Control method of work machine, control program, control system, and work machine

Abstract

To keep the battery in good condition by reducing power consumption and to suppress a decrease in overall work efficiency.SOLUTION: A work machine is equipped with a battery that stores electric power, an electric motor that is driven by power supplied from the battery, a hydraulic pump that is driven by the electric motor, and a specific actuator and a non-specific actuator that are driven by hydraulic oil discharged from the hydraulic pump. A control method of a work machine includes detecting the state of the battery and regulating output of the non-specific actuator based on the state of the battery.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a control method, a control program, a control system, and a work machine. [Background technology]

[0002] Patent Document 1 discloses a work machine that includes a battery, an electric motor driven by power supplied from the battery, a hydraulic pump driven by the electric motor, and multiple hydraulic actuators driven by hydraulic oil supplied from the hydraulic pump. When the remaining charge in the battery drops to a preset level, the rotation speed (target rotation speed) of the electric motor is limited. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2009-256988 Summary of the Invention [Problem to be solved by the invention]

[0004] However, when the rotation speed of the electric motor is limited as in Patent Document 1, the flow rate of hydraulic oil discharged from the hydraulic pump is reduced, and the flow rate of hydraulic oil supplied to each of the hydraulic actuators is also reduced. This slows down the overall operation of the work machine, which may result in a decrease in overall work efficiency. Furthermore, if the battery's power is consumed and the battery's condition is outside the appropriate range (for example, due to insufficient charge or overheating), the operation of the work machine may slow down (or stop), which may result in a decrease in overall work efficiency.

[0005] The present invention has been made to solve the above problems, and its object is to provide a control method for a work machine that can reduce power consumption, keep the battery in good condition, and prevent a decrease in overall work efficiency. [Means for solving the problem]

[0006] A control method for a work machine according to one aspect of the present invention is a control method for a work machine that includes a battery that stores electric power, an electric motor that is driven by power supplied from the battery, a hydraulic pump that is driven by the electric motor, and a specific actuator and a non-specific actuator that are driven by hydraulic oil discharged from the hydraulic pump, and includes detecting the state of the battery, and regulating the output of the non-specific actuator based on the state of the battery. [Effects of the Invention]

[0007] According to the above configuration, it is possible to reduce power consumption, keep the battery in good condition, and prevent a decrease in overall work efficiency. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a side view showing a schematic configuration of a hydraulic excavator, which is an example of a work machine according to an embodiment of the present invention. [Figure 2] FIG. 2 is a block diagram schematically showing a configuration of an electrical system of the hydraulic excavator. [Figure 3] FIG. 2 is a block diagram schematically showing a configuration of a hydraulic system of the hydraulic excavator. [Figure 4] 4 is a graph showing changes in the supply flow rate to an actuator included in the hydraulic system. [Figure 5] 4 is a graph showing a change in the opening amount of a regulator included in the hydraulic system. [Figure 6] 4 is a graph showing a change in the opening amount of a control valve included in the hydraulic system. [Figure 7] 4 is a graph showing changes in the target rotation speed of an electric motor included in the electrical system. [Figure 8] 10 is a graph showing a modified example of the change in the opening amount of the regulator. DETAILED DESCRIPTION OF THE INVENTION

[0009] The following describes an embodiment of the present invention with reference to the drawings.

[0010] [1. General configuration of the work machine] 1 is a side view showing a schematic configuration of a hydraulic excavator 1 (electric excavator), which is an example of an electric work machine according to an embodiment of the present invention. The hydraulic excavator 1 includes a lower traveling body 2, a work implement 3, and an upper body 4 (also called an upper rotating body).

[0011] Here, the directions used in the description of this embodiment are defined as follows. The direction in which an operator (operator, driver) seated in the driver's seat 44a disposed in the control unit 44 of the upper body 4 faces forward is defined as "forward," and the opposite direction is defined as "rearward." When the upper body 4 is not rotating relative to the lower running body 2 (swing angle 0 degrees), the fore-and-aft direction of the upper body 4 coincides with the fore-and-aft direction of the lower running body 2. In the drawings, the hydraulic excavator 1 is shown in a state in which the upper body 4 is not rotating relative to the lower running body 2. Also, the left side as viewed from the operator seated in the driver's seat 44a is defined as "left," and the right side is defined as "right." Furthermore, the direction of gravity, which is perpendicular to the fore-and-aft direction and the left-and-right direction, is defined as the up-and-down direction, with the upstream side of the direction of gravity defined as "up" and the downstream side as "down." In the drawings, the forward side is indicated as "F," the rearward side as "B," the right side as "R," the left side as "L," the upside as "U," and the downside as "D," as necessary.

[0012] The lower traveling body 2 includes a pair of left and right crawlers 21 and a pair of left and right traveling motors 22. The left and right traveling motors 22 are each configured as a hydraulic motor. The left and right traveling motors 22 drive the left and right crawlers 21, respectively, so that the lower traveling body 2 can travel (for example, move forward and backward). In other words, the lower traveling body 2 is configured to be able to travel. Furthermore, the left and right traveling motors 22 are motors (hydraulic motors in this embodiment) for causing the lower traveling body 2 to travel.

[0013] The lower traveling body 2 further includes an earth removal device 23. The earth removal device 23 can perform earth removal work (also called ground leveling work). The earth removal device 23 is configured to include a blade. The earth removal device 23 is disposed on the front side of the lower traveling body 2. That is, the earth removal device 23 is provided on one side in the fore-and-aft direction of the lower traveling body 2 (the front side in this embodiment). The earth removal device 23 is also attached to the lower traveling body 2 so that it can be raised and lowered. The earth removal device 23 is raised and lowered by a first cylinder CL1 (also called a blade cylinder) which is configured as a hydraulic cylinder. That is, the first cylinder CL1 raises and lowers the earth removal device 23.

[0014] The work implement 3 includes a boom 31, an arm 32, and a bucket 33. By independently driving the boom 31, the arm 32, and the bucket 33, it is possible to perform work to excavate earth and sand, etc. The boom 31, the arm 32, and the bucket 33 are driven by a second cylinder CL2. That is, the second cylinder CL2 drives the work implement 3. The second cylinder CL2 has a boom cylinder 31a, an arm cylinder 32a, and a bucket cylinder 33a. The boom cylinder 31a, the arm cylinder 32a, and the bucket cylinder 33a are each composed of a hydraulic cylinder.

[0015] The base end of the boom 31 is connected to the front of the upper body 4 so as to be rotatable in the up-down and back-forth directions. That is, the work implement 3 equipped with the boom 31 is attached to the upper body 4. More specifically, the base end of the boom 31 is connected to the tip of the revolving frame 41 (described later) via a swing post 41a so as to be able to swing. That is, the hydraulic excavator 1 of this embodiment has a boom swing function in which the boom 31 swings left and right from the tip of the revolving frame 41 as a starting point. Note that the hydraulic excavator 1 is not limited to a configuration having a boom swing function, and may, for example, be configured so as to exclude the boom swing function.

