is input from the hydraulic control valve 31 to the control valve 17, and the control valve 17 can drive respective hydraulic actuators HA according to the operation content of the operating device 26.

[0053] Furthermore, the direction switching valves 17A to 17F for driving the respective hydraulic actuators HA built in the control valve 17 may be electromagnetic solenoid type. In this case, the operation signal output from the operation device 26 may be directly input to the control valve 17 (that is, to the electromagnetic solenoid type direction switching valve).

[0054] As shown in FIG. 4, the operation device 26 includes a left lever device 26A, a right lever device 26B, and a pedal device 26C.

[0055] The left lever device 26A is disposed at the front part of the upper surface of the console 120A on the left side of the driver's seat 101 inside the cabin 10. The left lever device 26A is used for the operator to operate any two of the swing hydraulic motor 2M, the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9. Thereby, the operator sitting on the driver's seat 101 can operate two hydraulic actuators HA among the swing hydraulic motor 2M, the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 by operating the left lever device 26A with the left hand. For example, as shown in FIG. 5A, the operation targets of the left lever device 26A are the swing hydraulic motor 2M and the arm cylinder 8. By the lateral operation of the left lever device 26A, the swing hydraulic motor 2M is operated, and by the vertical operation of the left lever device 26A, the arm cylinder 8 is operated. The vertical direction and the lateral direction of the left lever device 26A respectively correspond to the front-rear direction and the left-right direction of the excavator 100, and the same applies to the vertical direction and the lateral direction of the right lever device 26B described later.

[0056] The right lever device 26B is arranged at the front part of the upper surface of the console 120B on the right side of the driver's seat 101 inside the cabin 10. The right lever device 26B is used for the operator to operate the remaining two of the swing hydraulic motor 2M, boom cylinder 7, arm cylinder 8, and bucket cylinder 9 that are not the operation targets of the left lever device 26A. Thereby, the operator sitting on the driver's seat 101 can operate the remaining two hydraulic actuators HA among the swing hydraulic motor 2M, boom cylinder 7, arm cylinder 8, and bucket cylinder 9 by operating the right lever device 26B with the right hand. For example, as shown in FIG. 5A, the operation targets of the right lever device 26B are the boom cylinder 7 and the bucket cylinder 9. By the vertical operation of the right lever device 26B, the boom cylinder 7 is operated, and by the horizontal operation of the right lever device 26B, the bucket cylinder 9 is operated.

[0057] Note that FIG. 5A is an example as described above, and the hydraulic actuators HA assigned to each of the four operation means in the vertical and horizontal directions of the left lever device 26A and the vertical and horizontal directions of the right lever device 26B among the swing hydraulic motor 2M, boom cylinder 7, arm cylinder 8, and bucket cylinder 9 may be arbitrarily set. For example, the operator can operate a predetermined operation screen displayed on the display device 50A using the input device 52 and arbitrarily set and change the assignment of the hydraulic actuator HA for each of the four operation means.

[0058] For example, as shown in FIG. 4, the bases of the left lever device 26A and the right lever device 26B are covered with a lever cover 27.

[0059] The pedal device 26C is arranged on the floor surface in front of the driver's seat inside the cabin 10. The pedal device 26C is used for the operator to operate the traveling hydraulic motor 1ML and the traveling hydraulic motor 1MR. The pedal device 26C includes a left pedal 26C1, a right pedal 26C2, a left lever 26C3, and a right lever 26C4.

[0060] The left pedal 26C1 is used for the operator to operate a traveling hydraulic motor 1ML that drives the left crawler 1C. Thereby, the operator sitting in the driver's seat 101 can operate the traveling hydraulic motor 1ML by operating the left pedal 26C1 with the left foot.

[0061] The right pedal 26C2 is used for the operator to operate a traveling hydraulic motor 1MR that drives the right crawler 1C. Thereby, the operator sitting in the driver's seat 101 can operate the traveling hydraulic motor 1MR by operating the right pedal 26C2 with the right foot.

[0062] The left lever 26C3 is used for the operator to operate a traveling hydraulic motor 1ML that drives the left crawler 1C. Thereby, the operator sitting in the driver's seat 101 can operate the traveling hydraulic motor 1ML by operating the left lever 26C3 with the left hand.

[0063] The right lever 26C4 is used for the operator to operate a traveling hydraulic motor 1MR that drives the right crawler 1C. Thereby, the operator sitting in the driver's seat 101 can operate the traveling hydraulic motor 1MR by operating the right lever 26C4 with the right hand.

[0064] Hereinafter, the traveling hydraulic motors 1ML and 1MR may be collectively referred to as "lower traveling system actuators", and the slewing hydraulic motor 2M, the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 may be collectively referred to as "upper slewing system actuators". Also, the left lever device 26A and the right lever device 26B may be collectively referred to as "upper slewing system operating devices", and the pedal device 26C may be referred to as "lower traveling system operating device".

[0065] As shown in FIG. 4, a harness 70 is attached to the controller 30. The tip of the harness 70 as viewed from the controller 30 branches into a harness 71, a harness 72, and a harness 73, and connectors 71C, 72C, and 73C for receiving an external input are provided at the respective tips.

[0066] A harness 75 is attached to the left lever device 26A. A connector 75C for outputting an operation signal of the left lever device 26A to the outside is provided at the tip of the harness 75 as viewed from the left lever device 26A, and the connector 75C is connected to the connector 71C. Thereby, the left lever device 26A can transmit the operation signal to the controller 30 through the harness 75, the harness 71, and the harness 70.

[0067] Each of the harness 75, the harness 71, and the harness 70 includes a first operation signal line and a second operation signal line. The connector 75C and the connector 71C connect the first operation signal lines of the harness 75 and the harness 71 to each other and connect the second operation signals of the harness 75 and the harness 71 to each other. An output unit OPA1 corresponding to the vertical operation of the left lever device 26A is connected to the first operation signal line of the harness 75, and an output unit OPA2 corresponding to the horizontal operation of the left lever device 26A is connected to the second operation signal line of the harness 75.

[0068] In addition, two output harnesses corresponding to the first operation signal line and the second operation signal line may be attached to the left lever device 26A. In this case, instead of the harness 71, two input harnesses branch from the harness 70, and each is connected to the two output harnesses via a pair of connectors.

[0069] A harness 76 is attached to the right lever device 26B. At the tip of the harness 76 as seen from the right lever device 26B, a connector 76C for outputting the operation signal of the right lever device 26B to the outside is provided, and the connector 76C is connected to the connector 72C. Thereby, the right lever device 26B can transmit the operation signal to the controller 30 through the harness 76, as well as the harnesses 72 and 70.

[0070] Each of the harness 76, as well as the harnesses 72 and 70, includes a first operation signal line and a second operation signal line, similar to the above-mentioned harness 75, as well as the harnesses 71 and 70. The connector 76C and the connector 72C connect the respective first operation signal lines of the harness 76 and the harness 72 to each other, and also connect the respective second operation signals to each other. An output unit OPB1 corresponding to the vertical operation of the right lever device 26B is connected to the first operation signal line of the harness 76, and an output unit OPB2 corresponding to the horizontal operation of the right lever device 26B is connected to the second operation signal line of the harness 76.

[0071] In addition, two output harnesses corresponding to each of the first operation signal line and the second operation signal line may be attached to the right lever device 26B. In this case, instead of the harness 72, two input harnesses branch from the harness 70, and each is connected to the two output harnesses via a pair of connectors.

[0072] A harness 77 is attached to the pedal device 26C. At the tip of the harness 77 as seen from the pedal device 26C, a connector 77C for outputting the operation signal of the pedal device 26C to the outside is provided, and the connector 77C is connected to the connector 73C. Thereby, the pedal device 26C can transmit the operation signal to the controller 30 through the harness 77, as well as the harnesses 73 and 70.

[0073] Harness 77, and each of harnesses 73 and 70 includes a first operation signal line and a second operation signal line, similar to the above-described harness 75, and harnesses 71 and 70. Connector 77C and connector 73C connect the respective first operation signal lines of harness 77 and harness 73 to each other, and connect the respective second operation signals to each other. An output unit OPC1 corresponding to the operation of the left pedal 26C1 or the left lever 26C3 is connected to the first operation signal line of harness 77, and an output unit OPC2 corresponding to the operation of the right pedal 26C2 or the right lever 26C4 is connected to the second operation signal line of harness 77.

[0074] Hereinafter, harness 75 including the tip connector 75C and harness 76 including the tip connector 76C may be collectively referred to as the "upper swing system harness", and harness 77 including the tip connector 77C may be referred to as the "lower traveling system harness". Also, connector 75C and connector 76C may be collectively referred to as the "upper swing system connector", and connector 77C may be collectively referred to as the "lower traveling system connector".

[0075] In addition, two output harnesses corresponding to each of the first operation signal line and the second operation signal line may be attached to the pedal device 26C. In this case, instead of harness 73, two input harnesses branch from harness 70, and each is connected to the two output harnesses via a pair of connectors.

[0076] Hereinafter, the operation signal transmitted through the first operation signal line of harnesses 70 to 73, 75 to 77 may be referred to as the "first operation signal", and the operation signal transmitted through the second operation signal line may be referred to as the "second operation signal".

