Shovel

Abstract

To provide a shovel for reducing a load.SOLUTION: A shovel comprising: an upper slewing body; a lower travelling body; an attachment including a boom, an arm, and an end attachment; and a control device, wherein the control device drives a slewing actuator configured to slew the upper slewing body with respect to the lower travelling body and a travelling actuator of the lower travelling body when a slewing operation is input during jack-up by the attachment.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a shovel. [Background technology]

[0002] Patent Document 1 discloses a lifting action of a shovel (hereinafter also referred to as "jacking up") in which a force acts on the ground from the bucket, causing the front or rear of the shovel to rise up due to a reaction force (such as an excavation reaction force) to the force acting on the bucket. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-7174 Summary of the Invention [Problem to be solved by the invention]

[0004] However, when a jack-up condition occurs on the excavator, in which a force acts from the attachment to the ground, etc., causing a reaction force in the direction of lifting the lower running body, if a rotation operation of the upper rotating body or a traveling operation to rotate the lower running body is performed, there is a risk of loads being generated on the attachment, rotation actuator, lower running body, etc.

[0005] In view of the above problems, an object of the present invention is to provide a shovel that reduces the load. [Means for solving the problem]

[0006] In order to achieve the above-mentioned object, according to one aspect, there is provided an excavator comprising an upper rotating body, a lower running body, attachments including a boom, an arm, and an end attachment, and a control device, wherein the control device drives a rotation actuator that rotates the upper rotating body relative to the lower running body and a traveling actuator of the lower running body when a rotation operation is input during jacking up using the attachment. [Effects of the Invention]

[0007] According to the above-described embodiment, a shovel that reduces the load can be provided. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a side view of a shovel according to an embodiment of the present invention. [Figure 2] FIG. 1 is a block diagram showing an example of a configuration of a shovel according to an embodiment of the present invention. [Figure 3] FIG. 1 is a diagram illustrating an example of the configuration of a hydraulic system mounted on a shovel according to an embodiment of the present invention. [Figure 4] 6 is a flowchart showing an example of a first control method for suppressing the load on an attachment. [Figure 5] 10 shows the relationship between the direction of the turning pilot pressure input by the operating device and the direction of the traveling pilot pressure output by the turning operation generating unit. [Figure 6] 10 shows the relationship between the pressure amount of the swing pilot pressure input by the operating device and the pressure amount of the traveling pilot pressure output by the swing operation generating unit. [Figure 7] 10 is a flowchart showing an example of a second control method for suppressing the load on the attachment. DETAILED DESCRIPTION OF THE INVENTION

[0009] First, a shovel 100 as an excavator according to an embodiment of the present invention will be described with reference to Fig. 1. Fig. 1 is a side view of the shovel 100 according to this embodiment.

[0010] In this embodiment, the lower traveling structure 1 of the excavator 100 includes crawlers. The crawlers are driven by a traveling hydraulic motor 2M as a traveling actuator mounted on the lower traveling structure 1. Specifically, the crawlers include a left crawler and a right crawler. The left crawler is driven by a left traveling hydraulic motor 2ML, and the right crawler is driven by a right traveling hydraulic motor 2MR (see FIG. 2, which will be described later).

[0011] An upper rotating body 3 is rotatably mounted on the lower traveling body 1 via a rotating mechanism 2. The rotating mechanism 2 is driven by a hydraulic swing motor 2A serving as a swing actuator mounted on the upper rotating body 3. However, the swing actuator may also be a swing motor-generator serving as an electric actuator.

[0012] A boom 4 is attached to the upper rotating body 3. An arm 5 is attached to the tip of the boom 4, and a bucket 6 is attached to the tip of the arm 5 as an end attachment. The boom 4, arm 5, and bucket 6 together form an attachment AT, which is an example of an attachment. The boom 4 is driven by a boom cylinder 7, the arm 5 is driven by an arm cylinder 8, and the bucket 6 is driven by a bucket cylinder 9. The boom cylinder 7, arm cylinder 8, and bucket cylinder 9 together form an attachment actuator. In the example shown in FIG. 1, the bucket 6 is an excavation bucket, but it may also be a skeleton bucket or a (gravel removal bucket). The bucket 6 may also be equipped with a bucket tilt mechanism.

[0013] The upper rotating body 3 is provided with a cabin 10 as a driver's cab, and is equipped with a power source such as an engine 11. Inside the cabin 10, an operation device 26 (see FIG. 2 described later), a controller 30 (control device), an operation method switching device SD, etc. are provided. In addition, a space recognition device 70, etc. are attached to the upper rotating body 3. For convenience, in this document, the side of the upper rotating body 3 to which the attachment AT is attached will be referred to as the front, and the side to which the counterweight is attached will be referred to as the rear.

[0014] The spatial recognition device 70 is configured to recognize objects present in the three-dimensional space around the shovel 100. The spatial recognition device 70 may also be configured to calculate the distance from the spatial recognition device 70 or the shovel 100 to the recognized object. The spatial recognition device 70 includes, for example, an ultrasonic sensor, a millimeter-wave radar, an imaging device, a LIDAR, a distance image sensor, an infrared sensor, or any combination thereof. The imaging device is, for example, a monocular camera or a stereo camera. In this embodiment, the spatial recognition device 70 includes a forward sensor 70F attached to the front end of the upper surface of the cabin 10, a rearward sensor 70B attached to the rear end of the upper surface of the upper rotating body 3, a leftward sensor 70L attached to the left end of the upper surface of the upper rotating body 3, and a rightward sensor (not shown) attached to the right end of the upper surface of the upper rotating body 3. An upward sensor that recognizes objects present in the space above the upper rotating body 3 may be attached to the shovel 100.

[0015] The operating device 26 is a device used by an operator to operate the actuator. The operating device 26 includes, for example, an operating lever and an operating pedal. The actuator includes at least one of a hydraulic actuator and an electric actuator.

[0016] The operation method switching device SD is configured to be able to switch the operation method of the operation lever. For example, the operation method switching device SD includes a push button switch provided on the right console inside the cabin 10, and is configured to be able to switch the operation method of the operation lever between a first operation method and a second operation method each time the push button switch is pressed. For example, the first operation method is configured so that when the left operation lever 26L (see FIG. 3 described later) is tilted forward, the arm 5 is opened, when the left operation lever 26L is tilted rearward, the arm 5 is closed, when the left operation lever 26L is tilted left, a left turn is performed, and when the left operation lever 26L is tilted right, a right turn is performed. The first operation method is configured so that when the right operation lever 26R (see FIG. 3 described later) is tilted forward, the boom 4 is lowered, when the right operation lever 26R is tilted rearward, the boom 4 is raised, when the right operation lever 26R is tilted left, the bucket 6 is closed, and when the right operation lever 26R is tilted right, the bucket 6 is opened. On the other hand, the second operation method is configured so that when the left operation lever 26L (see FIG. 3 described later) is tilted forward, a right turn is performed, when the left operation lever 26L is tilted rearward, a left turn is performed, when the left operation lever 26L is tilted left, the arm 5 is opened, and when the left operation lever 26L is tilted right, the arm 5 is closed.

[0017] The operator of the shovel 100 may, for example, select the first operation method when performing excavation work using an excavation bucket, and may select the second operation method when performing gravel removal work using a skeleton bucket (gravel removal bucket).

[0018] The controller 30 is a control device for controlling the shovel 100. In this embodiment, the controller 30 is configured as a computer including a CPU, a volatile storage device, a nonvolatile storage device, and the like. The controller 30 reads programs corresponding to each function from the nonvolatile storage device, loads them into the volatile storage device, and causes the CPU to execute the corresponding processing. Each function includes, for example, a machine guidance function that guides the operator in manually operating the shovel 100, and a machine control function that assists the operator in manually operating the shovel 100 or automatically or autonomously operates the shovel 100. The controller 30 may also include a contact avoidance function that automatically or autonomously operates or stops the shovel 100 to avoid contact between the shovel 100 and objects present within a monitoring range around the shovel 100. Monitoring of objects around the shovel 100 is performed not only within the monitoring range but also outside the monitoring range.

[0019] FIG. 2 is a block diagram showing an example of the configuration of the shovel 100 according to this embodiment.

[0020] In the diagram, mechanical power lines are indicated by double lines, high-pressure hydraulic lines by solid lines, pilot lines by dashed lines, and electric drive and control lines by dotted lines.

[0021] The hydraulic drive system that hydraulically drives the hydraulic actuators of the excavator 100 according to this embodiment includes the engine 11, the regulator 13, the main pump 14, and the control valve unit 17. As described above, the hydraulic drive system of the excavator 100 according to this embodiment also includes hydraulic actuators such as the traveling hydraulic motors 2ML, 2MR, the swing hydraulic motor 2A, the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 that hydraulically drive the lower traveling structure 1, the upper rotating structure 3, the boom 4, the arm 5, and the bucket 6, respectively.