[0016] The boom 31 is rotated by a boom cylinder 31a. The base end of the boom cylinder 31a is supported on the front part (swing post 41a) of the upper body 4, and the tip end is connected to a part of the boom 31 between the base end and the tip end. In particular, the boom cylinder 31a is disposed forward of the boom 31. The boom cylinder 31a is movable so as to be able to extend and retract. When the boom cylinder 31a extends and retracts, the boom 31 rotates in the up-down direction and the front-to-back direction relative to the upper body 4.

[0017] The base end of the arm 32 is connected to the tip end of the boom 31 so as to be rotatable in the up-down and front-back directions. The arm 32 is rotated by an arm cylinder 32a. The base end of the arm cylinder 32a is supported by the boom 31, and the tip end is connected to the base end of the arm 32. The arm cylinder 32a is movable so as to be able to extend and retract. When the arm cylinder 32a extends and retracts, the arm 32 rotates in the up-down and front-back directions relative to the boom 31.

[0018] The bucket 33 is connected to the tip of the arm 32 so as to be rotatable in the up-down and front-back directions. The bucket 33 is also connected to the arm 32 via a bucket link 34. The bucket 33 is rotated by a bucket cylinder 33a. The base end of the bucket cylinder 33a is supported by the arm 32, and the tip end is connected to the bucket link 34. The bucket cylinder 33a is movable so as to be able to extend and retract. When the bucket cylinder 33a extends and retracts, the bucket 33 rotates in the up-down and front-back directions relative to the arm 32.

[0019] The upper body 4 is located above the lower running body 2 and is provided rotatably relative to the lower running body 2 via a swivel bearing (not shown). In other words, the upper body 4 is supported by the lower running body 2 from below.

[0020] The upper body 4 includes a swivel frame 41, a swivel motor 42, a machine room 43, and a control unit 44. The swivel frame 41 is configured to include multiple metal members joined by welding or the like. The swivel motor 42 is configured as a hydraulic motor. The upper body 4 swivels relative to the lower traveling body 2 by being driven by the swivel motor 42 arranged on the swivel frame 41. In other words, the swivel motor 42 is a motor (a hydraulic motor in this embodiment) for swiveling the upper body 4 relative to the lower traveling body 2.

[0021] A battery 43a is housed in the machine room 43. That is, the hydraulic excavator 1 is equipped with the battery 43a. The battery 43a (also called a battery unit) is formed, for example, from a lithium ion battery and stores power. The battery 43a may be formed by unitizing multiple battery cells, or may be formed from a single battery cell. In addition, a power feed port (not shown) is provided on the upper body 4. The battery 43a can be charged by connecting the power feed port to an external power source (not shown).

[0022] The control unit 44 is provided on the upper part of the upper body 4. A driver's seat 44a is arranged in the control unit 44. An operating device 44b is arranged around the driver's seat 44a. That is, the hydraulic excavator 1 is equipped with the operating device 44b. The operating device 44b is configured to include, for example, a lever. The configuration of the operating device 44b will be described in detail later. In addition to the operating device 44b, a plurality of switches, dials (neither of which are shown), and the like are also arranged around the driver's seat 44a. When an operator sits in the driver's seat 44a and operates the operating device 44b, at least one of the traveling motor 22, the first cylinder CL1, the second cylinder CL2, and the swing motor 42 is driven. This allows the lower traveling body 2 to travel, the earth removal device 23 to perform earth removal work, the work implement 3 to perform excavation work, the upper body 4 to swing, and the like.

[0023] In this embodiment, the hydraulic motors and hydraulic cylinders provided in the hydraulic excavator 1 are collectively referred to as actuators AC. The actuators AC include a specific actuator AC1 and a non-specific actuator AC2. That is, the hydraulic excavator 1 is equipped with the specific actuator AC1 and the non-specific actuator AC2.

[0024] The specific actuator AC1 is used for a specific task in the hydraulic excavator 1. In this embodiment, the specific task includes earth removal work by the earth removal device 23, which involves traveling of the lower traveling body 2. Therefore, in this embodiment, the specific actuator AC1 includes the traveling motor 22 and the first cylinder CL1.

[0025] The non-specific actuators AC2 include the actuators AC other than the specific actuator AC1, among the actuators AC. That is, in this embodiment, the non-specific actuators AC2 include the swing motor 42 and the second cylinder CL2 (boom cylinder 31a, arm cylinder 32a, bucket cylinder 33a). The non-specific actuators AC2 are used for work other than the specific work of the hydraulic excavator 1. In this embodiment, work other than the specific work includes, for example, excavation work by the work implement 3, which involves swinging of the upper body 4. Note that the output of the non-specific actuators AC2 may be restricted. This will be described in detail later. In the following, "work other than the specific work" may also be referred to as "non-specific work."

[0026] The specific actuator AC1 and the non-specific actuator AC2 are not limited to the above configuration. For example, the specific actuator AC1 may be one of the traveling motor 22 and the first cylinder CL1. In this case, the other of the traveling motor 22 and the first cylinder CL1 may be included in the non-specific actuator AC2.

[0027] The hydraulic excavator 1 also includes an electrical system 5 that electrically controls the hydraulic excavator 1, and a hydraulic system 6 that hydraulically controls the hydraulic excavator 1. In this embodiment, the electrical system 5 and the hydraulic system 6 are collectively referred to as a control system 7. In other words, the hydraulic excavator 1 of this embodiment includes the control system 7. The configuration of the control system 7 will be described below.

[0028] [2. Control system configuration] First, the configuration of the electrical system 5 in the control system 7 will be described with reference to Fig. 2. Fig. 2 is a block diagram that schematically shows the configuration of the electrical system 5.

[0029] The electrical system 5 includes a charger 51, an inverter 52, an electric motor 53, a PDU (Power Drive Unit) 54, a junction box 55, a DC-DC converter 56, a lead battery 57, and a control device 58. That is, the hydraulic excavator 1 includes the charger 51, the inverter 52, the electric motor 53, the PDU 54, the junction box 55, the DC-DC converter 56, the lead battery 57, and the control device 58. The above-mentioned devices that make up the electrical system 5 are housed in the machine room 43 (see FIG. 1). In addition to the above-mentioned devices, the electrical system 5 also includes a battery 43a.

[0030] The charger 51 (also called a power supply) converts the AC voltage supplied from the external power source into a DC voltage. The inverter 52 converts the DC voltage supplied from the battery 43a into an AC voltage and supplies it to the electric motor 53. This drives the electric motor 53. That is, the electric motor 53 is driven by receiving power from the battery 43a. The electric motor is configured as a synchronous motor, an induction motor, or the like. The supply of AC voltage from the inverter 52 to the electric motor 53 is performed based on a rotation command output from a control device 58.