[0077] The hydraulic control valve 31 supplies hydraulic oil to the direction switching valve 17X built in the control valve 17 according to an operation command input from the controller 30, and applies a pilot pressure to the direction switching valve 17X according to the operation state of the operating device 26. The hydraulic control valve 31 includes hydraulic control valves 31A to 31F corresponding to the operation of each hydraulic actuator HA (see FIG. 6).

[0078] The hydraulic control valve 31A supplies pilot pressure to the direction switching valve 17A. The hydraulic control valve 31B supplies pilot pressure to the direction switching valve 17B. The hydraulic control valve 31C supplies pilot pressure to the direction switching valve 17C. The hydraulic control valve 31D supplies pilot pressure to the direction switching valve 17D. The hydraulic control valve 31E supplies pilot pressure to the direction switching valve 17E. The hydraulic control valve 31F supplies pilot pressure to the direction switching valve 17F. Hereinafter, any one of the hydraulic control valves 31A to 31F may be comprehensively referred to as "hydraulic control valve 31X".

[0079] As shown in FIG. 3, the hydraulic control valve 31X includes two hydraulic control valves 31X1 and 31X2. That is, the hydraulic control valves 31A to 31F respectively include hydraulic control valves 31A1 and 31A2, hydraulic control valves 31B1 and 31B2, hydraulic control valves 31C1 and 31C2, hydraulic control valves 31D1 and 31D2, hydraulic control valves 31E1 and 31E2, and hydraulic control valves 31F1 and 31F2.

[0080] The hydraulic control valve 31X1 supplies hydraulic oil to the port P1 of the direction switching valve 17X and applies pilot pressure. Thereby, the hydraulic control valve 31X1 can move the spool of the direction switching valve 17X axially from the neutral position to the other end side, and move the double-acting hydraulic actuator HA in the first direction.

[0081] The hydraulic control valve 31X2 supplies hydraulic oil to the port P2 of the direction switching valve 17X and applies pilot pressure. Thereby, the hydraulic control valve 31X2 can move the spool of the direction switching valve 17X axially from the neutral position to one end side, and move the double-acting hydraulic actuator HA in the second direction.

[0082] <User interface system> The user interface system of the excavator 100 is a group of components related to the information exchange between the user and the excavator 100.

[0083] As shown in FIG. 2, the user interface system of the excavator 100 includes an operation device 26, an output device 50, and an input device 52.

[0084] The output device 50 outputs various information to the user of the excavator 100 (for example, the operator in the cab 10 or the operator of external remote control) and the people around the excavator 100 (for example, workers or drivers of work vehicles).

[0085] For example, the output device 50 includes a display device 50A that outputs various information in a visual manner. The display device 50A is, for example, a liquid crystal display or an organic EL (Electroluminescence) display. For example, as shown in FIG. 4, the display device 50A is provided at the right front inside the cab 10 and outputs various information to the operator inside the cab 10 and the like in a visual manner. Further, the output device 50 may include, for example, a display device different from the display device 50A that is provided on the upper surface, side surface, etc. of the house part of the upper swing body 3 and outputs various information to the workers around the excavator 100 and the like in a visual manner.

[0086] Further, the output device 50 may include a sound output device 50B that outputs various information in an auditory manner. The sound output device 50B includes, for example, a buzzer, a speaker, and the like. The sound output device 50B is provided, for example, in at least one of the inside and outside of the cab 10 and may output various information to the operator inside the cab 10 and the people around the excavator 100 (workers, etc.) in an auditory manner.

[0087] Further, the output device 50 may include lighting equipment that outputs various information in a visual manner. The lighting equipment is, for example, a warning light (indicator lamp). For example, the lighting equipment is provided inside the cab 10 and outputs various information to the operator inside the cab 10 and the like in a visual manner. Further, the lighting equipment may be provided on the upper surface, side surface, etc. of the house part of the upper swing body 3 and output various information to the workers around the excavator 100 and the like in a visual manner.

[0088] Further, the output device 50 may include a device that outputs various information by a tactile method such as vibration of the driver's seat 101.

[0089] The input device 52 receives various inputs from the user of the excavator 100, and the signal corresponding to the received input is taken into the controller 30. For example, the input device 52 is provided inside the cabin 10 and receives inputs from an operator or the like inside the cabin 10. Further, the input device 52 may be provided, for example, on the side surface of the house part of the upper swing body 3 and receive inputs from workers or the like around the excavator 100.

[0090] For example, the input device 52 includes a mechanical input device that receives inputs by mechanical operations from the user. The mechanical input device may include a touch panel, a touch pad, a button switch, a lever, a toggle, a knob switch provided on the operation device 26 (lever device), etc., mounted on the display device 50A. For example, the mechanical input device provided inside the cabin 10 includes various levers, switches, dials, switches associated with the display device 50A, etc., installed on the consoles 120A to 120C.

[0091] Further, the input device 52 may include a voice input device that receives the user's voice input. The voice input device includes, for example, a microphone.

[0092] Further, the input device 52 may include a gesture input device that receives the user's gesture input. The gesture input device includes, for example, an imaging device that images the state of gestures made by the user.

[0093] Further, the input device 52 may include a biometric input device that receives the user's biometric input. The biometric input includes, for example, input of biometric information such as the user's fingerprint and iris.

[0094] <Control system> The control system of the excavator 100 is a group of components related to various controls of the excavator 100.

[0095] As shown in FIG. 2, the control system of the excavator 100 includes a controller 30 and a sensor 54.

[0096] The controller 30 performs various controls related to the excavator 100. For example, as shown in FIG. 4, the controller 30 is mounted inside the cab 10 in the upper swing body 3.

[0097] Note that part of the functions of the controller 30 may be realized by other controllers (control devices). That is, the functions of the controller 30 may be realized in a distributed manner by a plurality of controllers mounted on the excavator 100.

[0098] The functions of the controller 30 may be realized by any hardware, or any combination of hardware and software, etc. For example, as shown in FIG. 3, the controller 30 includes an auxiliary storage device 30A, a memory device 30B, a CPU (Central Processing Unit) 30C, and an interface device 30D connected by a bus BS1.

[0099] The auxiliary storage device 30A is a non-volatile storage means, stores installed programs, and stores necessary files, data, etc. The auxiliary storage device 30A is, for example, an EEPROM (Electrically Erasable Programmable Read-Only Memory), a flash memory, or the like.

[0100] The memory device 30B, for example, loads the program of the auxiliary storage device 30A so that the CPU 30C can read it when there is an instruction to start the program. The memory device 30B is, for example, an SRAM (Static Random Access Memory).

[0101] The CPU 30C, for example, executes the program loaded into the memory device 30B and realizes various functions of the controller 30 according to the instructions of the program.

[0102] The interface device 30D functions as a communication interface for connecting to the communication line inside the excavator 100, for example. The interface device 30D may include a plurality of different types of communication interfaces according to the type of the communication line to be connected.

[0103] Also, the interface device 30D functions as an external interface for reading data from a recording medium and writing data to the recording medium. The recording medium is, for example, a dedicated tool connected by a cable detachable from a connector installed inside the cabin 10. Also, the recording medium may be a general-purpose recording medium such as an SD memory card or a USB (Universal Serial Bus) memory, for example. Thereby, a program for realizing various functions of the controller 30 can be provided by a portable recording medium, for example, and can be installed in the auxiliary storage device 30A of the controller 30. Also, the program may be downloaded from another computer outside the excavator 100 through a communication device (not shown) and installed in the auxiliary storage device 30A.

[0104] For example, the controller 30 performs control related to the operation of the excavator 100 using the electric operation device 26. As shown in FIG. 6, the controller 30 includes operation control units 301A to 301F as functional units related to the operation of the excavator 100 using the electric operation device 26, for example.

[0105] The operation control unit 301A outputs an operation command to the hydraulic control valve 31A in response to a first operation signal input through the first operation signal line of the harness 72. For example, as shown in FIG. 6A, the operation control unit 301A outputs an operation command corresponding to the first operation signal of the right lever device 26B, which is input through the harness 76 and the harnesses 72 and 70, to the hydraulic control valve 31A. Thereby, the operator can operate the boom cylinder 7 by operating the right lever device 26B in the vertical direction.

[0106] The operation control unit 301B outputs an operation command to the hydraulic control valve 31B according to the first operation signal input from the first operation signal line of the harness 71. For example, as shown in FIG. 6A, the operation control unit 301B outputs an operation command corresponding to the first operation signal corresponding to the vertical operation of the left lever device 26A, which is input through the harness 75, and the harnesses 71 and 70, to the hydraulic control valve 31B. Thereby, the operator can operate the arm cylinder 8 by vertically operating the left lever device 26A.

[0107] The operation control unit 301C outputs an operation command to the hydraulic control valve 31C according to the second operation signal input from the second operation signal line of the harness 72. For example, as shown in FIG. 6A, the operation control unit 301C outputs an operation command corresponding to the second operation signal corresponding to the horizontal operation of the right lever device 26B, which is input through the harness 76, and the harnesses 72 and 70, to the hydraulic control valve 31C. Thereby, the operator can operate the bucket cylinder 9 by horizontally operating the right lever device 26B.

[0108] The operation control unit 301D outputs an operation command to the hydraulic control valve 31D according to the second operation signal input from the second operation signal line of the harness 71. For example, as shown in FIG. 6A, the operation control unit 301D outputs an operation command corresponding to the second operation signal corresponding to the horizontal operation of the left lever device 26A, which is input through the harness 75, and the harnesses 71 and 70, to the hydraulic control valve 31D. Thereby, the operator can operate the swing hydraulic motor 2M by horizontally operating the left lever device 26A.