[0022] The engine 11 is the main power source in the hydraulic drive system, and is mounted, for example, on the rear of the upper rotating body 3. Specifically, the engine 11 rotates at a constant speed at a preset target speed under direct or indirect control by a controller 30 (described later), and drives the main pump 14 and the pilot pump 15. The engine 11 is, for example, a diesel engine that uses diesel as fuel.

[0023] The regulator 13 controls the discharge amount of the main pump 14. For example, the regulator 13 adjusts the angle (tilt angle) of the swash plate of the main pump 14 in response to a control command from the controller 30.

[0024] The main pump 14 (an example of a hydraulic pump) is mounted on the rear of the upper rotating body 3, similar to the engine 11, for example, and supplies hydraulic oil to the control valve unit 17 through a high-pressure hydraulic line 16. As described above, the main pump 14 is driven by the engine 11. The main pump 14 is, for example, a variable displacement hydraulic pump, and as described above, under the control of the controller 30, the tilt angle of the swash plate is adjusted by the regulator 13, thereby adjusting the stroke length of the piston and controlling the discharge flow rate (discharge pressure).

[0025] The control valve unit 17 is a hydraulic control device that controls the hydraulic system in the excavator 100. In this embodiment, the control valve unit 17 includes control valves 171 to 176. The control valve unit 17 is configured to selectively supply hydraulic oil discharged by the main pump 14 to one or more hydraulic actuators via the control valves 171 to 176. The control valves 171 to 176 control, for example, the flow rate of hydraulic oil flowing from the main pump 14 to the hydraulic actuators and the flow rate of hydraulic oil flowing from the hydraulic actuators to a hydraulic oil tank. The hydraulic actuators include a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, traveling hydraulic motors 2ML and 2MR, and a swing hydraulic motor 2A. More specifically, the control valve 171 corresponds to the left traveling hydraulic motor 2ML, the control valve 172 corresponds to the right traveling hydraulic motor 2MR, and the control valve 173 corresponds to the swing hydraulic motor 2A. Furthermore, the control valve 174 corresponds to the bucket cylinder 9 , the control valve 175 corresponds to the boom cylinder 7 , and the control valve 176 corresponds to the arm cylinder 8 .

[0026] The pilot pump 15 is an example of a pilot pressure generating device, and is configured to supply hydraulic oil to hydraulic control devices via a pilot line. In this embodiment, the pilot pump 15 is a fixed displacement hydraulic pump. However, the pilot pressure generating device may be realized by the main pump 14. That is, the main pump 14 may have a function of supplying hydraulic oil to various hydraulic control devices via a pilot line, in addition to a function of supplying hydraulic oil to the control valve unit 17 via a hydraulic oil line. In this case, the pilot pump 15 may be omitted.

[0027] The discharge pressure sensor 28 is configured to detect the discharge pressure of the main pump 14. In this embodiment, the discharge pressure sensor 28 outputs the detected value to the controller 30.

[0028] The operating device 26 is a device used by an operator to operate the actuator. The operating device 26 includes, for example, an operating lever and an operating pedal. The actuator includes at least one of a hydraulic actuator and an electric actuator.

[0029] The proportional valve 31, which functions as a control valve for machine control, is disposed in a pipe connecting the pilot pump 15 and the pilot port of the control valve in the control valve unit 17, and is configured so that the flow path area of ​​the pipe can be changed. In this embodiment, the proportional valve 31 operates in response to a control command output by the controller 30. Therefore, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the pilot port of the control valve in the control valve unit 17 via the proportional valve 31, regardless of the operation of the operating device 26 by the operator.

[0030] With this configuration, the controller 30 can operate the hydraulic actuator corresponding to a specific operating device 26 even when the specific operating device 26 is not being operated.

[0031] The control system of the shovel 100 according to this embodiment includes a controller 30, a display device D1, an input device D2, and a communication device T1. The control system of the shovel 100 also includes, as components related to the semi-automatic operation function, a proportional valve 31, a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a machine body inclination sensor S4, a swing angle sensor S5, an imaging device S6, and a positioning device PS.

[0032] The operation sensor 29 is configured to detect the operation content of the operator using the operation device 26. In this embodiment, the operation sensor 29 detects the operation direction and operation amount of the operation device 26 corresponding to each actuator and outputs the detected value to the controller 30. In this embodiment, the controller 30 controls the opening area of ​​the proportional valve 31 in accordance with the output of the operation sensor 29. The controller 30 then supplies the hydraulic oil discharged from the pilot pump 15 to the pilot ports of the corresponding control valves in the control valve unit 17. The pressure of the hydraulic oil supplied to each pilot port (pilot pressure) is, in principle, a pressure corresponding to the operation direction and operation amount of the operation device 26 corresponding to each hydraulic actuator. In this way, the operation device 26 is configured to supply the hydraulic oil discharged from the pilot pump 15 to the pilot ports of the corresponding control valves in the control valve unit 17.

[0033] The display device D1 is provided in a location that is easily visible to an operator seated in the cabin 10, and displays various information images under the control of the controller 30. The display device D1 may be connected to the controller 30 via an in-vehicle communication network such as a CAN (Controller Area Network), or may be connected to the controller 30 via a one-to-one dedicated line.

[0034] The display device D1 is not limited to a device pre-installed in the cabin 10, but may be a separately installed monitor. Furthermore, the display device D1 may be any device capable of displaying, and may be, for example, a tablet terminal or the like capable of communicating with the communication device T1.

[0035] The input device D2 is provided within reach of an operator seated in the cabin 10, accepts various operational inputs from the operator, and outputs signals corresponding to the operational inputs to the controller 30. The input device D2 includes a touch panel mounted on the display of a display device that displays various information images, a knob switch provided at the tip of a lever device of the operation device 26, and button switches, levers, toggles, rotary dials, etc. provided around the display device D1. A signal corresponding to the operation content of the input device D2 is taken into the controller 30.

[0036] The controller 30 (an example of a control device) is provided, for example, in the cabin 10, and controls the driving of the excavator 100. The functions of the controller 30 may be realized by any hardware, software, or a combination thereof. For example, the controller 30 is configured mainly with a microcomputer including a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), a non-volatile auxiliary storage medium, various input / output interfaces, etc. The controller 30 realizes various functions by, for example, executing various programs stored in the ROM or non-volatile auxiliary storage medium on the CPU.

[0037] For example, the controller 30 sets a target rotation speed based on an operation by an operator or the like, and performs drive control to rotate the engine 11 at a constant speed.

[0038] Furthermore, for example, the controller 30 outputs a control command to the regulator 13 as necessary to change the discharge rate of the main pump 14.

[0039] Furthermore, for example, the controller 30 controls the regulator 13 and adjusts the discharge volume of the main pump 14 based on the detected value of the pilot pressure, which is input from the operation sensor 29 and corresponds to the operating state of various operating elements (i.e., various hydraulic actuators) in the operating device 26.

[0040] Furthermore, for example, the controller 30 performs control related to a machine guidance function that guides (provides guidance for) the manual operation of the shovel 100 by the operator via the operation device 26. Furthermore, the controller 30 performs control related to a machine control function that automatically assists the manual operation of the shovel 100 by the operator via the operation device 26.

[0041] The controller 30 also includes a jack-up determination unit 301 , a turning operation determination unit 302 , and a turning operation generation unit 303 .

[0042] The jack-up determination unit 301 determines whether the excavator 100 is in a jacked-up state by the attachment AT. Here, the jacked-up state refers to a state in which a force acts on the ground or the like from the attachment AT (bucket 6), generating a reaction force in a direction in which the undercarriage 1 is lifted up. Note that the state in which the excavator 100 is jacked up by the attachment AT includes not only a state in which at least one of the front and rear parts of the undercarriage 1 is lifted up from the ground, but also a state in which the load acting on the ground from the undercarriage 1 is reduced even if the undercarriage 1 is not lifted up from the ground. Note that the details of the jack-up determination unit 301 will be described later using FIG. 4 etc.

[0043] When the jack-up determination unit 301 determines that the vehicle is in a jacked-up state, the swing operation determination unit 302 determines whether or not a swing operation has been performed by the operating device 26. Furthermore, when a swing operation has been performed, the swing operation determination unit 302 determines the swing direction and the swing operation amount. Note that a method by which the jack-up determination unit 301 determines whether or not the vehicle is in a jacked-up state will be described later using FIG. 4 etc. Note that the details of the swing operation determination unit 302 will be described later using FIG. 4 etc.