[0031] The PDU 54 is a battery control unit that controls an internal battery relay to control input and output of the battery 43a. The junction box 55 includes a charger relay, an inverter relay, a fuse, etc. The voltage output from the charger 51 is supplied to the battery 43a via the junction box 55 and the PDU 54. The voltage output from the battery 43a is supplied to the inverter 52 via the PDU 54 and the junction box 55, for example.

[0032] The battery 43a is provided with a detector 43a1. That is, the control system 7 includes the detector 43a1. The detector 43a1 detects information related to the battery 43a and outputs the detected information to the PDU 54. The PDU 54 outputs this information to the control device 58. In this embodiment, the detector 43a1 includes multiple types of sensors. Each of the multiple types of sensors is connected to the PDU 54 so as to be able to input a signal. The multiple types of sensors include, for example, a voltage sensor, a current sensor, and a temperature sensor.

[0033] The voltage sensor is a sensor that detects the voltage of the battery 43a. The current sensor is a sensor that detects the current input to the battery 43a and the current output from the battery 43a. The temperature sensor will be described later.

[0034] The detector 43a1 is not limited to the above configuration and may be provided outside the battery 43a. That is, the current sensor included in the detector 43a1 may be provided on an electric circuit connecting the PDU 54 and the junction box 55 and detect the current flowing through the electric circuit.

[0035] The DC-DC converter 56 reduces a high DC voltage (e.g., 300 V) supplied from the battery 43 a via the PDU 54 and the junction box 55 to a low voltage (e.g., 12 V). The lead battery 57 stores the low DC voltage power. The lead battery 57 also outputs the low DC voltage. The low DC voltage output from the DC-DC converter 56 and the lead battery 57 is supplied to the control device 58 and the like.

[0036] The control device 58 controls each part of the hydraulic excavator 1. More specifically, the control device 58 is a computer device including an arithmetic device 58a and a storage unit 58b. That is, the hydraulic excavator 1 includes the arithmetic device 58a and the storage unit 58b.

[0037] The arithmetic unit 58a is, for example, a processor or a microprocessor. Note that, as an example, in Fig. 2, one arithmetic unit 58a is illustrated in the control device 58, but the number of arithmetic units 58a may be two or three or more.

[0038] The storage unit 58b is a main storage device such as a read-only memory (ROM) or a random access memory (RAM). The storage unit 58b may further include an auxiliary storage device such as a hard disk drive (HDD) or a solid state drive (SSD). The storage unit 58b stores various control programs 58b1, data, etc. The arithmetic unit 58a performs various functions by reading the control program 58b1 from the storage unit 58b and executing arithmetic processing in accordance with the control program 58b1.

[0039] The control device 58 may be configured as a single piece of hardware, or may be configured as multiple pieces of hardware that can communicate with each other. The functions of the arithmetic device 58a may be realized by executing arithmetic processing in accordance with a control program 58b1, i.e., by software, or may be realized by other methods. At least some of the functions of the control device 58 may be realized using, for example, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or the like. That is, at least some of the functions of the control device 58 may be realized by hardware using a dedicated IC or the like. Furthermore, at least some of the functions of the control device 58 may be realized by a combination of software and hardware.

[0040] Next, the configuration of the hydraulic system 6 of the control system 7 will be described with reference to Fig. 3. Fig. 3 is a block diagram that schematically shows the configuration of the hydraulic system 6. In Fig. 3, a flow path (oil passage) through which hydraulic oil discharged from a hydraulic pump 61 (described later) flows is shown by a solid line, and a flow path through which hydraulic oil discharged from a pilot pump 62 (described later) flows is shown by a dashed line. Note that, hereinafter, the hydraulic oil discharged from the hydraulic pump 61 is sometimes referred to as high-pressure oil, and the hydraulic oil discharged from the pilot pump 62 is sometimes referred to as low-pressure oil or pilot oil.

[0041] The hydraulic system 6 includes a hydraulic pump 61, a pilot pump 62, a control valve 63, and a regulator 64. That is, the hydraulic excavator 1 includes the hydraulic pump 61, the pilot pump 62, the control valve 63, and the regulator 64. The hydraulic pump 61, the pilot pump 62, the control valve 63, and the regulator 64 are housed in the machine room 43 (see FIG. 1). In addition to the above-mentioned devices, the hydraulic system 6 also includes an operating device 44b, a specific actuator AC1 (travel motor 22, first cylinder CL1), and a non-specific actuator AC2 (swing motor 42, second cylinder CL2).

[0042] The hydraulic pump 61 is configured as a variable displacement pump. Note that the hydraulic pump 61 is not limited to a variable displacement pump and may be configured as, for example, a fixed displacement pump. The hydraulic pump 61 is connected to the rotating shaft (output shaft) of the electric motor 53. Therefore, the hydraulic pump 61 is driven by the rotation of the rotating shaft of the electric motor 53. In other words, the hydraulic pump 61 is driven by the electric motor 53.

[0043] The pilot pump 62 is configured as a fixed displacement pump. Note that the pilot pump 62 is not limited to a fixed displacement pump and may be configured as, for example, a variable displacement pump. Similar to the hydraulic pump 61, the pilot pump 62 is connected to the rotary shaft of the electric motor 53 and is driven by the rotation of the rotary shaft of the electric motor 53.

[0044] 3 illustrates one hydraulic pump 61 and one pilot pump 62 as an example, but the present invention is not limited to this. For example, there may be two or more hydraulic pumps 61 and two or more pilot pumps 62. Furthermore, the number of hydraulic pumps 61 and the number of pilot pumps 62 may be different from each other. For example, there may be two hydraulic pumps 61 and one pilot pump 62.

[0045] The hydraulic pump 61 and the pilot pump 62 are each connected to a hydraulic oil tank (not shown) that stores hydraulic oil. When the hydraulic pump 61 is driven by the electric motor 53, the hydraulic oil in the hydraulic oil tank is supplied to the specific actuator AC1 via the control valve 63 and the swivel joint SJ. The hydraulic oil is also supplied to the non-specific actuator AC2 via the control valve 63. This drives the specific actuator AC1 and the non-specific actuator AC2. That is, the specific actuator AC1 and the non-specific actuator AC2 are driven by the hydraulic oil (high-pressure oil) discharged from the hydraulic pump 61.

[0046] The control valve 63 is a hydraulic pilot type directional control valve. The control valve 63 includes a spool (not shown) inside. The spool is made of a metal rod-shaped member, and has a notch (groove) formed on the outer circumferential surface. More details are as follows. Figure 4 shows the opening X (mm 2 1 is a graph showing the change in the supply flow rate Q (L / min) to the actuator AC with respect to the air temperature. Note that, hereinafter, the "supply flow rate" may also be simply referred to as the "flow rate."