[0109] The operation control unit 301E outputs an operation command to the hydraulic control valve 31E according to the first operation signal input from the first operation signal line of the harness 73. For example, as shown in FIG. 6A, the operation control unit 301E outputs an operation command corresponding to the first operation signal corresponding to the operation of the left pedal 26C1 or the left lever 26C3, which is input through the harness 77 and the harnesses 73 and 70, to the hydraulic control valve 31E. Thereby, the operator can operate the traveling hydraulic motor 1ML by operating the left pedal 26C1 or the left lever 26C3.

[0110] The operation control unit 301F outputs an operation command to the hydraulic control valve 31F according to the second operation signal input from the second operation signal line of the harness 73. For example, as shown in FIG. 6A, the operation control unit 301F outputs an operation command corresponding to the second operation signal corresponding to the operation of the right pedal 26C2 or the right lever 26C4, which is input through the harness 77 and the harnesses 73 and 70, to the hydraulic control valve 31F. Thereby, the operator can operate the traveling hydraulic motor 1MR by operating the right pedal 26C2 or the right lever 26C4.

[0111] The sensor 54 is used to monitor the states of the operation device 26, the harnesses 75 to 77, etc. For example, the sensor 54 is a voltage sensor that detects the voltage of the operation signal output from the operation device 26 and the voltages of the first operation signal line and the second operation signal line of the harnesses 75 to 77. Also, the sensor 54 may be a voltage sensor and a current sensor that detect the voltage and current of the operation signal output from the operation device 26 and the voltage and current of the first operation signal line and the second operation signal line of the harnesses 75 to 77. The output of the sensor 54 is taken into the controller 30. The sensor 54 includes sensors 54A to 54C.

[0112] The sensor 54A is used to monitor the state of the left lever device 26A and the harness 75. Thereby, the controller 30 can diagnose the presence or absence of abnormalities in the left lever device 26A and the harness 75 based on the output of the sensor 54A.

[0113] Currently, "abnormality" can include anything from a minor deviation from the normal state where the function of the object is not impaired to a severe abnormality where part or all of the function of the object is impaired. The severe abnormality corresponds to "failure".

[0114] The sensor 54B is used to monitor the states of the right lever device 26B and the harness 76. Thereby, the controller 30 can diagnose the presence or absence of abnormalities in the right lever device 26B and the harness 76 based on the output of the sensor 54B.

[0115] The sensor 54C is used to monitor the states of the pedal device 26C and the harness 77. Thereby, the controller 30 can diagnose the presence or absence of abnormalities in the pedal device 26C and the harness 77 based on the output of the sensor 54C.

[0116] The left lever device 26A may receive power supply from the controller 30 through the harness 71. In this case, the controller 30 may not be able to identify whether the abnormality lies in the left lever device 26A or the harness 75, or in the harness 71 or the input circuit on the controller 30 side connected to the harness 71, based only on the output of the sensor 54A. Therefore, for example, when the output of the sensor 54A deviates from the normal state, the controller 30 diagnoses that there is an abnormality in either the left lever device 26A, the harness 75, or the harness 71. Then, as will be described later, when the connector 75C is removed from the connector 71C and the connector 71C is reconnected to the connector 76C or the connector 77C, the controller 30 performs a re-diagnosis (hereinafter referred to as "re-diagnosis") to identify whether the abnormality lies in the left lever device 26A or the harness 75, or in the harness 71 or the input circuit of the controller 30. Specifically, when the connector 76C or the connector 77C is removed from the connector 72C or the connector 73C and then connected to the connector 71C, if the output of the sensor 54B or the sensor 54C returns to the normal state, the controller 30 may diagnose that there is an abnormality in the left lever device 26A or the harness 75. On the other hand, when the connector 76C or the connector 77C is removed from the connector 72C or the connector 73C and then connected to the connector 71C, if the output of the sensor 54B or the sensor 54C does not return to the normal state, the controller 30 may diagnose that there is an abnormality in the harness 71 or the input circuit of the controller 30.

[0117] Similarly, the right lever device 26B may also receive power supply from the controller 30 through the harness 72. In this case, based only on the output of the sensor 54B, the controller 30 may not be able to identify whether the abnormality lies in the right lever device 26B or the harness 76, or in the harness 72 or the input circuit on the controller 30 side connected to the harness 72. Therefore, for example, when the output of the sensor 54B deviates from the normal state, the controller 30 diagnoses that there is an abnormality in either the right lever device 26B, the harness 76, or the harness 72. Then, as will be described later, when the connector 76C is removed from the connector 72C and the connector 72C is reconnected to the connector 75C or the connector 77C, the controller 30 performs a re-diagnosis to identify whether the abnormality lies in the right lever device 26B or the harness 76, or in the harness 72 or the input circuit of the controller 30. Specifically, after the connector 75C or the connector 77C is removed from the connector 71C or the connector 73C and then connected to the connector 72C, if the output of the sensor 54A or the sensor 54C returns to the normal state, the controller 30 may diagnose that there is an abnormality in the right lever device 26B or the harness 76. On the other hand, after the connector 75C or the connector 77C is removed from the connector 71C or the connector 73C and then connected to the connector 72C, if the output of the sensor 54A or the sensor 54C does not return to the normal state, the controller 30 may diagnose that there is an abnormality in the harness 72 or the input circuit of the controller 30.

[0118] Also, similarly, the pedal device 26C may receive power supply from the controller 30 through the harness 73. In this case, the controller 30 may not be able to identify whether the abnormality lies in the pedal device 26C or the harness 77 or in the harness 73 based only on the output of the sensor 54C. Therefore, for example, when the output of the sensor 54C deviates from the normal state, the controller 30 diagnoses that there is an abnormality in either the pedal device 26C, the harness 77, or the harness 73. Then, as will be described later, when the connector 77C is removed from the connector 73C and the connector 73C is reconnected to the connector 75C or the connector 76C, the controller 30 performs re-diagnosis to identify whether the abnormality lies in the pedal device 26C or the harness 77 or in the harness 73 or the input circuit of the controller 30. Specifically, when the connector 75C or the connector 76C is removed from the connector 71C or the connector 72C and then connected to the connector 73C, if the output of the sensor 54A or the sensor 54B returns to the normal state, the controller 30 may diagnose that there is an abnormality in the pedal device 26C or the harness 77. On the other hand, when the connector 75C or the connector 76C is removed from the connector 71C or the connector 72C and then connected to the connector 73C, if the output of the sensor 54A or the sensor 54B does not return to the normal state, the controller 30 may diagnose that there is an abnormality in the harness 73 or the input circuit of the controller 30.

[0119] Also, the function of the sensor 54 may be built into the controller 30. In this case, the controller 30 detects the voltage and current of the first operation signal line and the second operation signal line of each of the harnesses 71 to 73. Thereby, the controller 30 can diagnose the presence or absence of an abnormality in the left lever device 26A or the harness 75, the right lever device 26B or the harness 76, or the pedal device 26C or the harness 77.

[0120] For example, when the voltage or current of at least one of the first operation signal line and the second operation signal line of the harness 71 deviates from the normal state, the controller 30 can diagnose that there is an abnormality in the left lever device 26A, the harness 75, the harness 71, or the input circuit on the controller 30 side connected to the harness 71. At this time, the controller 30 does not need to distinguish between an abnormality in the left lever device 26A or the harness 75 and an abnormality in the harness 71. As will be described later, when the connector 75C is removed from the connector 71C and the connector 71C is reconnected to the connector 76C or the connector 77C, the controller 30 performs re-diagnosis and can identify whether the abnormality is in the left lever device 26A or the harness 75 or in the harness 71. Specifically, after the connector 71C is reconnected to the connector 76C or the connector 77C, if the voltage and current of the first operation signal and the second operation signal of the harness 71 are in the normal state, the controller 30 may diagnose an abnormality in the left lever device 26A or the harness 75. On the other hand, after the connector 71C is reconnected to the connector 76C or the connector 77C, if the voltage and current of the first operation signal and the second operation signal of the harness 71 are not in the normal state, the controller 30 may diagnose an abnormality in the harness 71 or the input circuit of the controller 30.

[0121] Similarly, when the voltage or current of at least one of the first operation signal line and the second operation signal line of the harness 72 deviates from the normal state, the controller 30 can diagnose that there is an abnormality in the right lever device 26B, the harness 76, the harness 72, or the input circuit on the controller 30 side connected to the harness 72. Then, as will be described later, after the connector 76C is removed from the connector 72C and the connector 72C is reconnected to the connector 75C or the connector 77C, the controller 30 performs re-diagnosis and can identify whether the abnormality is in the right lever device 26B or the harness 76 or in the harness 72 or the input circuit of the controller 30.

[0122] Similarly, when the voltage or current of at least one of the first operation signal line and the second operation signal line of the harness 73 deviates from the normal state, it can be diagnosed that there is an abnormality in the pedal device 26C, the harness 77, the harness 73, or the input circuit on the controller 30 side connected to the harness 73. Then, as will be described later, the controller 30 performs re-diagnosis after the connector 77C is removed from the connector 73C and the connector 73C is reconnected to the connector 75C or the connector 76C, and determines whether the abnormality is in the pedal device 26C or the harness 77, or in the harness 73 or the input circuit of the controller 30.