[0044] The swing operation generating unit 303 generates an operation amount for the actuator based on the swing operation amount of the operating device 26 and the determination results of the jack-up determining unit 301 and the swing operation determining unit 302. Then, the controller 30 controls the proportional valve 31 (described later) based on the generated operation amount. Details of the swing operation generating unit 303 will be described later using FIG. 4 etc.

[0045] Note that some of the functions of the controller 30 may be realized by another controller (control device). That is, the functions of the controller 30 may be realized in a distributed manner by a plurality of controllers. For example, the machine guidance function and the machine control function may be realized by a dedicated controller (control device).

[0046] The proportional valve 31 is provided in a pilot line connecting the pilot pump 15 and the pilot ports of the control valves 171 to 176, and is configured so that its flow path area (the cross-sectional area through which hydraulic oil can flow) can be changed. The proportional valve 31 operates in response to a control command input from the controller 30. As a result, even when the operating device 26 is not being operated by an operator, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17 via the proportional valve 31. The controller 30 can then apply the pilot pressure generated by the proportional valve 31 to the pilot port of the corresponding control valve.

[0047] With this configuration, the controller 30 can operate the hydraulic actuator corresponding to a specific operating device 26 even when no operation is being performed on that specific operating device 26. Furthermore, the controller 30 can forcibly stop the operation of the hydraulic actuator corresponding to that specific operating device 26 even when an operation is being performed on that specific operating device 26.

[0048] The boom angle sensor S1 is attached to the boom 4 and detects the elevation / depression angle of the boom 4 relative to the upper rotating structure 3 (hereinafter referred to as the "boom angle"), for example, the angle formed by a line connecting the fulcrums at both ends of the boom 4 relative to the rotation plane of the upper rotating structure 3 in a side view. The boom angle sensor S1 may include, for example, a rotary encoder, an acceleration sensor, a six-axis sensor, an IMU (Inertial Measurement Unit), etc. The boom angle sensor S1 may also include a potentiometer using a variable resistor, a cylinder stroke sensor that detects the stroke amount of a hydraulic cylinder (boom cylinder 7) corresponding to the boom angle, etc. The same applies to the arm angle sensor S2, bucket angle sensor S3, and machine body tilt sensor S4 below. A detection signal corresponding to the boom angle detected by the boom angle sensor S1 is input to the controller 30.

[0049] The arm angle sensor S2 is attached to the arm 5 and detects the rotation angle of the arm 5 relative to the boom 4 (hereinafter referred to as the "arm angle"), for example, the angle formed by a line connecting the fulcrums at both ends of the arm 5 with a line connecting the fulcrums at both ends of the boom 4 in a side view. A detection signal corresponding to the arm angle detected by the arm angle sensor S2 is input to the controller 30.

[0050] The bucket angle sensor S3 is attached to the bucket 6 and detects the rotation angle of the bucket 6 relative to the arm 5 (hereinafter referred to as the "bucket angle"), for example, the angle formed by a line connecting the fulcrum of the bucket 6 and the tip (cutting edge) with respect to a line connecting the fulcrums at both ends of the arm 5 in a side view. A detection signal corresponding to the bucket angle by the bucket angle sensor S3 is input to the controller 30.

[0051] The machine body inclination sensor S4 detects the inclination state of the machine body (the upper rotating body 3 or the lower running body 1) relative to the horizontal plane. The machine body inclination sensor S4 is attached to, for example, the upper rotating body 3, and detects the inclination angles of the excavator 100 (i.e., the upper rotating body 3) about two axes in the front-to-rear and left-to-right directions (hereinafter referred to as the "front-to-rear inclination angle" and the "left-to-right inclination angle"). The detection signals corresponding to the inclination angles (front-to-rear inclination angle and left-to-right inclination angle) detected by the machine body inclination sensor S4 are input to the controller 30.

[0052] The rotation angle sensor S5 outputs detection information related to the rotation state of the upper rotating body 3. The rotation angle sensor S5 detects, for example, the rotation angular velocity and rotation angle of the upper rotating body 3. The rotation angle sensor S5 includes, for example, a gyro sensor, a resolver, a rotary encoder, etc.

[0053] In this embodiment, an example using the swing angle sensor S5 will be described, but this embodiment is not limited to the technique using the swing angle sensor S5. For example, an IMU (Inertial Measurement Unit) sensor may be used instead of the swing angle sensor S5. Furthermore, instead of the swing angle sensor S5, the orientation of the shovel 100 may be detected by a positioning device PS, which will be described later. Furthermore, instead of the swing angle sensor S5, a geomagnetic sensor may be used.

[0054] The imaging device S6 is an example of a spatial recognition device 70 that captures images of the periphery of the shovel 100. The imaging device S6 includes a camera that captures images in front of the shovel 100 (an example of the front sensor 70F), a camera that captures images to the left of the shovel 100 (an example of the left sensor 70L), a camera that captures images to the right of the shovel 100 (an example of a right sensor not shown), and a camera that captures images behind the shovel 100 (an example of the rear sensor 70B).

[0055] The positioning device PS is configured to acquire information related to the position of the shovel 100. In this embodiment, the positioning device PS is configured to measure the position and orientation of the shovel 100. Specifically, the positioning device PS is a GNSS receiver with an integrated electronic compass, and measures the latitude, longitude, and altitude of the current position of the shovel 100, and also measures the orientation of the shovel 100.

[0056] The communication device T1 communicates with external devices through a predetermined network including a mobile communication network with a base station as an end, a satellite communication network, the Internet, etc. The communication device T1 is, for example, a mobile communication module compatible with mobile communication standards such as LTE (Long Term Evolution), 4G (4th Generation), and 5G (5th Generation), or a satellite communication module for connecting to a satellite communication network.

[0057] The excavator 100 operates actuators (e.g., hydraulic actuators) in response to operations by an operator in the cabin 10, and drives operating elements (hereinafter referred to as "driven elements") such as the lower running body 1, upper rotating body 3, boom 4, arm 5, and bucket 6.

[0058] Furthermore, instead of or in addition to being configured to be operable by an operator in the cabin 10, the shovel 100 may be configured to be remotely operable from outside the shovel 100. When the shovel 100 is remotely operated, the inside of the cabin 10 may be unmanned.

[0059] The excavator 100 may also automatically operate the actuators regardless of the operation performed by the operator. As a result, the controller 30 of the excavator 100 has a function of automatically operating at least some of the actuators that operate each of the driven elements such as the lower traveling structure 1, the upper rotating structure 3, the boom 4, the arm 5, and the bucket 6, i.e., a so-called "automatic operation function" or "machine control function."

[0060] The automatic driving function may include a function for automatically operating driven elements (actuators) other than the driven element (actuator) to be operated in response to an operator's operation of the operating device 26 or remote operation, i.e., a so-called "semi-automatic driving function" or "operation-assisted machine control function." The automatic driving function may also include a function for automatically operating at least some of the multiple driven elements (hydraulic actuators) without the operator's operation of the operating device 26 or remote operation, i.e., a so-called "fully automatic driving function" or "fully automatic machine control function." In the excavator 100, when the fully automatic driving function is enabled, the inside of the cabin 10 may be unmanned. The semi-automatic driving function, fully automatic driving function, etc. may also include a mode in which the operation of the driven element (actuator) to be operated automatically is determined according to predetermined rules. In addition, the semi-automatic driving function and the fully automatic driving function may include a mode in which the excavator 100 autonomously makes various decisions and, based on the results of those decisions, autonomously determines the operation of the driven element (hydraulic actuator) that is the subject of automatic driving (so-called "automatic driving function").

[0061] Specifically, when the operator operates the arm 5 via the operating device 26, the controller 30 may automatically operate at least one of the boom 4 and the bucket 6 so that the tip position of the bucket 6 coincides with a predetermined target construction surface. Furthermore, the controller 30 may also automatically operate the arm 5 regardless of the operating state of the operating device 26 that operates the arm 5. That is, the controller 30 may cause the attachment to perform a predetermined operation in response to the operator's operation of the operating device 26. Hereinafter, the function of the controller 30 that operates not only the arm 5 but also at least one of the boom 4 and the bucket 6 in response to the operation of the operating device 26 corresponding to the arm 5 will be referred to as a "semi-automatic operation function." The semi-automatic operation function may be executed, for example, by operating a predetermined switch (hereinafter referred to as an "MC (Machine Control) switch") located at the tip of one of the lever devices included in the operating device 26. In this embodiment, the MC switch may be a paddle switch that executes a machine control function while pressed down.