[0047] The control valve 63 controls the flow rate Q of high-pressure oil supplied from the hydraulic pump 61 to the actuators AC (specific actuator AC1, non-specific actuator AC2) using the opening amount X. Specifically, as the opening amount X of the control valve 63 increases, the flow rate Q supplied to the actuators AC increases (becomes larger). For example, when the opening amount X of the control valve 63 is a second opening amount X2 that is larger than the first opening amount X1, the second flow rate Q2 is larger than the first flow rate Q1 when the opening amount X of the control valve 63 is a first opening amount X1. In addition, the control valve 63 controls the flow direction of the high-pressure oil supplied from the hydraulic pump 61 to the actuators AC.

[0048] The opening amount X of the control valve 63 is determined by the position of the spool inside the control valve 63. That is, the opening amount X of the control valve 63 can be adjusted by moving the spool.

[0049] 3, in this embodiment, the control valve 63 of the actuator AC that controls the flow rate Q and flow direction supplied to the traveling motor 22 is referred to as a first control valve 63a. Similarly, the control valve 63 corresponding to the first cylinder CL1 of the actuator AC is referred to as a second control valve 63b. Furthermore, the control valve 63 corresponding to the second cylinder CL2 of the actuator AC is referred to as a third control valve 63c. Furthermore, the control valve 63 corresponding to the swing motor 42 of the actuator AC is referred to as a fourth control valve 63d.

[0050] The first control valve 63a, the second control valve 63b, the third control valve 63c, and the fourth control valve 63d are provided together in a single housing, but are not limited to this, and for example, the first control valve 63a, the second control valve 63b, the third control valve 63c, and the fourth control valve 63d may be provided separately.

[0051] The swivel joint SJ enables the upper body 4 to rotate without entanglement of hydraulic hoses, etc., even when the upper body 4 rotates relative to the lower running body 2. More specifically, the swivel joint SJ is disposed on the lower running body 2 and rotates together with the upper body 4. The swivel joint SJ interconnects a hydraulic circuit 6a provided on the lower running body 2 and a hydraulic circuit 6b provided on the upper body 4. In other words, the hydraulic circuit 6a of the lower running body 2 and the hydraulic circuit 6b of the upper body 4 are connected via the swivel joint SJ. The hydraulic circuit 6b of the upper body 4 includes a hydraulic pump 61, a pilot pump 62, control valves 63 (a first control valve 63a, a second control valve 63b, a third control valve 63c, and a fourth control valve 63d), and a regulator 64.

[0052] The second cylinder CL2 and the swing motor 42 are connected to the control valves 63 (specifically, the third control valve 63c and the fourth control valve 63d) respectively (without passing through the swivel joint SJ). That is, the non-specific actuator AC2 including the second cylinder CL2 and the swing motor 42 is connected to the hydraulic circuit 6b of the upper body 4.

[0053] As described above, the traveling motor 22 and the first cylinder CL1 are each provided on the lower traveling body 2 (see FIG. 1). The traveling motor 22 and the first cylinder CL1 are each connected via the swivel joint SJ to the side opposite the hydraulic circuit 6b of the upper body 4. In other words, the specific actuator AC1 including the traveling motor 22 and the first cylinder CL1 is connected to the hydraulic circuit 6a of the lower traveling body 2.

[0054] When the pilot pump 62 is driven by the electric motor 53, hydraulic oil in the hydraulic oil tank is supplied to the operating device 44b. The operating device 44b includes an operating member (not shown) such as an operating lever, and a pilot valve (not shown) operated by the operating member. In particular, the operating member of the operating device 44b is arranged around the driver's seat 44a as described above (see FIG. 1). The pilot valve is arranged, for example, below the operating member. The hydraulic oil (pilot oil) supplied from the pilot pump 62 is supplied to the pilot valve of the operating device 44b.

[0055] In this embodiment, the operating device 44b connected to the first control valve 63a is referred to as the first operating device 44b1, the operating device 44b connected to the second control valve 63b is referred to as the second operating device 44b2, the operating device 44b connected to the third control valve 63c is referred to as the third operating device 44b3, and the operating device 44b connected to the fourth control valve 63d is referred to as the fourth operating device 44b4.

[0056] When the operator operates the operating member of the first operating device 44b1, the pilot valve of the first operating device 44b1 is operated and pilot oil is supplied to the first control valve 63a. This pilot oil moves the spool located inside the first control valve 63a, thereby changing the opening X (see FIG. 3) of the first control valve 63a. In other words, the operating device 44b enables operation of the opening X of the control valve 63a. When the opening X of the first control valve 63a is changed, the flow direction and flow rate Q (see FIG. 3) of the high-pressure oil supplied to the traveling motor 22 are changed (adjusted). As a result, the drive of the traveling motor 22 is controlled.

[0057] Similarly, when the operator operates the operating member of the second operating device 44b2, the flow direction and flow rate Q of the high-pressure oil supplied to the first cylinder CL1 are adjusted, and the drive of the first cylinder CL1 is controlled.

[0058] The third operating device 44b3 and the fourth operating device 44b4 are connected to the pilot pump 62 via a regulator 64. The regulator 64 is configured as an electromagnetic proportional valve. In this embodiment, the regulator 64 connected to the third operating device 44b3 is referred to as the first regulator 64a, and the regulator 64 connected to the fourth operating device 44b4 is referred to as the second regulator 64b. Therefore, the pilot pump 62 and the third operating device 44b3 are connected to the first regulator 64a, and the pilot pump 62 and the fourth operating device 44b4 are connected to the second regulator 64b. The regulator 64 is not limited to the above configuration and may be configured as, for example, an electromagnetic on / off valve.

[0059] Furthermore, when the operator operates the operating member of the third operating device 44b3, the pilot valve of the third operating device 44b3 is operated, and pilot oil is supplied to the third control valve 63c. This pilot oil controls the third control valve 63c, and the flow direction and flow rate Q (see FIG. 3) of the high-pressure oil supplied to the second cylinder CL2 are adjusted (controlled). This controls the drive of the second cylinder CL2.

[0060] Similarly, when the operator operates the operating member of the fourth operating device 44b4, the flow direction and flow rate Q of the high-pressure oil supplied to the swing motor 42 are adjusted to control the drive of the swing motor 42. The operating member of the fourth operating device 44b4 (the operating member that operates the swing motor 42) is also used as the operating member of the third operating device 44b3 (the operating member that operates the second cylinder CL2).

[0061] 3 shows the second cylinder CL2 as an example, but as described above, the second cylinder CL2 includes the boom cylinder 31a, the arm cylinder 32a, and the bucket cylinder 33a (see FIG. 1). Specifically, the boom cylinder 31a, the arm cylinder 32a, and the bucket cylinder 33a are each provided with an operating device 44b, a control valve 63, and a regulator 64.