[0123] [First Example of Countermeasures for Abnormalities in Operating Devices etc.] Next, in addition to FIGS. 5 and 6, with reference to FIG. 7, a first example of countermeasures for abnormalities in the operating device 26 or the harnesses 75 to 77 connected to the operating device 26 will be described.

[0124] Note that the abnormalities in the harnesses 75 to 77 include the abnormalities in the connectors 75C to 77C attached to the respective tips of the harnesses 75 to 77.

[0125] <Outline of Countermeasures for Abnormalities in Pedal Devices etc.> For example, when an abnormality occurs in the pedal device 26C or the harness 77, the operator may not be able to appropriately operate the traveling hydraulic motors 1ML and 1MR using the pedal device 26C. Therefore, in this example, as shown in FIG. 5B, the operator can operate each of the traveling hydraulic motors 1ML and 1MR by operating the right lever device 26B in the vertical and horizontal directions instead of the pedal device 26C. However, at this time, the operator cannot operate the boom cylinder 7 and the bucket cylinder 9 using the operating device 26.

[0126] Specifically, as shown in FIG. 6B, an operator, a service technician, or the like (hereinafter referred to as "operator, etc.") removes the connector 77C from the connector 73C. Thereby, the pedal device 26C and the harness 77 can be disconnected from the controller 30 side.

[0127] In this example, the connector 76C and the connector 77C are compatible in terms of the connection structure with the connector 73C. Thereby, the operator, etc. can remove the connector 76C from the connector 72C and connect the connector 76C to the connector 73C from which the connector 77C has been removed.

[0128] Also, in this example, the connector 76C and the connector 77C are compatible in terms of the transmission of the operation signal between them and the right lever device 26B and the pedal device 26C are compatible in terms of the recognition on the controller 30 side of the operation signals output.

[0129] Thereby, the connector 76C and the connector 73C connect the first operation signal lines of the harness 76 and the harness 73 to each other and also connect the second operation signals of each other, and can appropriately transmit the first operation signal and the second operation signal from the harness 76 to the harness 73. And the controller 30 can appropriately recognize the first operation signal and the second operation signal input from the harness 73. Therefore, the operation control unit 301E can output an operation command corresponding to the first operation signal corresponding to the vertical operation of the right lever device 26B to the hydraulic control valve 31E. Similarly, the operation control unit 301F can output an operation command corresponding to the second operation signal corresponding to the horizontal operation of the right lever device 26B to the hydraulic control valve 31F. Thus, when there is an abnormality in the pedal device 26C or the harness 77, the operator, etc. can operate the right lever device 26B to operate the travel hydraulic motors 1ML, 1MR to realize the retreat travel of the excavator 100 and retreat the excavator 100 to a safe place.

[0130] The conditions for the compatibility of connector 76C and connector 77C in terms of the connection structure with connector 73C include, for example, that the shapes of connector 76C and connector 77C and the arrangement of connection pins are the same.

[0131] The conditions for the compatibility of connector 76C and connector 77C in terms of the transmission of operation signals with connector 73C include, for example, that the electrical characteristics of connector 76C and connector 77C are within a predetermined allowable range.

[0132] The conditions for the compatibility of the operation signals output by the right lever device 26B and the pedal device 26C in terms of recognizability on the controller 30 side include, for example, that the electrical characteristics of the outputs of the right lever device 26B and the pedal device 26C are within a predetermined range.

[0133] Thus, in this example, when an abnormality occurs in the pedal device 26C or the harness 77, an operator or the like can operate the travel hydraulic motors 1ML and 1MR using the right lever device 26B instead of the pedal device 26C by changing the connection of the connectors. That is, when an abnormality occurs in the lower travel system harness including the lower travel system operation device or the lower travel system connector, the operator can remove the lower travel system connector from the counterpart connector and reconnect the counterpart connector to the upper swing system connector removed from another connector, and then operate the actuator of the lower travel system using the upper swing system operation device. Therefore, when an abnormality occurs in the pedal device 26C or the like, the shovel 100 can be quickly retracted, and as a result, the work stop time can be shortened and the decrease in work efficiency can be suppressed.

[0134] Further, even when an abnormality occurs in the pedal device 26C or the harness 77, a state may be realized in which the traveling hydraulic motors 1ML and 1MR can be operated using the left lever device 26A instead of the pedal device 26C. In this case, the connectors 75C and 77C are compatible with each other both from the perspective of the connection structure with the connector 73C and from the perspective of the transmission of the operation signal between them and the connector 73C. Then, the connectors 75C and 77C are removed from the connectors 71C and 73C respectively, and the connector 75C is connected to the connector 73C.

[0135] <Outline of countermeasures in case of abnormality of left lever device etc.> For example, when an abnormality occurs in the left lever device 26A or the harness 75, the operator may not be able to appropriately operate the arm cylinder 8 and the swing hydraulic motor 2M using the left lever device 26A. Therefore, in this example, as shown in FIG. 5C, the operator can operate the arm cylinder 8 and the swing hydraulic motor 2M respectively by operating the right lever device 26B in the vertical and horizontal directions instead of the left lever device 26A. However, at this time, the operator cannot operate the boom cylinder 7 and the bucket cylinder 9 using the operating device 26.

[0136] Specifically, the operator or the like removes the connector 75C from the connector 71C. Thereby, the left lever device 26A can be disconnected from the controller 30 side.

[0137] In this example, the connectors 75C and 76C are compatible with each other from the perspective of the connection structure with the connector 71C. Thereby, the operator or the like can remove the connector 76C from the connector 72C and connect the connector 76C to the connector 71C from which the connector 75C has been removed.

[0138] Also, in this example, the connectors 75C and 76C are compatible with each other from the perspective of the transmission of the operation signal between them and the connector 71C. And the left lever device 26A and the right lever device 26B are compatible with each other from the perspective of the recognition on the controller 30 side of the operation signals output.

[0139] As a result, the connector 76C and the connector 71C connect the first operation signal lines of the harnesses 76 and 71 to each other and also connect the second operation signal lines of the harnesses 76 and 71 to each other, enabling the first operation signal and the second operation signal to be properly transmitted from the harness 76 to the harness 71. Then, the controller 30 can properly recognize the first operation signal and the second operation signal input from the harness 71. Therefore, the operation control unit 301B can output an operation command corresponding to the first operation signal corresponding to the vertical operation of the right lever device 26B to the hydraulic control valve 31B. Similarly, the operation control unit 301D can output an operation command corresponding to the second operation signal corresponding to the horizontal operation of the right lever device 26B to the hydraulic control valve 31D. Thus, for example, an operator or the like can, when the left lever device 26A or the like malfunctions, operate the right lever device 26B to operate the arm cylinder 8 to lift the bucket 6 from a position lower than the ground and bring it to a state where retraction travel is possible. Also, for example, an operator or the like can, when the left lever device 26A or the like malfunctions, operate the right lever device 26B to operate the swing hydraulic motor 2M to adjust the orientation of the upper swing body 3 to an appropriate state so as not to contact surrounding obstacles during retraction travel.

[0140] The conditions for the connectors 75C and 76C to have compatibility in terms of the connection structure with the connector 71C include, for example, that the shapes of the connectors 75C and 76C and the arrangement of the connection pins are the same.

[0141] The conditions for the connectors 75C and 76C to have compatibility in terms of the transmission of the operation signal with the connector 71C include, for example, that the electrical characteristics of the connectors 75C and 76C are within a predetermined allowable range.

[0142] The conditions for the left lever device 26A and the right lever device 26B to have compatibility in terms of the recognizability on the controller 30 side of the operation signals output by the left lever device 26A and the right lever device 26B include, for example, that the electrical characteristics of the outputs of the left lever device 26A and the right lever device 26B are within a predetermined range.

[0143] Thus, in this example, when there is an abnormality in the left lever device 26A or the harness 75, the operator or the like can operate the arm cylinder 8 and the swing hydraulic motor 2M using the right lever device 26B instead of the left lever device 26A by changing the connection of the connectors. That is, when an abnormality occurs in one upper swing system harness including one upper swing system operating device or one upper swing system connector, the operator removes one upper swing system connector from the mating connector, removes the mating connector from another connector, and reconnects it to the other upper swing system connector that has been removed from another connector, so that the operator can operate the actuator of the upper swing system that is the operation target of one upper swing system operating device using the other upper swing system operating device. Therefore, when an abnormality occurs in the left lever device 26A or the like, the excavator 100 can be quickly retracted, and as a result, the work stop time can be shortened and the decrease in work efficiency can be suppressed.

[0144] In addition, when an abnormality occurs in the left lever device 26A or the harness 75, the operator may remove the connector 75C from the connector 71C, remove the connector 77C from the connector 73C, and reconnect the connector 71C to the connector 77C. Thereby, when an abnormality occurs in the left lever device 26A or the like, the operator can operate the arm cylinder 8 and the swing hydraulic motor 2M using the pedal device 26C. That is, when an abnormality occurs in the upper swing system harness including the upper swing system operating device or the upper swing system connector, the operator removes the upper swing system connector from the mating connector, removes the mating connector from another connector, and reconnects it to the lower travel system connector that has been removed from another connector, so that the operator can operate the actuator of the upper swing system using the operating device of the lower swing system.