[0062] Next, a configuration example of a hydraulic system mounted on the shovel 100 according to this embodiment will be described with reference to Fig. 3. Fig. 3 is a diagram showing a configuration example of a hydraulic system mounted on the shovel 100 according to this embodiment. In Fig. 3, a mechanical power transmission system, a hydraulic oil line, a pilot line, and an electrical control system are indicated by double lines, solid lines, dashed lines, and dotted lines, respectively.

[0063] The hydraulic system of the excavator 100 mainly includes an engine 11, a regulator 13, a main pump 14, a pilot pump 15, a control valve unit 17, an operating device 26, a discharge pressure sensor 28, an operating sensor 29, a controller 30, and the like.

[0064] In FIG. 3, the hydraulic system is configured to circulate hydraulic oil from a main pump 14 driven by an engine 11 through a center bypass line 40 or a parallel line 42 to a hydraulic oil tank.

[0065] The engine 11 is a drive source of the excavator 100. In this embodiment, the engine 11 is, for example, a diesel engine that operates to maintain a predetermined rotation speed. An output shaft of the engine 11 is connected to the input shafts of the main pump 14 and the pilot pump 15.

[0066] The main pump 14 is configured to supply hydraulic oil via a hydraulic oil line to the control valve unit 17. In this embodiment, the main pump 14 is a swash plate type variable displacement hydraulic pump.

[0067] The regulator 13 is configured to be able to control the discharge rate of the main pump 14. In this embodiment, the regulator 13 controls the discharge rate of the main pump 14 by adjusting the tilt angle of the swash plate of the main pump 14 in response to a control command from the controller 30.

[0068] The pilot pump 15 is an example of a pilot pressure generating device, and is configured to supply hydraulic oil to hydraulic control devices via a pilot line. In this embodiment, the pilot pump 15 is a fixed displacement hydraulic pump. However, the pilot pressure generating device may be realized by the main pump 14. That is, the main pump 14 may have a function of supplying hydraulic oil to various hydraulic control devices via a pilot line, in addition to a function of supplying hydraulic oil to the control valve unit 17 via a hydraulic oil line. In this case, the pilot pump 15 may be omitted.

[0069] The control valve unit 17 is a hydraulic control device that controls the hydraulic system in the excavator 100. In this embodiment, the control valve unit 17 includes control valves 171 to 176. The control valve 175 includes a control valve 175L and a control valve 175R, and the control valve 176 includes a control valve 176L and a control valve 176R. The control valve unit 17 is configured to selectively supply hydraulic oil discharged by the main pump 14 to one or more hydraulic actuators via the control valves 171 to 176. The control valves 171 to 176 control, for example, the flow rate of hydraulic oil flowing from the main pump 14 to the hydraulic actuators and the flow rate of hydraulic oil flowing from the hydraulic actuators to a hydraulic oil tank. The hydraulic actuators include a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a left traveling hydraulic motor 2ML, a right traveling hydraulic motor 2MR, and a swing hydraulic motor 2A.

[0070] The operating device 26 is configured to allow an operator to operate the actuator. In this embodiment, the operating device 26 includes a hydraulic actuator operating device configured to allow an operator to operate the hydraulic actuator. Specifically, the hydraulic actuator operating device is configured to supply hydraulic oil discharged from the pilot pump 15 to the pilot ports of the corresponding control valves in the control valve unit 17 via pilot lines. The pressure of the hydraulic oil supplied to each pilot port (pilot pressure) is a pressure that corresponds to the operation direction and operation amount of the operating device 26 corresponding to each hydraulic actuator.

[0071] The discharge pressure sensor 28 is configured to be able to detect the discharge pressure of the main pump 14. In this embodiment, the discharge pressure sensor 28 outputs the detected value to the controller 30.

[0072] The operation sensor 29 is configured to detect the details of an operation of the operation device 26 by an operator. In this embodiment, the operation sensor 29 detects the operation direction and operation amount of the operation device 26 corresponding to each actuator, and outputs the detected values ​​to the controller 30.

[0073] The main pump 14 includes a left main pump 14L and a right main pump 14R. The left main pump 14L circulates hydraulic oil to the hydraulic oil tank via a left center bypass line 40L or a left parallel line 42L, and the right main pump 14R circulates hydraulic oil to the hydraulic oil tank via a right center bypass line 40R or a right parallel line 42R.

[0074] The left center bypass line 40L is a hydraulic oil line that passes through control valves 171, 173, 175L, and 176L arranged in the control valve unit 17. The right center bypass line 40R is a hydraulic oil line that passes through control valves 172, 174, 175R, and 176R arranged in the control valve unit 17.

[0075] The control valve 171 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the left main pump 14L to the left traveling hydraulic motor 2ML and to discharge the hydraulic oil discharged by the left traveling hydraulic motor 2ML to the hydraulic oil tank.

[0076] The control valve 172 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the right main pump 14R to the right traveling hydraulic motor 2MR and to discharge the hydraulic oil discharged by the right traveling hydraulic motor 2MR to the hydraulic oil tank.

[0077] The control valve 173 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the left main pump 14L to the swing hydraulic motor 2A and to discharge the hydraulic oil discharged by the swing hydraulic motor 2A to the hydraulic oil tank.

[0078] The control valve 174 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the right main pump 14R to the bucket cylinder 9 and to discharge the hydraulic oil in the bucket cylinder 9 to the hydraulic oil tank.

[0079] The control valve 175L is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the left main pump 14L to the boom cylinder 7. The control valve 175R is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the right main pump 14R to the boom cylinder 7 and to discharge the hydraulic oil in the boom cylinder 7 to the hydraulic oil tank.

[0080] The control valve 176L is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the left main pump 14L to the arm cylinder 8 and to discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank.

[0081] The control valve 176R is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the right main pump 14R to the arm cylinder 8 and to discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank.

[0082] The left parallel conduit 42L is a hydraulic oil line that runs parallel to the left center bypass conduit 40L. The left parallel conduit 42L can supply hydraulic oil to a downstream control valve when the flow of hydraulic oil through the left center bypass conduit 40L is restricted or blocked by any of the control valves 171, 173, and 175L. The right parallel conduit 42R is a hydraulic oil line that runs parallel to the right center bypass conduit 40R. The right parallel conduit 42R can supply hydraulic oil to a downstream control valve when the flow of hydraulic oil through the right center bypass conduit 40R is restricted or blocked by any of the control valves 172, 174, and 175R.

[0083] The regulator 13 includes a left regulator 13L and a right regulator 13R. The left regulator 13L controls the discharge rate of the left main pump 14L by adjusting the tilt angle of the swash plate of the left main pump 14L in accordance with the discharge pressure of the left main pump 14L. Specifically, the left regulator 13L adjusts the tilt angle of the swash plate of the left main pump 14L in accordance with an increase in the discharge pressure of the left main pump 14L to reduce the discharge rate. The same applies to the right regulator 13R. This is to prevent the absorption power (absorption horsepower) of the main pump 14, which is expressed as the product of the discharge pressure and the discharge rate, from exceeding the output power (output horsepower) of the engine 11.

[0084] The operating device 26 includes a left operating lever 26L, a right operating lever 26R, and a travel lever 26D. The travel lever 26D includes a left traveling lever 26DL and a right traveling lever 26DR.

[0085] The left operating lever 26L is used for swing operation and operation of the arm 5. When the left operating lever 26L is operated in the forward / backward direction, it uses the hydraulic oil discharged from the pilot pump 15 to introduce a control pressure corresponding to the amount of lever operation into the pilot port of the control valve 176. When it is operated in the left / right direction, it uses the hydraulic oil discharged from the pilot pump 15 to introduce a control pressure corresponding to the amount of lever operation into the pilot port of the control valve 173.

[0086] Specifically, when the left operating lever 26L is operated in the arm closing direction, it introduces hydraulic oil into the right pilot port of the control valve 176L and introduces hydraulic oil into the left pilot port of the control valve 176R. When the left operating lever 26L is operated in the arm opening direction, it introduces hydraulic oil into the left pilot port of the control valve 176L and introduces hydraulic oil into the right pilot port of the control valve 176R. When the left operating lever 26L is operated in the left turning direction, it introduces hydraulic oil into the left pilot port of the control valve 173, and when operated in the right turning direction, it introduces hydraulic oil into the right pilot port of the control valve 173.

[0087] In the example shown in FIG. 3, the left operating lever 26L functions as an arm operating lever when operated in the forward / backward direction, and functions as a turning operating lever when operated in the left / right direction.