[0062] [3. Control method for regulating the output of non-specific actuators] A control method for the hydraulic excavator 1 relating to output restriction of the non-specific actuator AC2, which is executed by the control system 7, will be described below. The control method relating to output restriction of the non-specific actuator AC2 described below is realized by the control device 58 (see FIG. 2) and the regulator 64 of the control system 7 in particular. More specifically, the output of the non-specific actuator AC2 is restricted by the control device 58 controlling the regulator 64. For this reason, in this embodiment, the control device 58 and the regulator 64 are collectively referred to as a restriction control unit 7a (see FIGS. 2 and 3). That is, the control system 7 includes the restriction control unit 7a.

[0063] Furthermore, the control method relating to the output restriction of the non-specific actuator AC2 is realized in the control device 58 by the arithmetic device 58a executing arithmetic processing in accordance with the control program 58b1 (see FIG. 2). Note that in this embodiment, there is one arithmetic device 58a, but as described above, there may be two or more arithmetic devices 58a. In this case, the arithmetic processing in accordance with the control program 58b1 may be realized by two or more arithmetic devices 58a. In other words, the control program 58b1 is a program that causes at least one arithmetic device 58a to execute the control method relating to the output restriction of the non-specific actuator AC2.

[0064] The control method of the regulator 64 by the control device 58 (control program 58b1 executed by the arithmetic device 58a) will be described with reference to Fig. 5. Fig. 5 shows the relationship between the opening amount Y (mm) of the regulator 64 and the charging rate S (%) of the battery 43a. 2 ) is a graph showing the change in

[0065] The charging rate S of the battery 43a is also called SOC (State Of Charge) and refers to the ratio of the remaining charging capacity (at that point in time) to the charging capacity when fully charged. The charging rate S of the battery 43a is calculated in the PDU 54 based on information (for example, voltage value, current value, etc.) detected by the detection unit 43a1. That is, the detection unit 43a1 detects the state of the battery 43a (in this embodiment, the charging rate S as the charging state). In other words, the control method of the hydraulic excavator 1 related to the output restriction of the non-specific actuator AC2 includes detecting the state of the battery 43a (in this embodiment, the charging rate S as the charging state).

[0066] The opening amount Y of the regulator 64 is changed according to the charging rate S of the battery 43a. More specifically, when the charging rate S is equal to or greater than the charging rate threshold Sa, the regulator 64 opens at the maximum opening amount Ymax. Therefore, the opening amount Y of the regulator 64 at this time is the maximum opening amount Ymax. On the other hand, when the charging rate S is less than the charging rate threshold Sa, the opening amount Y of the regulator 64 decreases (is restricted) as the charging rate S decreases. For example, the opening amount Y of the regulator 64 at a first charging rate S1 that is less than the charging rate threshold Sa is compared with the opening amount Y at a second charging rate S2 that is less than the charging rate threshold Sa and lower than the first charging rate S1. The opening amount Y of the regulator 64 at the second charging rate S2, which is the second opening amount Y2, is smaller than the first opening amount Y1, which is the opening amount Y of the regulator 64 at the first charging rate S1.

[0067] As described above, the regulator 64 is configured as an electromagnetic proportional valve. Therefore, the opening amount Y of the regulator 64 is adjusted based on the opening command output from the control device 58.

[0068] Next, a change in the opening amount X of the control valve 63 relative to the operation amount Z of the operating device 44b when the charging rate S is equal to or greater than the charging rate threshold Sa and when the charging rate S is less than the charging rate threshold Sa, for example, a first charging rate S1, will be described with reference to FIG. 6 . FIG. 6 is a graph showing the change in the opening amount X of the control valve 63 relative to the operation amount Z of the operating device 44b. In FIG. 6 , the dashed line indicates the case when the charging rate S is equal to or greater than the charging rate threshold Sa, and the solid line indicates the case when the charging rate S is the first charging rate S1. The opening amount X of the control valve 63 shown in FIG. 6 is the same as (corresponds to) the opening amount X of the control valve 63 shown in FIG. 4. Furthermore, the operating device 44b in FIG. 6 refers to the operating device 44b to which the regulator 64 is connected, i.e., the third operating device 44b3 and the fourth operating device 44b4. The operation amount Z of the operating device 44b refers to, for example, the amount of tilt or the tilt angle of the operating lever of the operating device 44b from the neutral position.

[0069] When the charging rate S is equal to or greater than the charging rate threshold Sa, that is, when the opening Y of the regulator 64 is the maximum opening Ymax, the opening X of the control valve 63 increases as the operation amount Z of the operating device 44b increases (see the dashed line in FIG. 6).

[0070] When the storage rate S is the first storage rate S1, that is, when the opening Y of the regulator 64 is the first opening Y1 that is smaller than the maximum opening Ymax, the opening X of the control valve 63 increases as the operation amount Z of the operating device 44b increases (see the solid line in FIG. 6). However, when comparing the opening X of the control valve 63 for the same operation amount Z of the operating device 44b, it is smaller when the storage rate S is the first storage rate S1 than when the storage rate S is equal to or greater than the storage rate threshold Sa.

[0071] For example, when the operation amount Z of the operating device 44b is the first operation amount Z1 and the state of charge S is equal to or greater than the state of charge threshold Sa, the opening amount X of the control valve 63 is the second opening amount X2. On the other hand, when the state of charge S is the first state of charge S1, the opening amount X of the control valve 63 is the first opening amount X1, which is smaller than the second opening amount X2. The first opening amount X1 and the second opening amount X2 correspond to the first opening amount X1 and the second opening amount X2 shown in FIG. 4, respectively. Therefore, when the operation amount Z of the operating device 44b is the first operation amount Z1 and the state of charge S is equal to or greater than the state of charge threshold Sa, the flow rate Q of the high-pressure oil supplied to the non-specific actuator AC2 is the second flow rate Q2. On the other hand, when the state of charge S is the first state of charge S1, the flow rate Q of the high-pressure oil supplied to the non-specific actuator AC2 is the first flow rate Q1, which is smaller than the second flow rate Q2. That is, even if the operating device 44b is operated with the same operation amount Z (for example, the first operation amount Z1), when the state of charge S becomes (decreases) below the state of charge threshold Sa, the flow rate Q of the high-pressure oil supplied to the non-specific actuator AC2 decreases. As a result, the output of the non-specific actuator AC2 is restricted.

[0072] In other words, the control method for the hydraulic excavator 1 in this embodiment includes regulating the output of the non-specific actuator AC2 based on the state of the battery 43a (the charging rate S in this embodiment). Also, the regulation control unit 7a (the control device 58 and the regulator 64 in this embodiment) provided in the hydraulic excavator 1 in this embodiment regulates the output of the non-specific actuator AC2 based on the state of the battery 43a. Furthermore, in this embodiment, the output of the non-specific actuator AC2 is regulated by making the opening amount X of the control valve 63 with respect to the operation amount Z of the operating device 44b smaller than the opening amount X of the control valve 63 before the output of the non-specific actuator AC2 is regulated.