[0145] <Outline of countermeasure method in case of abnormality of right lever device etc.> For example, when an abnormality occurs in the right lever device 26B or the harness 76, the operator may not be able to appropriately operate the boom cylinder 7 and the bucket cylinder 9 using the right lever device 26B. Therefore, in this example, as shown in FIG. 5D, the operator can operate each of the boom cylinder 7 and the bucket cylinder 9 by operating the left lever device 26A in the vertical and horizontal directions instead of the right lever device 26B. However, at this time, the operator cannot operate the arm cylinder 8 and the swing hydraulic motor 2M using the operating device 26.

[0146] Specifically, the operator or the like removes the connector 76C from the connector 72C. Thereby, the right lever device 26B can be disconnected from the controller 30 side.

[0147] In this example, the connector 75C and the connector 76C are compatible from the viewpoint of the connection structure with the connector 71C. Thereby, the operator or the like can remove the connector 75C from the connector 71C and connect the connector 75C to the connector 72C from which the connector 76C has been removed.

[0148] Also, in this example, the connector 75C and the connector 76C are compatible from the viewpoint of the transmission of the operation signal between them and the connector 71C. And the left lever device 26A and the right lever device 26B are compatible from the viewpoint of the recognition of the operation signal output on the controller 30 side.

[0149] As a result, the connector 75C and the connector 72C connect the first operation signal lines of the harness 75 and the harness 72 to each other and connect the second operation signal lines of each other, so that the first operation signal and the second operation signal can be appropriately transmitted from the harness 75 to the harness 72. And the controller 30 can appropriately recognize the first operation signal and the second operation signal input from the harness 72. Therefore, the operation control unit 301A can output an operation command corresponding to the first operation signal corresponding to the vertical operation of the left lever device 26A to the hydraulic control valve 31A. Similarly, the operation control unit 301C can output an operation command corresponding to the second operation signal corresponding to the horizontal operation of the left lever device 26A to the hydraulic control valve 31C. Thus, for example, an operator or the like can operate the boom cylinder 7 and the bucket cylinder 9 by operating the left lever device 26A when an abnormality occurs in the right lever device 26B or the like, and pull up the bucket 6 from a position lower than the ground to make the evacuation travel possible.

[0150] In this way, in this example, when an abnormality occurs in the right lever device 26B or the harness 76, an operator or the like can operate the boom cylinder 7 and the bucket cylinder 9 by using the left lever device 26A instead of the right lever device 26B by changing the connection of the connectors. That is, when an abnormality occurs in the other upper swing system operation device or the other upper swing system harness including the other upper swing system connector, the operator removes the other upper swing system connector from the mating connector, removes the mating connector from another connector, and reconnects it to the one upper swing system connector. By doing so, the actuator of the upper swing system to be operated by the other upper swing system operation device can be operated by the one upper swing system operation device. Therefore, when an abnormality occurs in the right lever device 26B or the like, the excavator 100 can be quickly evacuated, and as a result, the work stop time can be shortened and the decrease in work efficiency can be suppressed.

[0151] When there is an abnormality in the right lever device 26B or the harness 76, the operator may remove the connector 76C from the connector 72C, remove the connector 77C from the connector 73C, and reconnect the connector 72C to the connector 77C. Thereby, when there is an abnormality in the right lever device 26B or the like, the operator can operate the boom cylinder 7 and the bucket cylinder 9 using the pedal device 26C. That is, when an abnormality occurs in the upper swing system harness including the upper swing system operating device or the upper swing system connector, the operator removes the upper swing system connector from the mating connector and reconnects the mating connector to the lower travel system connector removed from another connector, so that the operator can operate the actuator of the upper swing system using the operating device of the lower swing system.

[0152] <Actions of the excavator and the operator when an abnormality occurs in the operating device or the like> FIG. 7 is a sequence diagram showing an example of the actions of the excavator 100 and the operator OP when an abnormality occurs in the operating device 26 or the harnesses 75 to 77 connected to the operating device 26.

[0153] As shown in FIG. 7, the controller 30 of the excavator 100 detects an abnormality in the operating device 26 or the harnesses 75 to 77 based on the output of the sensor 54 (step S102).

[0154] In addition, as described above, when the abnormal location is specified by re-diagnosis, in step S102, an abnormality in the operating device 26, the harnesses 75 to 77, the harnesses 71 to 73, or the controller 30 connected to the harnesses 71 to 73 is detected.

[0155] As a result of the abnormality detection in step S102, the controller 30 of the excavator 100 shifts the excavator 100 to the emergency stop mode (step S104).

[0156] In the emergency stop mode, the operation of the excavator 100 is stopped emergently, and the stopped state of the operation of the excavator 100 is maintained. As a result, the operator OP cannot operate the excavator 100 using the operating device 26.

[0157] After the completion of step S104, the controller 30 of the excavator 100 notifies the output device 50 and others that an abnormality has occurred in the operating device 26 or the like, and the location where the abnormality has occurred (step S106).

[0158] As a result, the operator OP can check the location of the abnormality through the output device 50 (step S108).

[0159] In addition, the controller 30 of the excavator 100 may notify a countermeasure method including reconnecting the connectors through the output device 50 (step S106).

[0160] As a result, the operator OP can grasp the countermeasure method for the occurrence of an abnormality in the operating device 26 or the like through the output device 50 (step S108).

[0161] After the operator OP checks the location of the abnormality and the countermeasure method, the operator OP performs the reconnecting of the connectors according to the location of the abnormality (step S110).

[0162] For example, when there is an abnormality in the pedal device 26C or the harness 77, the operator OP removes the connectors 76C and 77C from the respective connectors 72C and 73C and connects the connector 76C to the connector 73C as described above. Also, for example, when there is an abnormality in the left lever device 26A or the harness 75, the operator OP removes the connectors 75C and 76C from the respective connectors 71C and 72C and connects the connector 76C to the connector 71C as described above. Also, for example, when there is an abnormality in the right lever device 26B or the harness 76, the operator OP removes the connectors 75C and 76C from the respective connectors 71C and 72C and connects the connector 75C to the connector 72C as described above.

[0163] As described above, when the final abnormal location is identified by re-diagnosis, in step S106, in addition to notifying the occurrence of the abnormality, a countermeasure method including reconnecting the connectors for identifying the final abnormal location may be notified.

[0164] After the completion of the reconnecting work in step S110, the operator OP performs a predetermined input for releasing the emergency stop mode through the input device 52 (step S112).

[0165] The predetermined input is, for example, an operation input to a button icon for releasing the emergency stop on the operation screen displayed on the display device 50A.

[0166] In response to the predetermined input in step S112, the controller 30 of the excavator 100 shifts the excavator 100 to an evacuation mode for evacuating the excavator 100 by the operation of the operator OP (step S114).

[0167] Also, the controller 30 may confirm that there is no input of a voltage corresponding to an operation signal from at least one of the harnesses 71 to 73 as a precondition for shifting the excavator 100 to the evacuation mode. Thereby, the controller 30 can shift the excavator 100 to the evacuation mode after determining that the reconnecting work has been carried out. Further, when the operation signal from the first harness corresponding to the abnormal location among the harnesses 71 to 73 returns to a normal state and the input of the operation signal from the second harness unrelated to the abnormal location is interrupted, the controller 30 may determine that the reconnecting work has been carried out.

[0168] Furthermore, the operation of reconnecting the connectors in step S110 may be omitted, and the emergency stop mode may be canceled only with the predetermined input in step S112. For example, when there is no abnormality in the pedal device 26C and the harness 77, it may be possible to perform a retreat travel directly by operating the pedal device 26C. Also, when there is an abnormality in the left lever device 26A or the harness 75, it may be possible to operate the boom cylinder 7 and the bucket cylinder 9 by operating the right lever device 26B and shift the attachment AT to a posture state where retreat travel is possible. Further, when there is an abnormality in the right lever device 26B or the harness 76, it may be possible to operate the arm cylinder 8 and the swing hydraulic motor 2M by operating the left lever device 26A and shift the upper swing body 3 and the attachment AT to a posture state where retreat travel is possible. Also, as described above, when the final abnormal location is specified by re-diagnosis, the controller 30 performs re-diagnosis and specifies the final abnormal location in response to an input for releasing the emergency stop. Then, when there is an abnormality on the operation device 26 side, that is, any one of the left lever device 26A, the right lever device 26B, and the pedal device 26C, or any one of the harnesses 75 to 77, the controller 30 shifts the excavator 100 to the retreat mode. On the other hand, when there is an abnormality on the controller 30 side, that is, any one of the harnesses 71 to 73 or any one of the input circuits corresponding to the harnesses 71 to 73 of the controller 30, the controller 30 does not shift the excavator 100 to the retreat mode and causes the display device 50A to display that the shift to the retreat mode cannot be made. Also, when the shift to the retreat mode cannot be made, the display device 50A may display a notification instructing to reconnect the connector connected to the input-side connector (i.e., any one of the connectors 75C to 77C) corresponding to the abnormal location to the original input-side connector among the output-side connectors 71C to 73C. Then, after the operator OP returns to the original connection state and performs a predetermined input for releasing the emergency stop mode again, the controller 30 may release the emergency stop mode and shift the excavator 100 to the retreat mode.

[0169] After the completion of the process in step S114, the controller 30 of the excavator 100 notifies, via the output device 50, that operations for the evacuation of the excavator 100 can be performed using the remaining operation parts of the operation device 26 other than the operation part corresponding to the abnormal part (step S116).