[0088] The right operating lever 26R is used to operate the boom 4 and the bucket 6. When the right operating lever 26R is operated in the forward / backward direction, it uses the hydraulic oil discharged by the pilot pump 15 to introduce a control pressure corresponding to the amount of lever operation into the pilot port of the control valve 175. When it is operated in the left / right direction, it uses the hydraulic oil discharged by the pilot pump 15 to introduce a control pressure corresponding to the amount of lever operation into the pilot port of the control valve 174.

[0089] Specifically, when the right operating lever 26R is operated in the boom-lowering direction, it introduces hydraulic oil to the left pilot port of the control valve 175R. When the right operating lever 26R is operated in the boom-raising direction, it introduces hydraulic oil to the right pilot port of the control valve 175R and also introduces hydraulic oil to the left pilot port of the control valve 175R. When the right operating lever 26R is operated in the bucket-closing direction, it introduces hydraulic oil to the right pilot port of the control valve 174, and when operated in the bucket-opening direction, it introduces hydraulic oil to the left pilot port of the control valve 174.

[0090] In the example shown in FIG. 3, the right operating lever 26R functions as a boom operating lever when operated in the forward / backward direction, and functions as a bucket operating lever when operated in the left / right direction.

[0091] The travel lever 26D is used to operate the crawlers. Specifically, the left travel lever 26DL is used to operate the left crawler. It may be configured to operate in conjunction with the left travel pedal. When the left travel lever 26DL is operated in the forward / backward direction, it uses hydraulic oil discharged from the pilot pump 15 to introduce control pressure corresponding to the lever operation amount into the pilot port of the control valve 171. The right travel lever 26DR is used to operate the right crawler. It may be configured to operate in conjunction with the right travel pedal. When the right travel lever 26DR is operated in the forward / backward direction, it uses hydraulic oil discharged from the pilot pump 15 to introduce control pressure corresponding to the lever operation amount into the pilot port of the control valve 172.

[0092] The discharge pressure sensor 28 includes a discharge pressure sensor 28L and a discharge pressure sensor 28R. The discharge pressure sensor 28L detects the discharge pressure of the left main pump 14L and outputs the detected value to the controller 30. The same applies to the discharge pressure sensor 28R.

[0093] The operation sensor 29 includes operation sensors 29LA, 29LB, 29RA, 29RB, 29DL, and 29DR. The operation sensor 29LA detects the details of the forward / backward operation of the left operation lever 26L by the operator, and outputs the detected value to the controller 30. The details of the operation include, for example, the lever operation direction, the lever operation amount (lever operation angle), etc.

[0094] Similarly, operation sensor 29LB detects the operation of left operation lever 26L in the left-right direction by the operator and outputs the detected value to controller 30. Operation sensor 29RA detects the operation of right operation lever 26R in the forward / backward direction by the operator and outputs the detected value to controller 30. Operation sensor 29RB detects the operation of right operation lever 26R in the left-right direction by the operator and outputs the detected value to controller 30. Operation sensor 29DL detects the operation of left travel lever 26DL in the forward / backward direction by the operator and outputs the detected value to controller 30. Operation sensor 29DR detects the operation of right travel lever 26DR in the forward / backward direction by the operator and outputs the detected value to controller 30.

[0095] The controller 30 receives the output of the operation sensor 29 and outputs a control command to the regulator 13 as necessary to change the discharge rate of the main pump 14. The controller 30 also receives the output of the control pressure sensor 19 provided upstream of the orifice 18 and outputs a control command to the regulator 13 as necessary to change the discharge rate of the main pump 14. The orifice 18 includes a left orifice 18L and a right orifice 18R, and the control pressure sensor 19 includes a left control pressure sensor 19L and a right control pressure sensor 19R.

[0096] A left throttle 18L is disposed in the left center bypass pipe 40L between the hydraulic oil tank and the control valve 176L, which is located most downstream. Therefore, the flow of hydraulic oil discharged from the left main pump 14L is restricted by the left throttle 18L. The left throttle 18L generates a control pressure for controlling the left regulator 13L. The left control pressure sensor 19L detects this control pressure and outputs the detected value to the controller 30. The controller 30 controls the discharge rate of the left main pump 14L by adjusting the swash plate tilt angle of the left main pump 14L in accordance with this control pressure. The controller 30 decreases the discharge rate of the left main pump 14L as this control pressure increases, and increases the discharge rate of the left main pump 14L as this control pressure decreases. The discharge rate of the right main pump 14R is controlled in a similar manner.

[0097] Specifically, as shown in FIG. 3 , when the excavator 100 is in a standby state in which none of the hydraulic actuators are operated, the hydraulic oil discharged from the left main pump 14L passes through the left center bypass pipe 40L and reaches the left throttle 18L. The flow of hydraulic oil discharged from the left main pump 14L increases the control pressure generated upstream of the left throttle 18L. As a result, the controller 30 reduces the discharge rate of the left main pump 14L to the minimum allowable discharge rate, thereby suppressing pressure loss (pumping loss) when the discharged hydraulic oil passes through the left center bypass pipe 40L. On the other hand, when any hydraulic actuator is operated, the hydraulic oil discharged from the left main pump 14L flows into the hydraulic actuator to be operated via the control valve corresponding to the hydraulic actuator to be operated. The flow of hydraulic oil discharged from the left main pump 14L reduces or eliminates the amount of hydraulic oil reaching the left throttle 18L, thereby lowering the control pressure generated upstream of the left throttle 18L. As a result, the controller 30 increases the discharge rate of the left main pump 14L, circulating sufficient hydraulic oil to the hydraulic actuator to be operated and ensuring the drive of the hydraulic actuator to be operated. The controller 30 also controls the discharge rate of the right main pump 14R in a similar manner.

[0098] With the above-described configuration, the hydraulic system of Fig. 3 can suppress unnecessary energy consumption in the main pump 14 in a standby state. The unnecessary energy consumption includes pumping loss caused by the hydraulic oil discharged from the main pump 14 in the center bypass pipe 40. Furthermore, when operating a hydraulic actuator, the hydraulic system of Fig. 3 can reliably supply necessary and sufficient hydraulic oil from the main pump 14 to the hydraulic actuator to be operated.

[0099] In addition, a boom rod pressure sensor S7R and a boom bottom pressure sensor S7B are attached to the boom cylinder 7. An arm rod pressure sensor S8R and an arm bottom pressure sensor S8B are attached to the arm cylinder 8. A bucket rod pressure sensor S9R and a bucket bottom pressure sensor S9B are attached to the bucket cylinder 9. The boom rod pressure sensor S7R, boom bottom pressure sensor S7B, arm rod pressure sensor S8R, arm bottom pressure sensor S8B, bucket rod pressure sensor S9R, and bucket bottom pressure sensor S9B are collectively referred to as "cylinder pressure sensors." In addition, a left swing pressure sensor S10L and a right swing pressure sensor S10R are attached to the swing hydraulic motor 2A.

[0100] The boom rod pressure sensor S7R detects the pressure in the rod-side oil chamber of the boom cylinder 7 (hereinafter referred to as the "boom rod pressure"), and the boom bottom pressure sensor S7B detects the pressure in the bottom-side oil chamber of the boom cylinder 7 (hereinafter referred to as the "boom bottom pressure"). The arm rod pressure sensor S8R detects the pressure in the rod-side oil chamber of the arm cylinder 8 (hereinafter referred to as the "arm rod pressure"), and the arm bottom pressure sensor S8B detects the pressure in the bottom-side oil chamber of the arm cylinder 8 (hereinafter referred to as the "arm bottom pressure"). The bucket rod pressure sensor S9R detects the pressure in the rod-side oil chamber of the bucket cylinder 9 (hereinafter referred to as the "bucket rod pressure"), and the bucket bottom pressure sensor S9B detects the pressure in the bottom-side oil chamber of the bucket cylinder 9 (hereinafter referred to as the "bucket bottom pressure"). The left swing pressure sensor S10L detects the pressure of hydraulic oil in the left port of the swing hydraulic motor 2A. The right swing pressure sensor S10R detects the pressure of hydraulic oil in the right port of the swing hydraulic motor 2A. The values ​​detected by each sensor are transmitted to the controller 30 .

[0101] Incidentally, when the excavator 100 is jacked up by the attachment AT, the base end side of the attachment AT (the foot pin side of the boom 4) is supported by the upper rotating body 3, and the tip side of the attachment AT (the bucket 6 side) is in contact with the ground. In addition, at least a portion of the crawler of the lower traveling body 1 is in contact with the ground.