[0073] According to the above control method, the load on the non-specific actuator AC2 is reduced (in a state in which the output of the non-specific actuator AC2 is restricted). This makes it possible to reduce the power required to drive the hydraulic pump 61 that supplies hydraulic oil (high-pressure oil) to the non-specific actuator AC2. This reduces the power output by the electric motor 53 that drives the hydraulic pump 61, making it possible to suppress the power consumed by the electric motor 53. This suppresses power consumption in the hydraulic excavator 1 (work machine), making it possible to maintain the battery 43a in a good state (a state in which the charging rate S is high in this embodiment).

[0074] Furthermore, particularly in a small hydraulic excavator 1 (work machine), a large proportion of the overall work is performed by specific work (e.g., earth removal work), and a small proportion is performed by non-specific work (work other than the specific work, e.g., excavation work). Therefore, even if the output of the non-specific actuator AC2 used for the non-specific work is restricted and the efficiency of the non-specific work decreases, the efficiency of the overall work is less likely to decrease than, for example, when the efficiency of the specific work decreases. In other words, even if the output of the non-specific actuator AC2 is restricted in order to reduce power consumption in the hydraulic excavator 1, a decrease in the efficiency of the overall work can be suppressed. As described above, power consumption can be suppressed, the battery 43a can be kept in good condition, and a decrease in the efficiency of the overall work can be suppressed.

[0075] In a configuration in which the hydraulic excavator 1 includes a control valve 63 that controls the supply flow rate Q to the non-specific actuator AC2 by an opening amount X, and an operation device 44b that operates the opening amount X, the following configuration is desirable from the perspective of easily realizing regulation of the output of the non-specific actuator AC2. That is, as in this embodiment, regulating the output of the non-specific actuator AC2 desirably includes making the opening amount X of the control valve 63 with respect to the operation amount Z of the operation device 44b smaller than the opening amount X before the regulation of the output of the non-specific actuator AC2.

[0076] In a compact hydraulic excavator 1, work that accounts for a large proportion of the overall work, i.e., specific work, is work that is performed by driving the lower structure 2, such as soil removal. In contrast, work that accounts for a small proportion of the overall work, i.e., non-specific work, is work that is performed by driving the upper structure 4, such as excavation. Therefore, from the perspective of applying the control method of this embodiment to a compact hydraulic excavator 1, the following configuration is desirable. That is, as shown in FIG. 3 , it is desirable that the specific actuator AC1 is connected to the hydraulic circuit of the lower structure 2, and the non-specific actuator AC2 is connected to the hydraulic circuit of the upper structure 4.

[0077] From the viewpoint of realizing, as a specific task, earth removal work by the earth removal device 23, which involves traveling of the lower traveling body 2, and realizing, as a non-specific task, excavation work by the work implement 3, which involves swinging of the upper body 4, the following configuration is desirable. That is, as in this embodiment, the specific actuator AC1 desirably includes the traveling motor 22 and the first cylinder CL1 (the blade cylinder in this embodiment). The non-specific actuator AC2 desirably includes the second cylinder CL2 (the boom cylinder 31a, the arm cylinder 32a, and the bucket cylinder 33a in this embodiment) and the swing motor 42.

[0078] As described above, the first regulator 64a is connected to the pilot pump 62 and the third operating device 44b3, and the second regulator 64b is connected to the pilot pump 62 and the fourth operating device 44b4 (see FIG. 3). The third operating device 44b3 is connected to the third control valve 63c, and the fourth operating device 44b4 is connected to the fourth control valve 63d. That is, the regulator 64 is provided in a hydraulic circuit through which pilot oil flows that is supplied to the control valves 63 (the third control valve 63c and the fourth control valve 63d in this embodiment) that are connected to the non-specific actuator AC2.

[0079] In contrast, the regulator 64 is excluded from the hydraulic circuit of pilot oil supplied to the control valves 63 (first control valve 63a and second control valve 63b in this embodiment) connected to the specific actuator AC1 (via the swivel joint SJ). This prevents the regulator 64 from reducing the opening of the control valves 63 (first control valve 63a and second control valve 63b) corresponding to the specific actuator AC1. In other words, the opening of the control valve 63 corresponding to the specific actuator AC1 is maintained before and after the output of the non-specific actuator AC2 (opening Y of the regulator 64) is regulated. In other words, the control method for the hydraulic excavator 1 in this embodiment includes maintaining the output of the specific actuator AC1 before and after the output of the non-specific actuator AC2 is regulated.

[0080] From the viewpoint of avoiding a decrease in efficiency in a specific task (e.g., earth removal) performed using the specific actuator AC1 and reliably suppressing a decrease in efficiency of the entire task, the following configuration is desirable: That is, as in this embodiment, the control method for the hydraulic excavator 1 desirably includes maintaining the output of the specific actuator AC1 before and after restricting the output of the non-specific actuator AC2.

[0081] Here, a method for controlling the electric motor 53 before and after the restriction on the output of the non-specific actuator AC2 will be described with reference to Fig. 7. Fig. 7 is a graph showing the change in the target rotation speed R (rpm) of the electric motor 53 relative to the charging rate S of the battery 43a.

[0082] The target rotation speed R of the electric motor 53 is set by the control device 58, for example, based on the instruction of the dial on the control unit 44 (see FIG. 1) operated by the operator. That is, when the operator operates the dial, the control device 58 sets the target rotation speed R to, for example, the first target rotation speed R1. In this case, unless the operator further operates the dial, the target rotation speed R is maintained constant (at the first target rotation speed R1) even when the state of charge S is equal to or greater than the state of charge threshold Sa or is less than the state of charge threshold Sa. More specifically, for example, even when the state of charge S is a third state of charge S3 equal to or greater than the state of charge threshold Sa or a fourth state of charge S4 less than the state of charge threshold Sa, the target rotation speed R is the first target rotation speed R1. The target rotation speed R of the electric motor 53 constitutes the rotation command for the electric motor 53 output from the control device 58 to the inverter 52.

[0083] Furthermore, as described above, the output of the non-specific actuator AC2 is restricted when the state of charge S is less than the state of charge threshold Sa (see FIGS. 4, 5, and 6). Therefore, "when the state of charge S is equal to or greater than the state of charge threshold Sa" can also be said to be "before the output of the non-specific actuator AC2 is restricted." Furthermore, "when the state of charge S is less than the state of charge threshold Sa" can also be said to be "after the output of the non-specific actuator AC2 is restricted." Therefore, the target rotation speed R of the electric motor 53 is maintained before and after the output of the non-specific actuator AC2 is restricted. In other words, the control method for the hydraulic excavator 1 in this embodiment includes maintaining the target rotation speed R of the electric motor 53 before and after restricting the output of the non-specific actuator AC2.