[0170] Also, in the evacuation mode, the output of the hydraulic actuator HA may be restricted compared to the normal mode when the excavator 100 is in a normal state. In this case, the controller 30 may also notify, via the output device 50, that the output is restricted in the evacuation mode (step S116).

[0171] In addition, when the output of the hydraulic actuator HA is restricted in the evacuation mode, a control mode (restriction release mode) of the excavator 100 that can temporarily release the output restriction may be provided. This is because depending on the posture and working state of the excavator 100 when it is emergently stopped, it may be difficult to evacuate the excavator 100 with the hydraulic actuator HA whose output is restricted. For example, when the operator operates the operation screen displayed on the display device 50A using the input device 52 and performs a predetermined input, the controller 30 shifts the excavator 100 to the restriction release mode on the premise of the evacuation mode.

[0172] By the notification in step S116, the operator OP confirms that operations for the evacuation of the excavator 100 can be performed using the remaining operation parts of the operation device 26 other than the operation part corresponding to the abnormal part (step S118).

[0173] Then, the operator OP starts operating the operation device 26 for the evacuation of the excavator 100 (step S120).

[0174] The controller 30 of the excavator 100 controls the hydraulic control valve 31 according to the operation signal input from the remaining operation parts of the operation device 26 other than the operation part corresponding to the abnormal part, and executes an operation for the evacuation of the excavator 100 (step S122).

[0175] In this way, in response to an abnormality in the operating device 26 or harnesses 75 to 77 connected to the operating device 26, the controller 30 can realize the retraction operation of the excavator 100 while ensuring the safety of the excavator 100.

[0176] [Second Example of Countermeasures in Case of Abnormality of Operating Device etc.] Next, with reference to FIGS. 5 to 7, a second example of countermeasures in the case of an abnormality in the operating device 26 or the harnesses 75 to 77 connected to the operating device 26 will be described.

[0177] [Outline of Countermeasures in Case of Abnormality of Pedal Device etc.] In this example, similar to the first example described above, in the case of an abnormality in the pedal device 26C or the harness 77, as shown in FIG. 5B, the operator can operate each of the travel hydraulic motors 1ML and 1MR by operating the right lever device 26B in the vertical and horizontal directions.

[0178] Specifically, the operator operates the operation screen displayed on the display device 50A using the input device 52, and changes the setting of the operation method of the travel hydraulic motors 1ML and 1MR from the method using the pedal device 26C to the method using the right lever device 26B.

[0179] In response to the setting input, the controller 30 switches from the state where each of the operation control units 301E and 301F uses the first operation signal and the second operation signal from the harness 73 to the state where it uses the first operation signal and the second operation signal from the harness 72. As a result, each of the operation control units 301E and 301F can output an operation command corresponding to the first operation signal and the second operation signal corresponding to the vertical and horizontal operations of the right lever device 26B to the hydraulic control valves 31E and 31F. Therefore, the operator can operate the travel hydraulic motors 1ML and 1MR using the right lever device 26B.

[0180] At the same time, the controller 30 prohibits the operations of the boom cylinder 7 and the bucket cylinder 9, which are the original operation targets of the right lever device 26B. Specifically, the controller 30 prohibits the operations of the operation control units 301A and 301C. As a result, it is possible to prevent a situation in which the boom cylinder 7 and the bucket cylinder 9 move while the travel hydraulic motors 1ML and 1MR can be operated by the right lever device 26B.

[0181] As described above, in this example, when an abnormality occurs in the pedal device 26C or the harness 77, the controller 30 changes the internal processing so that the travel hydraulic motors 1ML and 1MR can be operated by the right lever device 26B instead of the pedal device 26C. As a result, an operator or the like can operate the travel hydraulic motors 1ML and 1MR using the right lever device 26B instead of the pedal device 26C. Therefore, when an abnormality occurs in the pedal device 26C or the like, the excavator 100 can be quickly evacuated, and as a result, the work stop time can be shortened and a decrease in work efficiency can be suppressed.

[0182] Note that the assignment of the vertical and horizontal operations of the right lever device 26B to each of the travel hydraulic motors 1ML and 1MR may be arbitrary. That is, the controller 30 may change the internal processing so that the travel hydraulic motor 1ML can be operated by the horizontal operation of the right lever device 26B and the travel hydraulic motor 1MR can be operated by the vertical operation of the right lever device 26B. Further, when an abnormality occurs in the pedal device 26C or the harness 77, the controller 30 may change the internal processing so that the travel hydraulic motors 1MR and 1MR can be operated by the left lever device 26A instead of the pedal device 26C. In this case, the controller 30 switches from a state in which each of the operation control units 301E and 301F uses the first operation signal and the second operation signal from the harness 73 to a state in which the first operation signal and the second operation signal from the harness 71 are used.

[0183] <Outline of countermeasures in case of abnormality of left lever device etc.> In this example, similar to the first example described above, when there is an abnormality in the left lever device 26A or the harness 75, as shown in FIG. 5C, the operator can operate the arm cylinder 8 and the slewing hydraulic motor 2M respectively by operating the right lever device 26B in the vertical and horizontal directions.

[0184] Specifically, the operator operates the operation screen displayed on the display device 50A using the input device 52, and changes the setting of the operation method of the arm cylinder 8 and the slewing hydraulic motor 2M from the method using the left lever device 26A to the method using the right lever device 26B.

[0185] The controller 30 switches, according to the setting input, from the state where the operation control units 301B and 301D respectively use the first operation signal and the second operation signal from the harness 71 to the state where the first operation signal and the second operation signal from the harness 72 are used. Thereby, the operation control units 301B and 301D can output operation commands corresponding to the first operation signal and the second operation signal corresponding to the vertical and horizontal operations of the right lever device 26B to the hydraulic control valves 31B and 31D respectively. Therefore, the operator can operate the arm cylinder 8 and the slewing hydraulic motor 2M using the right lever device 26B.

[0186] At the same time, the controller 30 prohibits the operations of the boom cylinder 7 and the bucket cylinder 9 which are the original operation targets of the right lever device 26B. Specifically, the controller 30 prohibits the operations of the operation control units 301A and 301C. Thereby, in a state where the arm cylinder 8 and the slewing hydraulic motor 2M can be operated by the right lever device 26B, it is possible to prevent a situation where the boom cylinder 7 and the bucket cylinder 9 move at the same time.

[0187] In this way, in this example, when there is an abnormality in the left lever device 26A or the harness 75, the controller 30 changes the internal processing so that the right lever device 26B can operate the arm cylinder 8 and the swing hydraulic motor 2M instead of the left lever device 26A. As a result, an operator or the like can operate the arm cylinder 8 and the swing hydraulic motor 2M using the right lever device 26B instead of the left lever device 26A. Therefore, when there is an abnormality in the left lever device 26A or the like, the excavator 100 can be quickly retracted, and as a result, the work stop time can be shortened and a decrease in work efficiency can be suppressed.

[0188] In addition, the assignment of the vertical and horizontal operations of the right lever device 26B to the arm cylinder 8 and the swing hydraulic motor 2M may be arbitrary. That is, the controller 30 may change the internal processing so that the arm cylinder 8 can be operated by the horizontal operation of the right lever device 26B and the swing hydraulic motor 2M can be operated by the vertical operation of the right lever device 26B.

[0189] <Outline of countermeasure method in case of abnormality of right lever device etc.> In this example, similar to the first example described above, when there is an abnormality in the right lever device 26B or the harness 76, as shown in FIG. 5D, the operator can operate each of the boom cylinder 7 and the bucket cylinder 9 by the vertical and horizontal operations of the left lever device 26A.

[0190] Specifically, the operator operates the operation screen displayed on the display device 50A using the input device 52, and changes the setting of the operation methods of the boom cylinder 7 and the bucket cylinder 9 from the method using the right lever device 26B to the method using the left lever device 26A.

[0191] According to the setting input, the controller 30 switches the states of the operation control units 301A and 301C from using the first operation signal and the second operation signal from the harness 72 to using the first operation signal and the second operation signal from the harness 71. Thereby, the operation control units 301A and 301C can output operation commands corresponding to the first operation signal and the second operation signal corresponding to the vertical and horizontal operations of the left lever device 26A to the hydraulic control valves 31A and 31C respectively. Therefore, the operator can operate the boom cylinder 7 and the bucket cylinder 9 using the left lever device 26A.

[0192] In addition, the controller 30 prohibits the operations of the arm cylinder 8 and the slewing hydraulic motor 2M which are the original operation targets of the left lever device 26A. Specifically, the controller 30 prohibits the operations of the operation control units 301B and 301D. Thereby, in a state where the boom cylinder 7 and the bucket cylinder 9 can be operated by the left lever device 26A, it is possible to prevent a situation where the arm cylinder 8 and the slewing hydraulic motor 2M move.

[0193] In this way, in this example, when there is an abnormality in the right lever device 26B or the harness 76, the controller 30 changes the internal processing so that the boom cylinder 7 and the bucket cylinder 9 can be operated by the left lever device 26A instead of the right lever device 26B. Thereby, the operator and the like can operate the boom cylinder 7 and the bucket cylinder 9 using the left lever device 26A instead of the right lever device 26B. Therefore, when there is an abnormality in the right lever device 26B or the like, the excavator 100 can be quickly retracted. As a result, the operation stop time can be shortened and the decrease in work efficiency can be suppressed.