[0102] When the swing hydraulic motor 2A is driven to rotate the upper swing body 3 during jacking up, the tip of the attachment AT may be supported (fixed) on the ground, hindering the rotation of the upper swing body 3 and causing a lateral load to be applied to the attachment AT. Also, when the swing hydraulic motor 2A is driven to rotate the upper swing body 3, the tip of the attachment AT may be supported (fixed) on the ground, hindering the rotation of the upper swing body 3 and causing a load due to a reaction force to be applied to the swing mechanism 2. Also, a reaction force is generated in the lower traveling body 1 in the direction opposite to the direction attempting to rotate the upper swing body 3, which may cause a load to be applied to the crawlers. This reaction force may roughen the ground that the crawlers of the lower traveling body 1 come into contact with.

[0103] Furthermore, by operating the left and right crawlers of the undercarriage 1 in different directions, the undercarriage 1 of the shovel 100 turns relative to the ground. For example, by operating the left crawler in the forward direction and the right crawler in the backward direction, the undercarriage 1 of the shovel 100 turns right (clockwise when viewed from above) relative to the ground. Furthermore, by operating the left crawler in the backward direction and the right crawler in the forward direction, the undercarriage 1 of the shovel 100 turns left (counterclockwise when viewed from above) relative to the ground.

[0104] The turning operation of the shovel 100 by the lower traveling structure 1 is not limited to this. For example, the lower traveling structure 1 of the shovel 100 turns right relative to the ground surface by operating only the left crawler in the forward direction or by operating only the right crawler in the reverse direction. Furthermore, the lower traveling structure 1 of the shovel 100 turns left relative to the ground surface by operating only the left crawler in the reverse direction or by operating only the right crawler in the forward direction.

[0105] When the traveling hydraulic motor 2M (2ML, 2MR) is driven to rotate the lower traveling body 1 during jacking up, the tip of the attachment AT is supported (fixed) to the ground, which may hinder the rotation of the lower traveling body 1 and result in a lateral load being applied to the attachment AT. Also, when the traveling hydraulic motor 2M (2ML, 2MR) is driven to rotate the lower traveling body 1, the tip of the attachment AT is supported (fixed) to the ground, which may hinder the rotation of the lower traveling body 1 and result in a load due to a reaction force being applied to the rotation mechanism 2. Also, a reaction force is generated in the lower traveling body 1 in the direction opposite to the direction in which the lower traveling body 1 is rotating, and this reaction force may roughen the ground that the crawlers of the lower traveling body 1 come into contact with.

[0106] In this way, when performing a rotation operation of the upper rotating body 3 or a rotation operation of the lower running body 1 (a traveling operation that rotates the lower running body 1) during jacking up, there is a risk that loads will be generated on the attachment AT, the rotation mechanism 2, the lower running body 1, etc.

[0107] <First control method> An example of control for suppressing the load on the attachment AT during jacking up will be described with reference to Fig. 4. Fig. 4 is a flowchart showing an example of a first control method for suppressing the load on the attachment AT.

[0108] In step S101, the jacking-up determination unit 301 of the controller 30 determines whether or not jacking-up has occurred. If the jacking-up determination unit 301 determines that jacking-up has not occurred (S101·NO), the process of the controller 30 repeats step S101. If the jacking-up determination unit 301 determines that jacking-up has occurred (S101·YES), the process of the controller 30 proceeds to step S102.

[0109] For example, the jack-up determination unit 301 The boom-lowering pilot pressure (the pilot pressure acting on the right pilot port of the control valves 175L and 175R shown in FIG. 3) is equal to or greater than the jack-up pilot pressure start threshold (boom-lowering pilot pressure≧jack-up pilot pressure start threshold), and The boom cylinder rod pressure (hydraulic oil pressure detected by the boom rod pressure sensor S7R) is equal to or greater than the first jack-up start threshold (boom cylinder rod pressure ≧ first jack-up start threshold), and The boom cylinder bottom pressure (hydraulic oil pressure detected by the boom bottom pressure sensor S7B) is equal to or lower than the second jack-up start threshold (boom cylinder bottom pressure≦second jack-up start threshold), and Boom cylinder bottom pressure is lower than boom cylinder rod pressure (boom cylinder bottom pressure ≦ boom cylinder rod pressure) If all of the above conditions are met, it is determined that jacking up has occurred.

[0110] On the other hand, for example, the jack-up determination unit 301 The boom-raising pilot pressure (the pilot pressure acting on the left pilot port of the control valves 175L and 175R shown in FIG. 3) is equal to or greater than the jack-up pilot pressure end threshold (boom-raising pilot pressure ≧ jack-up pilot pressure end threshold), or The boom cylinder rod pressure (hydraulic oil pressure detected by the boom rod pressure sensor S7R) is equal to or lower than the first jack-up completion threshold (boom cylinder rod pressure ≦ first jack-up completion threshold), or The boom cylinder bottom pressure (hydraulic oil pressure detected by the boom bottom pressure sensor S7B) is equal to or greater than the second jack-up completion threshold (boom cylinder bottom pressure ≧ second jack-up completion threshold), or Boom cylinder bottom pressure is equal to or greater than the boom cylinder rod pressure (boom cylinder bottom pressure ≥ boom cylinder rod pressure) If one or more of the above conditions are met, it is determined that the jacking has occurred and ended.

[0111] It should be noted that the determination method by the jacking-up determination unit 301 is not limited to this. The jacking-up determination unit 301 may determine whether or not jacking-up has occurred based on the detection result of the IMU, an image captured by the imaging device S6 (spatial recognition device 70), etc. Also, a switch for inputting whether or not jacking-up has occurred may be provided, and the jacking-up determination unit 301 may determine whether or not jacking-up has occurred based on the input result of the switch.

[0112] In step S102, the swing operation determination unit 302 of the controller 30 determines whether a swing operation (first swing operation) for swinging the upper swing body 3 has been performed. Here, the swing operation determination unit 302 determines whether a swing operation of the upper swing body 3 has been performed based on the detection value of the operation sensor 29LB. That is, the swing operation determination unit 302 determines that a swing operation of the upper swing body 3 has been performed when the operation sensor 29LB detects that the left operating lever 26L has been tilted to the left or right from the neutral position. If the swing operation determination unit 302 determines that a swing operation of the upper swing body 3 has not been performed (S102·NO), the processing of the controller 30 repeats step S102. If the swing operation determination unit 302 determines that a swing operation of the upper swing body 3 has been performed (S102·YES), the processing of the controller 30 proceeds to step S103.

[0113] In step S103, the rotation operation determination unit 302 of the controller 30 determines whether the rotation direction of the upper rotating body 3 is a right rotation. If the rotation direction is a right rotation (S103: right rotation), the processing of the controller 30 proceeds to step S104. If the rotation direction is a left rotation (S103: left rotation), the processing of the controller 30 proceeds to step S105.

[0114] In step S104, the controller 30 controls the swing actuator (swing hydraulic motor 2A) to swing right based on the right swing operation amount of the upper swing body 3, and also controls the traveling actuators (travel hydraulic motors 2ML, 2MR) so that the lower traveling body 1 swings left.

[0115] Here, the controller 30 controls the proportional valve 31 corresponding to the control valve 173 based on the right rotation operation amount of the upper rotating body 3, thereby supplying pilot pressure according to the right rotation operation amount to one pilot port of the control valve 173.

[0116] Furthermore, the swing operation generating unit 303 of the controller 30 generates a traveling operation (reverse operation of the left crawler, forward operation of the right crawler) for turning the undercarriage 1 left, based on the right swing operation amount of the upper swing body 3. Then, the controller 30 controls the proportional valve 31 corresponding to the control valve 171 and the proportional valve 31 corresponding to the control valve 172, based on the traveling operation for turning the undercarriage 1 left, generated by the swing operation generating unit 303, to supply pilot pressure to a pilot port on the reverse side of the control valve 171 and to a pilot port on the forward side of the control valve 172.

[0117] In step S105, the controller 30 controls the swing actuator (swing hydraulic motor 2A) to swing left based on the left swing operation amount of the upper swing body 3, and also controls the traveling actuators (travel hydraulic motors 2ML, 2MR) so that the lower traveling body 1 swings right.

[0118] Here, the controller 30 controls the proportional valve 31 corresponding to the control valve 173 based on the left rotation operation amount of the upper rotating body 3, thereby supplying pilot pressure according to the left rotation operation amount to one pilot port of the control valve 173.

[0119] Furthermore, the swing operation generating unit 303 of the controller 30 generates a traveling operation (forward operation of the left crawler, reverse operation of the right crawler) for turning the undercarriage 1 to the right, based on the left swing operation amount of the upper swing body 3. Then, the controller 30 controls the proportional valve 31 corresponding to the control valve 171 and the proportional valve 31 corresponding to the control valve 172, based on the traveling operation for turning the undercarriage 1 to the right, generated by the swing operation generating unit 303, to supply pilot pressure to a pilot port on the forward side of the control valve 171 and to a pilot port on the reverse side of the control valve 172.