[0084] When the target rotation speed R of the electric motor 53 is reduced, the flow rate of the hydraulic oil (high-pressure oil) discharged from the hydraulic pump 61 is reduced. As a result, even if the opening amount X of the control valve 63 is the same, the flow rate Q supplied to the actuators AC (both the specific actuator AC1 and the non-specific actuator AC2) is reduced, slowing down all operations of the hydraulic excavator 1. Therefore, from the viewpoint of ensuring the flow rate of the hydraulic oil (high-pressure oil) discharged from the hydraulic pump 61 and preventing a decrease in efficiency in both the specific work and the non-specific work, the following configuration is desirable. That is, as in this embodiment, the control method for the hydraulic excavator 1 desirably includes maintaining the target rotation speed R of the electric motor 53 before and after regulating the output of the non-specific actuator AC2.

[0085] [4. Modified example of control method related to output regulation of non-specific actuator] A modified example of the control method for the hydraulic excavator 1 relating to the output restriction of the non-specific actuator AC2 will be described with reference to Fig. 8. Fig. 8 is a graph showing the change in the opening amount Y of the regulator 64 relative to the temperature T (°C) of the battery 43a.

[0086] In a modified example, the opening amount Y of the regulator 64 is changed according to the temperature T of the battery 43a. The temperature T of the battery 43a is detected by the temperature sensor included in the detection unit 43a1 (see FIG. 2). That is, the temperature sensor is a sensor that detects the temperature T of the battery 43a. In this embodiment, the temperature T of the battery 43a means the temperature inside the battery 43a. However, the temperature T of the battery 43a is not limited to the above, and may be, for example, the temperature of the surface of the battery 43a or the temperature near the battery 43a.

[0087] The temperature T of the battery 43a rises, for example, when the battery 43a supplies power. More specifically, the more power is output from the battery 43a, the higher the temperature T of the battery 43a rises.

[0088] When the temperature T of the battery 43a is equal to or lower than the temperature threshold value Ta, the regulator 64 opens at the maximum opening amount Ymax. Therefore, the opening amount Y of the regulator 64 at this time is the maximum opening amount Ymax.

[0089] On the other hand, when the temperature T exceeds the temperature threshold Ta, the opening amount Y of the regulator 64 decreases (is restricted) as the temperature T increases. For example, the opening amount Y of the regulator 64 at a first temperature T1 that is higher than the temperature threshold Ta is compared with the opening amount Y of the regulator 64 at a second temperature T2 that is higher than the temperature threshold Ta and the first temperature T1. The fourth opening amount Y4, which is the opening amount Y of the regulator 64 at the second temperature T2, is smaller than the third opening amount Y3, which is the opening amount Y of the regulator 64 at the first temperature T1.

[0090] As described above, when the opening amount Y of the regulator 64 decreases, the opening amount X of the control valve 63 for the same operation amount Z of the operating device 44b decreases (see FIG. 6), and the flow rate Q of the high-pressure oil supplied to the non-specific actuator AC2 decreases (see FIG. 4). As a result, the output of the non-specific actuator AC2 is regulated.

[0091] Therefore, in the control method for the hydraulic excavator 1 in the modified example, the output of the non-specific actuator AC2 is regulated based on the temperature T of the battery 43a, which is the state of the battery 43a. In other words, the temperature T of the battery 43a is included in the state of the battery 43a. Note that the state of the battery 43a may include the above-described state of charge of the battery 43a in addition to the temperature T of the battery 43a. In other words, the state of the battery 43a may include at least either the temperature T of the battery 43a or the state of charge of the battery 43a (in this embodiment, the charging rate S of the battery 43a).

[0092] It is desirable that the battery 43a maintain a high state of charge rate S, that is, maintain a good state of charge. It is also desirable that the battery 43a avoid a state in which the temperature T rises too much (an overheated state). Therefore, in order to keep the state of the battery 43a within an appropriate range in terms of at least one of power and heat, the following configuration is desirable. That is, as in this embodiment, it is desirable that the state of the battery 43a include at least one of the state of charge of the battery 43a (in this embodiment, the charge rate S of the battery 43a) and the temperature T of the battery 43a.

[0093] [5. Supplementary Information] In the present embodiment, a configuration has been described in which the non-specific actuator AC2 includes the swing motor 42 and the second cylinder CL2 (boom cylinder 31a, arm cylinder 32a, bucket cylinder 33a), but the present invention is not limited to this. In particular, with a medium- or large-sized hydraulic excavator, an operation that accounts for a large proportion of the overall operations, i.e., a specific operation, is, for example, excavation work. Furthermore, an operation that accounts for a small proportion of the overall operations, i.e., a non-specific operation, is, for example, earth removal work. Therefore, in this case, the specific actuator AC1 may include the second cylinder CL2 and the swing motor 42, and the non-specific actuator AC2 may include the travel motor 22 and the first cylinder CL1 (blade cylinder). With the above configuration, the present invention can also be applied to medium- or large-sized hydraulic excavators.

[0094] In the present embodiment, a control method has been described in which the regulator 64 is provided and the regulator 64 regulates the output of the non-specific actuator AC2, but the present invention is not limited to this. The regulator 64 or the function performed by the regulator 64 described above may be provided anywhere in the hydraulic excavator 1 (particularly the control system 7).

[0095] For example, the output of the non-specific actuator AC2 may be regulated by an operating device 44b (a third operating device 44b3 and a fourth operating device 44b4 in this embodiment) corresponding to the non-specific actuator AC2. Specifically, the pilot valve of the operating device 44b may be configured as a proportional solenoid valve, and the opening amount of this pilot valve may be controlled (regulated) based on a command output from the control device 58, thereby regulating the output of the non-specific actuator AC2.

[0096] Furthermore, the output of the non-specific actuator AC2 may be regulated by a control valve 63 (third control valve 63c and fourth control valve 63d in this embodiment) corresponding to the non-specific actuator AC2. Specifically, the control valve 63 may be configured as an electromagnetic proportional valve, and the opening amount X of this control valve 63 may be directly controlled (regulated) based on a command output from the control device 58, thereby regulating the output of the non-specific actuator AC2.

[0097] Furthermore, the output of the non-specific actuator AC2 may be regulated by the non-specific actuator AC2 itself. Specifically, the non-specific actuator AC2 itself may be provided with a solenoid proportional valve, and the solenoid proportional valve may regulate the flow rate of high-pressure oil supplied to the non-specific actuator AC2, thereby regulating the output of the non-specific actuator AC2.

[0098] In the present embodiment, the actuator AC includes a hydraulic motor and a hydraulic cylinder, but the present invention is not limited to this. For example, the actuator AC may be either a hydraulic motor or a hydraulic cylinder. Furthermore, the actuator AC may include an electric actuator in addition to at least one of a hydraulic motor and a hydraulic cylinder. Examples of electric actuators include an electric travel motor, an electric swing motor, and an electric cylinder.