[0194] Furthermore, the assignment of the vertical and horizontal operations of the left lever device 26A to the boom cylinder 7 and the bucket cylinder 9, respectively, may be arbitrary. That is, the controller 30 may change the internal processing so that the boom cylinder 7 can be operated by the horizontal operation of the left lever device 26A and the bucket cylinder 9 can be operated by the vertical operation of the left lever device 26A.

[0195] <Operations of the Excavator and the Operator When an Abnormality Occurs in the Operating Device or the Like> In this example, the operations of the excavator 100 and the operator OP when an abnormality occurs in the operating device 26 or the harnesses 75 to 77 connected to the operating device 26 are realized by a flow similar to that of FIG. 7 described above. Hereinafter, with reference to FIG. 7, the description will be centered on the points of change from FIG. 7.

[0196] In this example, in step S106, the controller 30 also causes the display device 50A to display an operation screen for changing the operation method of the hydraulic actuator HA corresponding to the abnormal portion. The hydraulic actuator HA corresponding to the abnormal portion means a hydraulic actuator HA that may become unable to perform appropriate operations using the operating device 26 due to the abnormality. Specifically, the travel hydraulic motors 1ML, 1MR in the event of an abnormality in the pedal device 26C or the like, the arm cylinder 8 and the swing hydraulic motor 2M in the event of an abnormality in the left lever device 26A or the like, and the boom cylinder 7 and the bucket cylinder 9 in the event of an abnormality in the right lever device 26B or the like.

[0197] Also, in this example, in step S110, the operator OP operates the operation screen of the display device 50A using the input device 52 to change the setting of the operation method of the hydraulic actuator HA corresponding to the abnormal portion.

[0198] Similar to the case of the reconnecting operation in the first example described above, the setting change in step S110 may be omitted. In this case, the controller 30 prohibits the operation of the hydraulic actuator HA corresponding to the abnormal location as a prerequisite for the transition from the emergency stop mode to the evacuation mode. Thereby, the controller 30 can suppress a situation in which the hydraulic actuator corresponding to the abnormal location performs an inappropriate operation due to an abnormality in the operation device 26 or the like.

[0199] In this way, the controller 30 can realize the evacuation operation of the excavator 100 while ensuring the safety of the excavator 100 in response to the occurrence of an abnormality in the operation device 26 or the harnesses 75 to 77 connected to the operation device 26.

[0200] In addition, in this example, the controller 30 may automatically change the operation method of the hydraulic actuator HA corresponding to the abnormal location regardless of the operator's request. For example, when an abnormality occurs in the pedal device 26C or the harness 77, the controller 30 automatically switches the operation method of the travel hydraulic motors 1ML and 1MR from the method using the pedal device 26C to the method using one of the preset left lever device 26A and right lever device 26B. In this case, the controller 30 notifies the operator of the automatic switch, for example, through the output device 50. Further, when automatically switching, the controller 30 may display an operation screen on the display device 50A in which the operator can select and input whether to permit the switch, and execute the switch when permission input is received through the input device 52.

[0201] [Operation] Next, the operation of the excavator according to this embodiment will be described.

[0202] In the first aspect of the present embodiment, the excavator includes a first actuator, a second actuator, an electric first operation unit for an operator to operate the first actuator, an electric second operation unit for an operator to operate the second actuator, a first signal line provided to extend from the first operation unit and having a first output connector provided at its tip, and outputting an electric signal corresponding to the operation state of the first operation unit, a second signal line provided to extend from the second operation unit and having a second output connector provided at its tip, and outputting an electric signal corresponding to the operation state of the second operation unit, a first input connector to which the first output connector is connected, and a second input connector to which the second output connector is connected. The excavator is, for example, the above-described excavator 100. The first actuator, the second actuator, the first operation unit, and the second operation unit are, for example, the boom cylinder 7 and the bucket cylinder 9, the travel hydraulic motors 1ML, 1MR, the right lever device 26B, and the pedal device 26C described above. In this case, the first signal line and the first output connector are the above-described harness 76 and connector 76C, the second signal line and the second output connector are the above-described harness 77 and connector 77C, and the first input connector and the second input connector are the above-described connectors 72C and 73C. Further, the first actuator, the second actuator, the first operation unit, and the second operation unit may be, for example, the boom cylinder 7 and the bucket cylinder 9, the arm cylinder 8 and the swing hydraulic motor 2M, the right lever device 26B, and the left lever device 26A described above. In this case, the first signal line and the first output connector are the above-described harness 76 and connector 76C, the second signal line and the second output connector are the above-described harness 75 and connector 75C, and the first input connector and the second input connector are the above-described connectors 72C and 71C. Further, the first actuator, the second actuator, the first operation unit, and the second operation unit may be, for example, the arm cylinder 8 and the swing hydraulic motor 2M, the boom cylinder 7 and the bucket cylinder 9, the left lever device 26A, and the right lever device 26B described above.In this case, the first signal line and the first output connector are the above-mentioned harness 75 and connector 75C, the second signal line and the second output connector are the above-mentioned harness 76 and connector 76C, and the first input connector and the second input connector are the above-mentioned connectors 71C and 72C. Then, the excavator can be operated by the operator using the first operation unit on the second actuator when the first output connector is removed from the first input connector and reconnected to the second input connector.

[0203] Accordingly, the operator can operate the second actuator using the first operation unit in case of an abnormality on the second operation unit side. The excavator can cope with the case where an abnormality occurs on the operation device side that can be used by the operator to operate the actuator.

[0204] In addition, in the second aspect of the present embodiment, on the premise of the above-mentioned first aspect, the first output connector and the second output connector may have the same shape and pin arrangement.

[0205] Accordingly, the operator can remove the first output connector from the first input connector and connect it to the second input connector.

[0206] In addition, in the third aspect of the present embodiment, on the premise of the above-mentioned first or second aspect, the first output connector and the second output connector may have electrical output characteristics within a predetermined allowable range.

[0207] Accordingly, when the first output connector and the second input connector are connected, the electrical signal of the first output connector can be appropriately transmitted to the second input connector side. Therefore, the excavator 100 can realize a state in which the operator can operate the second actuator using the first operation unit.

[0208] Further, in the fourth aspect of the present embodiment, on the premise of any one of the above-described first to third aspects, the excavator may include an input unit that receives an input from an operator. The input unit is, for example, the above-described input device 52. And when the first output connector is removed from the first input connector and reconnected to the second input connector, and a predetermined input is received through the input unit, the excavator may shift to a state in which the operator can operate the second actuator using the first operation unit.

[0209] Thereby, the excavator can shift to a state in which the second actuator can be operated using the first operation unit while considering safety.

[0210] Also, in the fifth aspect of the present embodiment, on the premise of the above-described fourth aspect, the excavator may include a control device. The control device is, for example, the above-described controller 30. Specifically, when an abnormality occurs in the second operation unit or the second signal line, the control device prohibits the operation of the second actuator, and when the predetermined input is received through the input unit, the control device may permit the operation of the second actuator.

[0211] Thereby, the excavator can shift to a state in which the second actuator can be operated using the first operation unit while considering safety.

[0212] Further, in the sixth aspect of the present embodiment, on the premise of any one of the above-described first to fifth aspects, when the operator can operate the second actuator using the first operation unit, the excavator may limit the output of the second actuator.

[0213] Thereby, the excavator can improve safety in a state where the second actuator can be operated by the first operation unit.

[0214] Further, in the seventh aspect of the present embodiment, the excavator includes a first actuator, a second actuator, an electric first operation unit for an operator to operate the first actuator, an electric second operation unit for an operator to operate the second actuator, and a control device. The first actuator, the second actuator, the first operation unit, and the second operation unit are, for example, the boom cylinder 7 and the bucket cylinder 9, the travel hydraulic motors 1ML, 1MR, the right lever device 26B, and the pedal device 26C described above. Further, the first actuator, the second actuator, the first operation unit, and the second operation unit may be, for example, the boom cylinder 7 and the bucket cylinder 9, the arm cylinder 8 and the swing hydraulic motor 2M, the right lever device 26B, and the left lever device 26A. Further, the first actuator, the second actuator, the first operation unit, and the second operation unit may be, for example, the arm cylinder 8 and the swing hydraulic motor 2M, the boom cylinder 7 and the bucket cylinder 9, the left lever device 26A, and the right lever device 26B. And the control device switches the state in which the operator can operate the second actuator using the second operation unit to the state in which the operator can operate the second actuator using the first operation unit.

[0215] Thereby, when an abnormality occurs on the second operation unit side, the operator can operate the second actuator using the first operation unit. The excavator can cope with the case where an abnormality occurs on the operation device side that the operator uses to operate the actuator.

[0216] Further, in the eighth aspect of the present embodiment, on the premise of the seventh aspect described above, the control device may switch the state in which the operator can operate the second actuator using the second operation unit to the state in which the operator can operate the second actuator using the first operation unit by changing the assignment for operating the second actuator from the second operation unit to the first operation unit.

[0217] Accordingly, when an abnormality occurs on the second operation unit side, the operator can operate the second actuator using the first operation unit.

[0218] Further, in the ninth aspect of the present embodiment, the control device may prohibit the operation of the first actuator in a state where the operator can operate the second actuator using the first operation unit.