[0120] FIG. 5 shows the relationship between the direction of the turning pilot pressure input by the operating device 26 and the direction of the traveling pilot pressure output by the turning operation generating unit 303.

[0121] When the pilot pressure input to the control valve 173 is a swing left pilot pressure for swinging the upper swing body 3 to the left, the swing operation generating unit 303 outputs a traveling left front step pilot pressure for moving the left crawler forward (forward stepping) and a traveling right rear step pilot pressure for moving the right crawler backward (reverse stepping). That is, the controller 30 controls the proportional valves to control the proportional valve 31 corresponding to the control valve 171 and the proportional valve 31 corresponding to the control valve 172, thereby supplying the traveling left front step pilot pressure to the forward side pilot port of the control valve 171 and supplying the traveling right rear step pilot pressure to the reverse side pilot port of the control valve 172.

[0122] On the other hand, when the pilot pressure input to the control valve 173 is a swing right pilot pressure for swinging the upper swing body 3 to the right, the swing operation generating unit 303 outputs a traveling left rear step pilot pressure for moving the left crawler backward (stepping backward) and a traveling right front step pilot pressure for moving the right crawler forward (stepping forward). That is, the controller 30 controls the proportional valves to control the proportional valve 31 corresponding to the control valve 171 and the proportional valve 31 corresponding to the control valve 172, thereby supplying the traveling left rear step pilot pressure to the reverse side pilot port of the control valve 171 and supplying the traveling right front step pilot pressure to the forward side pilot port of the control valve 172.

[0123] FIG. 6 shows the relationship between the pressure amount of the swing pilot pressure input by the operating device 26 and the pressure amount of the traveling pilot pressure output by the swing operation generating unit 303.

[0124] As shown in Fig. 6, as the pressure amount of the swing pilot pressure increases, the pressure amount of the traveling pilot pressure also increases. In other words, as the swing speed of the upper swing body 3 relative to the lower traveling body 1 increases, the swing speed of the lower traveling body 1 in the opposite direction also increases.

[0125] In this way, when an operation to rotate the upper rotating body 3 to the right is input from the operating device 26 to the controller 30 during jacking up, the controller 30 rotates the lower traveling body 1 to the left so as to cancel out the right rotation of the upper rotating body 3 relative to the lower traveling body 1. As a result, even if the upper rotating body 3 rotates to the right relative to the lower traveling body 1, the lower traveling body 1 rotates to the left relative to the ground, thereby canceling out the rotation of the upper rotating body 3 relative to the ground. This makes it possible to reduce the lateral load applied to the attachment AT. It also makes it possible to reduce the load applied to the rotation mechanism 2. It also makes it possible to reduce the lateral load applied to the crawlers. It also makes it possible to suppress roughness of the ground with which the crawlers of the lower traveling body 1 come into contact.

[0126] Furthermore, when an operation to rotate the upper rotating body 3 left is input from the operating device 26 to the controller 30 during jacking up, the controller 30 rotates the lower traveling body 1 right so as to cancel out the left rotation of the upper rotating body 3 relative to the lower traveling body 1. As a result, even if the upper rotating body 3 rotates left relative to the lower traveling body 1, the lower traveling body 1 rotates right relative to the ground, thereby canceling out the rotation of the upper rotating body 3 relative to the ground. This makes it possible to reduce the lateral load applied to the attachment AT. It also makes it possible to reduce the load applied to the rotation mechanism 2. It also makes it possible to reduce the lateral load applied to the crawlers. It also makes it possible to suppress roughness of the ground with which the crawlers of the lower traveling body 1 come into contact.

[0127] <Second control method> Next, another example of control for suppressing the load on the attachment AT during jacking up will be described with reference to Fig. 7. Fig. 7 is a flowchart showing an example of a second control method for suppressing the load on the attachment AT.

[0128] In step S201, the jacking-up determination unit 301 of the controller 30 determines whether or not jacking-up has occurred. If the jacking-up determination unit 301 determines that jacking-up has not occurred (S201: NO), the process of the controller 30 repeats step S201. If the jacking-up determination unit 301 determines that jacking-up has occurred (S201: YES), the process of the controller 30 proceeds to step S202.

[0129] For example, the jack-up determination unit 301 The boom-lowering pilot pressure (the pilot pressure acting on the right pilot port of the control valves 175L and 175R shown in FIG. 3) is equal to or greater than the jack-up pilot pressure start threshold (boom-lowering pilot pressure≧jack-up pilot pressure start threshold), and The boom cylinder rod pressure (hydraulic oil pressure detected by the boom rod pressure sensor S7R) is equal to or greater than the first jack-up start threshold (boom cylinder rod pressure ≧ first jack-up start threshold), and The boom cylinder bottom pressure (hydraulic oil pressure detected by the boom bottom pressure sensor S7B) is equal to or lower than the second jack-up start threshold (boom cylinder bottom pressure≦second jack-up start threshold), and Boom cylinder bottom pressure is lower than boom cylinder rod pressure (boom cylinder bottom pressure ≦ boom cylinder rod pressure) If all of the above conditions are met, it is determined that jacking up has occurred.

[0130] On the other hand, for example, the jack-up determination unit 301 The boom-raising pilot pressure (the pilot pressure acting on the left pilot port of the control valves 175L and 175R shown in FIG. 3) is equal to or greater than the jack-up pilot pressure end threshold (boom-raising pilot pressure ≧ jack-up pilot pressure end threshold), or The boom cylinder rod pressure (hydraulic oil pressure detected by the boom rod pressure sensor S7R) is equal to or lower than the first jack-up completion threshold (boom cylinder rod pressure ≦ first jack-up completion threshold), or The boom cylinder bottom pressure (hydraulic oil pressure detected by the boom bottom pressure sensor S7B) is equal to or greater than the second jack-up completion threshold (boom cylinder bottom pressure ≧ second jack-up completion threshold), or Boom cylinder bottom pressure is equal to or greater than the boom cylinder rod pressure (boom cylinder bottom pressure ≥ boom cylinder rod pressure) If one or more of the above conditions are met, it is determined that the jacking has occurred and ended.

[0131] It should be noted that the determination method by the jacking-up determination unit 301 is not limited to this. The jacking-up determination unit 301 may determine whether or not jacking-up has occurred based on the detection result of the IMU, an image captured by the imaging device S6 (spatial recognition device 70), etc. Also, a switch for inputting whether or not jacking-up has occurred may be provided, and the jacking-up determination unit 301 may determine whether or not jacking-up has occurred based on the input result of the switch.

[0132] In step S202, the turning operation determination unit 302 of the controller 30 determines whether a turning operation for turning the undercarriage 1 (a traveling operation for turning the undercarriage 1, a second turning operation) has been performed. Here, the turning operation determination unit 302 determines whether a turning operation for the undercarriage 1 has been performed based on the detection values ​​of the operation sensors 29DL and 29DR. That is, the turning operation determination unit 302 determines that a turning operation for the undercarriage 1 has been performed when the operation sensors 29DL and 29DR detect that the left traveling lever 26DL and the right traveling lever 26DR have been tilted in either the forward or rearward direction from the neutral position. Specifically, the turning operation determination unit 302 determines that a turning operation for the undercarriage 1 has been performed when the operating direction of the left traveling lever 26DL detected by the operation sensor 29DL and the operating direction of the right traveling lever 26DR detected by the operation sensor 29DR are opposite to each other. Alternatively, if one travel lever is stationary in the neutral position and the other travel lever is tilted forward or backward, it may be determined that the lower traveling structure 1 has been operated to turn. If the turning operation determination unit 302 determines that the lower traveling structure 1 has not been operated to turn (S202: NO), the process of the controller 30 repeats step S202. If the turning operation determination unit 302 determines that the lower traveling structure 1 has been operated to turn (S202: YES), the process of the controller 30 proceeds to step S203.

[0133] In step S203, the turning operation determination unit 302 of the controller 30 determines whether the turning direction of the lower traveling structure 1 is a right turn. If the turning direction is a right turn (S203: right turn), the processing of the controller 30 proceeds to step S204. If the turning direction is a left turn (S203: left turn), the processing of the controller 30 proceeds to step S205.

[0134] Specifically, the turning operation determination unit 302 determines that the turning direction is a right turn when the operation direction of the left traveling lever 26DL detected by the operation sensor 29DL is the forward direction and the operation direction of the right traveling lever 26DR detected by the operation sensor 29DR is the reverse direction.The turning operation determination unit 302 determines that the turning direction is a left turn when the operation direction of the left traveling lever 26DL detected by the operation sensor 29DL is the reverse direction and the operation direction of the right traveling lever 26DR detected by the operation sensor 29DR is the forward direction.