[0099] In the present embodiment, a configuration has been described in which the work implement 3 includes the bucket 33, but the present invention is not limited to this. For example, the work implement 3 may be provided with an attachment that includes at least one of a hydraulic motor and a hydraulic cylinder, instead of the bucket 33. Examples of such attachments include a breaker, a grapple, and the like. Furthermore, the hydraulic motor and hydraulic cylinder included in the attachment may be included in the actuator AC.

[0100] [6. Notes] The control method, control program, control system, and hydraulic excavator 1 described in this embodiment can also be expressed as the control method, control program, control system, and work machine described in the following supplementary notes.

[0101] The control method for the work machine in Appendix (1) is as follows: A battery for storing power; an electric motor that is driven by receiving power from the battery; a hydraulic pump driven by the electric motor; A control method for a work machine including a specific actuator and a non-specific actuator driven by hydraulic oil discharged from the hydraulic pump, comprising: Detecting a state of the battery; and regulating the output of the non-specific actuator based on the state of the battery.

[0102] A control method for a work machine according to supplementary note (2) is the control method according to supplementary note (1), The output of the specific actuator is maintained before and after the output of the non-specific actuator is restricted.

[0103] The control method for a work machine according to supplementary note (3) is the control method according to supplementary note (1) or (2), The method includes maintaining a target rotation speed of the electric motor before and after restricting the output of the non-specific actuator.

[0104] A control method for a work machine according to supplementary note (4) is a control method according to any one of supplementary notes (1) to (3), The work machine includes: a control valve that controls the flow rate of the hydraulic oil supplied from the hydraulic pump to the non-specific actuator by changing the opening amount; an operating device for operating the opening amount of the control valve, Restricting the output of the non-specific actuator includes reducing the opening amount relative to the operation amount of the operating device to be smaller than the opening amount before restriction.

[0105] A control method for a work machine according to supplementary note (5) is a control method according to any one of supplementary notes (1) to (4), The work machine includes: a lower running body capable of running; an upper body supported from below by the lower traveling body, the specific actuator is connected to a hydraulic circuit of the lower traveling body, The non-specific actuator is connected to the hydraulic circuit of the upper body.

[0106] A control method for a work machine according to supplementary note (6) is the control method according to supplementary note (5), The specific actuator is a travel motor for driving the lower traveling body; a first cylinder for raising and lowering an earth removal device provided on one side of the lower traveling body in the front-rear direction, The non-specific actuator is a rotation motor that rotates the upper body relative to the lower traveling body; and a second cylinder for driving a working machine attached to the upper body.

[0107] A control method for a work machine according to supplementary note (7) is a control method according to any one of supplementary notes (1) to (6), The state of the battery includes at least one of a state of charge of the battery and a temperature of the battery.

[0108] The control program for a work machine of supplementary note (8) causes at least one arithmetic device to execute the control method described in any one of supplementary notes (1) to (7).

[0109] The control system of the work machine in Appendix (9) A battery for storing power; an electric motor that is driven by receiving power from the battery; a hydraulic pump driven by the electric motor; A control system for a work machine comprising a specific actuator and a non-specific actuator driven by hydraulic oil discharged from the hydraulic pump, a detection unit that detects the state of the battery; and a restriction control unit that restricts the output of the non-specific actuator based on the state of the battery.

[0110] The work machine of appendix (10) is equipped with the control system described in appendix (9).

[0111] Although the embodiments of the present invention have been described above, the scope of the present invention is not limited to these, and the invention can be expanded or modified without departing from the spirit of the invention. [Industrial Applicability]

[0112] The present invention can be used in work machines such as construction machines and agricultural machines. [Explanation of symbols]

[0113] 1. Hydraulic excavator (work machine) 2 Undercarriage 3 Work equipment 4 Upper body 6a Hydraulic circuit (undercarriage hydraulic circuit) 6b Hydraulic circuit (upper body hydraulic circuit) 7. Control System 7a Regulation control section 22 Travel motor 23 Earth removal equipment 42 Swing motor 43a Battery 43a1 Detection unit 44b Operating device 53 Electric Motor 58a Arithmetic unit 58b1 Control Program 61 Hydraulic pump 63 Control valve AC1 specific actuator AC2 Non-specific actuator CL1 No. 1 cylinder CL2 No. 2 cylinder R Target rotation speed (target rotation speed of the electric motor) S Charging rate (battery charging rate) T Temperature (battery temperature) X Opening amount (control valve opening amount) Z Operation amount (operation amount of the control device)

Claims

1. A battery for storing power; an electric motor that is driven by receiving power from the battery; a hydraulic pump driven by the electric motor; A control method for a work machine including a specific actuator and a non-specific actuator driven by hydraulic oil discharged from the hydraulic pump, comprising: Detecting a state of the battery; and regulating the output of the non-specified actuator based on the state of the battery.

2. 2. The control method for a work machine according to claim 1, further comprising maintaining the output of the specified actuator before and after restricting the output of the non-specified actuator.

3. 2. The control method for a work machine according to claim 1, further comprising maintaining a target rotation speed of the electric motor before and after restricting the output of the non-specific actuator.

4. The work machine includes: a control valve that controls the flow rate of the hydraulic oil supplied from the hydraulic pump to the non-specific actuator by changing the opening amount; an operating device for operating the opening amount of the control valve, 2. The control method for a work machine according to claim 1, wherein restricting the output of the non-specific actuator includes reducing the opening amount relative to the operation amount of the operation device to a value less than the opening amount before restriction.

5. The work machine includes: a lower running body capable of running; an upper body supported from below by the lower traveling body, the specific actuator is connected to a hydraulic circuit of the lower traveling body, The method for controlling a work machine according to claim 1 , wherein the non-specific actuator is connected to a hydraulic circuit of the upper body.

6. The specific actuator is a travel motor for driving the lower traveling body; a first cylinder for raising and lowering an earth removal device provided on one side of the lower traveling body in the front-rear direction, The non-specific actuator is a rotation motor that rotates the upper body relative to the lower traveling body; A control method for a work machine according to claim 5, further comprising: a second cylinder for driving a work implement attached to the upper body.

7. The method for controlling a work machine according to claim 1 , wherein the state of the battery includes at least one of a state of charge of the battery and a temperature of the battery.

8. A control program for a work machine, which causes at least one arithmetic unit to execute the control method according to any one of claims 1 to 7.

9. A battery for storing power; an electric motor that is driven by receiving power from the battery; a hydraulic pump driven by the electric motor; A control system for a work machine comprising a specific actuator and a non-specific actuator driven by hydraulic oil discharged from the hydraulic pump, a detection unit that detects the state of the battery; a restriction control unit that restricts the output of the non-specific actuator based on the state of the battery.

10. A work machine comprising the control system of claim 9.

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