[0219] Accordingly, the excavator can suppress a situation in which the first actuator moves while the second actuator can be operated using the first operation unit. Therefore, the excavator can realize a state in which the second actuator can be operated using the first operation unit while considering safety.

[0220] Further, in the tenth aspect of the present embodiment, on the premise of any one of the seventh to ninth aspects described above, when an abnormality occurs in the second operation unit or a signal line that transmits an electrical signal output from the second operation unit, the control device may switch the state in which the operator can operate the second actuator using the second operation unit to a state in which the operator can operate the second actuator using the first operation unit. The signal line is, for example, the above-mentioned harness 77 when the second operation unit corresponds to the above-mentioned pedal device 26C. Further, the signal line is, for example, the above-mentioned harness 75 when the second operation unit corresponds to the above-mentioned left lever device 26A. Further, the signal line is, for example, the above-mentioned harness 76 when the second operation unit corresponds to the above-mentioned right lever device 26B.

[0221] Accordingly, the excavator can shift to a state in which the second actuator can be operated using the first operation unit in accordance with the occurrence of an abnormality on the second operation unit side.

[0222] Further, in the eleventh aspect of the present embodiment, on the premise of the above-described seventh to tenth aspects, the excavator may include a display device that displays an operation screen for changing the assignment for operating the second actuator from the second operation unit to the first operation unit. The display device is, for example, the above-described display device 50A. And when the assignment for operating the second actuator is changed from the second operation unit to the first operation unit through the operation screen, the control device may switch the state in which the operator can operate the second actuator using the second operation unit to the state in which the operator can operate the second actuator using the first operation unit.

[0223] Thereby, the excavator can shift to a state in which the second actuator can be operated using the first operation unit in response to a setting input through the operation screen by the operator.

[0224] Further, in the twelfth aspect of the present embodiment, on the premise of any one of the above-described first to eleventh aspects, the first actuator may be two actuators that drive any two of the upper swing body, boom, arm, and end attachment. The two actuators are, for example, the above-described arm cylinder 8 and swing hydraulic motor 2M, or the boom cylinder 7 and bucket cylinder 9. Also, the second actuator may be two actuators that drive the left and right crawlers respectively. The two actuators are, for example, the above-described travel hydraulic motors 1ML, 1MR. Further, the first operation unit may be a lever device on either the left or right side of the driver's seat. The lever device is, for example, the above-described left lever device 26A or right lever device 26B. And the second operation unit may be a pedal device in front of the driver's seat. The pedal device is, for example, the above-described pedal device 26C.

[0225] Thereby, the operator can operate the two actuators that drive the left and right crawlers using a lever device on either the left or right side of the driver's seat instead of the pedal device.

[0226] Also, in the 13th aspect of the present embodiment, on the premise of any one of the above-described 1st to 11th aspects, the first actuator may be two actuators that respectively drive any two of the upper swing body, the boom, the arm, and the end attachment. Further, the second actuator may be two actuators that respectively drive the remaining two excluding the drive targets of the first actuator among the upper swing body, the boom, the arm, and the end attachment. Also, the first operation unit may be a lever device on either the left or right side of the driver's seat. And the second operation unit may be a lever device on the other side of the left or right side of the driver's seat.

[0227]

[0228]

[0229] In this way, the operator can operate the actuator that is the original operation target of the right lever device by using the left lever device instead of the right lever device on the right side of the driver's seat. Similarly, the operator can operate the actuator that is the original operation target of the left lever device by using the right lever device instead of the left lever device on the left side of the driver's seat.Also, in the 14th aspect of the present embodiment, the excavator connector is provided at the tip of a first signal line that outputs a signal according to the operation state of a first operation unit used to operate a first actuator of the excavator, and is connected to a first input connector. And the excavator connector is connectable to a second input connector to which another connector provided at the tip of a second signal line that outputs a signal according to the operation state of a second operation unit used to operate a second actuator of the excavator is connected, and when connected to the second input connector, transmits the signal according to the operation state of the first operation unit to the second input connector side so as to be able to operate the second actuator.Accordingly, when an abnormality occurs on the second operation unit side, the operator can operate the second actuator using the first operation unit. The excavator connector can handle the case where an abnormality occurs on the operation device side that the operator uses to operate the actuator.

[0230] As described above in detail with respect to the embodiments, the present disclosure is not limited to such specific embodiments, and various modifications and changes are possible within the scope of the gist described in the claims.

Description of Reference Numerals

[0231] 1 Lower Travel Body 1C Crawler 1ML, 1MR Travel Hydraulic Motor 2M Swing Hydraulic Motor 3 Upper Swing Structure 4 Boom 5 Arm 6 Bucket 7 Boom Cylinder 8 Arm Cylinder 9 Bucket Cylinder 10 Cabin 17 Control Valve 17A~17F Direction Control Valve 26 Operating Device 26A Left Lever Device 26B Right Lever Device 26C Pedal Device 26C1 Left Pedal 26C2 Right Pedal 26C3 Left Lever 26C4 Right Lever 30 Controller 31 Hydraulic Control Valve 31A~31F Hydraulic Control Valve 50 Output Device 50A Display Device 52 Input Device 54 Sensor 54A~54C Sensor 70 Harness 71~73 Harness 71C - 73C Connectors 75 - 77 Harnesses 75C - 77C Connectors 100 Shovels 301A - 301F Operation Control Units AT Attachment HA Hydraulic Actuator

Claims

1. a first actuator; a second actuator; an electric first operation unit for an operator to operate the first actuator; an electric second operation unit for an operator to operate the second actuator; a first signal line provided to extend from the first operation unit and having a first output connector provided at its tip, the first signal line outputting an electric signal corresponding to the operation state of the first operation unit; a second signal line provided to extend from the second operation unit and having a second output connector provided at its tip, the second signal line outputting an electric signal corresponding to the operation state of the second operation unit; a first input connector to which the first output connector is connected; a second input connector to which the second output connector is connected, and when the first output connector is removed from the first input connector and reconnected to the second input connector, an operator can operate the second actuator using the first operation unit, an excavator.

2. The first output connector and the second output connector have the same shape and pin arrangement, The excavator according to claim 1.

3. The first output connector and the second output connector have electrical output characteristics within a predetermined allowable range, The excavator according to claim 1 or 2.

4. comprising an input unit for receiving an input from an operator, when the first output connector is removed from the first input connector and reconnected to the second input connector and a predetermined input is received through the input unit, the operator can shift to a state where the operator can operate the second actuator using the first operation unit, The excavator according to claim 1 or 2.

5. comprising a control device, when an abnormality occurs in the second operation unit or the second signal line, the control device prohibits the operation of the second actuator, and when the predetermined input is received through the input unit, the control device permits the operation of the second actuator, The excavator according to claim 4.

6. limiting the output of the second actuator in a state where an operator can operate the second actuator using the first operation unit, The excavator according to claim 1 or 2.

7. a first actuator; a second actuator; a first electric operation unit for an operator to operate the first actuator; a second electric operation unit for an operator to operate the second actuator; a control device; and the control device switches from a state where the operator can operate the second actuator using the second operation unit to a state where the operator can operate the second actuator using the first operation unit. An excavator.

8. The control device changes the assignment for operating the second actuator from the second operation unit to the first operation unit, thereby switching from a state where the operator can operate the second actuator using the second operation unit to a state where the operator can operate the second actuator using the first operation unit. The excavator according to claim 7.

9. When the operator can operate the second actuator using the first operation unit, the control device prohibits the operation of the first actuator. The excavator according to claim 7 or 8.

10. When an abnormality occurs in the second operation unit or a signal line that transmits an electric signal output from the second operation unit, the control device switches from a state where the operator can operate the second actuator using the second operation unit to a state where the operator can operate the second actuator using the first operation unit. The excavator according to claim 7 or 8.

11. A display device that displays an operation screen for changing the assignment for operating the second actuator from the second operation unit to the first operation unit; When the assignment for operating the second actuator is changed from the second operation unit to the first operation unit through the operation screen, the control device switches from a state where the operator can operate the second actuator using the second operation unit to a state where the operator can operate the second actuator using the first operation unit. The excavator according to claim 7 or 8.

12. The first actuator is two actuators that drive any two of the upper slewing body, boom, arm, and end attachment; The second actuator is two actuators that drive the left and right crawlers respectively; The first operation unit is a lever device on either the left or right side of the driver's seat. The second operation unit is a pedal device in front of the driver's seat. The excavator according to claim 1, 2, 7, or 8.

13. The first actuator is two actuators that drive any two of the upper swing body, boom, arm, and end attachment respectively. The second actuator is two actuators that drive the remaining two of the upper swing body, boom, arm, and end attachment excluding the drive targets of the first actuator respectively. The first operation unit is a lever device on either the left or right side of the driver's seat. The second operation unit is a lever device on the other side of either the left or right side of the driver's seat. The excavator according to claim 1, 2, 7, or 8.

14. An excavator connector provided at the tip of a first signal line that outputs a signal according to the operation state of a first operation unit used to operate a first actuator of the excavator, and connected to a first input connector. It can be connected to a second input connector to which another connector provided at the tip of a second signal line that outputs a signal according to the operation state of a second operation unit used to operate a second actuator of the excavator is connected. When connected to the second input connector, the signal according to the operation state of the first operation unit is transmitted to the second input connector side so that the second actuator can be operated. An excavator connector.

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