[0135] The turning operation determination unit 302 determines that the turning direction is a right turn when the operation direction of the left traveling lever 26DL detected by the operation sensor 29DL is the forward direction and the position of the right traveling lever 26DR detected by the operation sensor 29DR is the neutral position.The turning operation determination unit 302 determines that the turning direction is a left turn when the position of the left traveling lever 26DL detected by the operation sensor 29DL is the neutral position and the operation direction of the right traveling lever 26DR detected by the operation sensor 29DR is the forward direction.

[0136] The turning operation determination unit 302 determines that the turning direction is a left turn when the operation direction of the left traveling lever 26DL detected by the operation sensor 29DL is the reverse direction and the position of the right traveling lever 26DR detected by the operation sensor 29DR is the neutral position.The turning operation determination unit 302 determines that the turning direction is a right turn when the position of the left traveling lever 26DL detected by the operation sensor 29DL is the neutral position and the operation direction of the right traveling lever 26DR detected by the operation sensor 29DR is the reverse direction.

[0137] In step S204, the controller 30 controls the traveling actuators (traveling hydraulic motors 2ML, 2MR) to rotate right based on the right rotation operation amount (traveling operation amount) of the lower traveling body 1, and controls the swing actuator (swing hydraulic motor 2A) so that the upper rotating body 3 rotates left.

[0138] Here, the controller 30 controls the proportional valve 31 corresponding to the control valve 171 based on the direction and amount of operation of the left traveling lever 26DL detected by the operation sensor 29DL. The controller 30 also controls the proportional valve 31 corresponding to the control valve 172 based on the direction and amount of operation of the right traveling lever 26DR detected by the operation sensor 29DR.

[0139] Furthermore, the swing operation generating unit 303 of the controller 30 generates a swing operation for swinging the upper swing body 3 left, based on the amount of right swing operation of the lower traveling body 1. Then, the controller 30 controls the proportional valve 31 corresponding to the control valve 173, based on the swing operation generated by the swing operation generating unit 303.

[0140] In step S205, the controller 30 controls the traveling actuators (traveling hydraulic motors 2ML, 2MR) to rotate left based on the left rotation operation amount (traveling operation amount) of the lower traveling body 1, and also controls the swing actuator (swing hydraulic motor 2A) so that the upper rotating body 3 rotates right.

[0141] Here, the controller 30 controls the proportional valve 31 corresponding to the control valve 171 based on the direction and amount of operation of the left traveling lever 26DL detected by the operation sensor 29DL. The controller 30 also controls the proportional valve 31 corresponding to the control valve 172 based on the direction and amount of operation of the right traveling lever 26DR detected by the operation sensor 29DR.

[0142] Furthermore, the swing operation generating unit 303 of the controller 30 generates a swing operation for swinging the upper swing body 3 right, based on the left swing operation amount of the lower traveling body 1. Then, the controller 30 controls the proportional valve 31 corresponding to the control valve 173, based on the swing operation generated by the swing operation generating unit 303.

[0143] In this way, when an operation to rotate the lower traveling body 1 to the right is input from the operating device 26 to the controller 30 during jacking up, the controller 30 rotates the upper rotating body 3 to the left relative to the lower traveling body 1 so as to cancel out the right rotation of the lower traveling body 1 with respect to the ground. As a result, even if the lower traveling body 1 rotates to the right with respect to the ground, the upper rotating body 3 rotates to the left with respect to the lower traveling body 1, thereby canceling out the rotation of the upper rotating body 3 with respect to the ground. This makes it possible to reduce the lateral load applied to the attachment AT. It also makes it possible to reduce the load applied to the rotation mechanism 2. It also makes it possible to reduce the lateral load applied to the crawlers. It also makes it possible to suppress roughness of the ground with which the crawlers of the lower traveling body 1 come into contact.

[0144] Furthermore, when an operation to rotate the lower traveling body 1 left is input from the operating device 26 to the controller 30 during jacking up, the controller 30 rotates the upper rotating body 3 right relative to the lower traveling body 1 so as to cancel out the left rotation of the lower traveling body 1 with respect to the ground. As a result, even if the lower traveling body 1 rotates left with respect to the ground, the upper rotating body 3 rotates right with respect to the lower traveling body 1, thereby canceling out the rotation of the upper rotating body 3 with respect to the ground. This makes it possible to reduce the lateral load applied to the attachment AT. It also makes it possible to reduce the load applied to the rotation mechanism 2. It also makes it possible to reduce the lateral load applied to the crawlers. It also makes it possible to suppress roughness of the ground with which the crawlers of the lower traveling body 1 come into contact.

[0145] The shovel 100 has been described above, but the configuration of the shovel 100 is not limited to this. The shovel 100 has been described as an example in which an operator rides inside the cabin 10 and operates the operating device 26 provided inside the cabin 10, but the configuration of the shovel 100 is not limited to this. The shovel 100 may be configured to be remotely operable from outside the shovel 100.

[0146] For example, an excavator system includes a remote control room and an shovel 100. The remote control room includes a seat on which an operator sits, an operation device operated by the operator seated in the seat, a display device, and a remote control room control unit. The remote control room control unit is communicably connected to a controller 30 of the shovel 100. The display device displays, for example, an image captured by an imaging device S6 of the shovel 100. The operation device is configured to allow input of an operator's operation, similar to the operation device 26. An operation amount is input to the remote control room control unit by an operation sensor provided in the operation device. The remote control room control unit transmits the operation amount to the controller 30 via a communication line and a communication device T1 of the shovel. The controller 30 controls the operation of each actuator of the shovel 100 based on the operation amount of the operation device transmitted from the remote control room control unit instead of the detection value of the operation sensor 29. In such an shovel system capable of remotely operating the shovel 100, control such as that shown in FIGS. 4 and 7 may be applied. In this case, the jack-up determination unit 301, the swing operation determination unit 302, and the swing operation generation unit 303 may be configured to be provided in the controller 30 of the excavator 100, or may be configured to be provided in the remote control room control unit. [Explanation of symbols]

[0147] 100 Shovel 1 Undercarriage 2A Swing Hydraulic Motor (Swing Actuator) 2M Travel hydraulic motor (travel actuator) 2ML Left Travel Hydraulic Motor (Travel Actuator) 2MR Right Travel Hydraulic Motor (Travel Actuator) 3 Upper rotating body 4. Boom 5 Arm 6 buckets 7 Boom cylinder 8 Arm Cylinder 9 Bucket cylinder 14 Main pump (hydraulic pump) 17 Control valve unit 171~176 Control valves (directional control valves) 19 Control pressure sensor 26 Operating device (electric lever) 28 Discharge pressure sensor 29 Operation Sensor 30 Controller (control device) 31 Proportional valve

Claims

1. An upper rotating body; a lower running body; attachments, including boom, arm, and end attachments; a control device; The control device When a rotation operation is input during jacking up by the attachment, a rotation actuator that rotates the upper rotating body relative to the lower traveling body and a traveling actuator of the lower traveling body are driven. Shovel.

2. The control device When a rotation operation is input during the jack-up, The swing actuator and the traveling actuator are driven so that the swing direction of the upper swing body and the swing direction of the lower traveling body are opposite to each other. The shovel according to claim 1.

3. When a first rotation operation for rotating the upper rotating body is input by an operation device during the jacking up, The control device controlling the swing actuator to swing the upper swing body based on the first swing operation; controlling the traveling actuators so as to rotate the lower traveling body in a direction opposite to the rotation direction of the upper rotating body; The shovel according to claim 2.

4. left and right travel command values ​​of the lower traveling body are determined based on a rotation command value for rotating the upper rotating body; The shovel according to claim 3.

5. When a second rotation operation for rotating the lower traveling body is input by an operation device during the jacking up, The control device controlling the travel actuators to turn the lower traveling structure based on the second turning operation; and controlling the swing actuator so as to swing the upper swing body in a direction opposite to the swing direction of the lower traveling body; The shovel according to claim 2.

6. A rotation command value for rotating the upper rotating body is determined based on the left and right travel command values ​​of the lower traveling body. The shovel according to claim 5.

7. The turning of the lower traveling body is rotating one crawler of the lower traveling body and the other crawler in opposite directions; The shovel according to claim 1.

8. The turning of the lower traveling body is rotating one crawler of the lower traveling body and stopping the other crawler; The shovel according to claim 1.

9. The swing operation is input to the control device from an operation device provided in a cabin of the shovel. The shovel according to claim 1.

10. The swing operation is input to the control device from an operation device provided outside the shovel. The shovel according to claim 1.

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