Construction machine control device and construction machine

Abstract

A control device for a construction machine is provided that can improve the efficiency of the rotation work of an upper rotating body. [Solution] The controller 70 sets a deceleration region Sdec in which the upper rotating body 3 is decelerated, and a slow speed region Smin in which the upper rotating body 3 is rotated at a predetermined slow speed ωmin and which includes a target rotation angle θaim.When the rotation angle θsw of the upper rotating body 3 is in the deceleration region Sdec, the upper rotating body 3 is decelerated, and when the rotation angle θsw of the upper rotating body 3 is in the slow speed region Smin, the upper rotating body 3 is rotated at the predetermined slow speed ωmin.

Description

[Technical Field]

[0001] The present disclosure relates to a construction machine control device that rotates an upper rotating body toward a target rotation angle, and a construction machine. [Background technology]

[0002] Patent Document 1 discloses a technology for a construction machine having a running body, a revolving body, a front working implement, an operating device, a revolving motor, a directional control valve, and a pilot valve, in which when a first condition that the target revolving angle is equal to or greater than a first threshold, a second condition that the tilt angle detected by a tilt angle sensor is equal to or less than a second threshold, and a third condition that the temperature detected by a temperature sensor is equal to or greater than a third threshold are all satisfied and it is determined that the position information of the revolving body is not the deceleration start position of the revolving body, the pilot valve is controlled to automatically start the revolving operation of the revolving body, and when the first, second, and third conditions are all satisfied and it is determined that the position information is the deceleration start position of the revolving body, the pilot valve is controlled to automatically stop the revolving operation of the revolving body.

[0003] Patent Document 2 also discloses a technology that includes a lower running body, an upper rotating body, a rotation operation lever, and a control device, and that is configured to automatically control the rotation of the upper rotating body in accordance with a predetermined rotation speed pattern when the rotation decelerates, and that the automatic rotation control of the upper rotating body is started when the operator operates the rotation operation lever to return it toward the neutral position, and that even when the automatic rotation control of the upper rotating body is started, if the rotation speed of the upper rotating body is below a predetermined set speed, the rotation speed of the upper rotating body is controlled in response to the operation of the rotation operation lever. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6991331 [Patent Document 2] Patent No. 7313939 Summary of the Invention [Problem to be solved by the invention]

[0005] The technology described in Patent Document 1 aims to improve work efficiency by accurately orienting the upper rotating body at the target position, regardless of the operator's skill level or the influence of inertia. However, because the technology described in Patent Document 1 stops the upper rotating body at the target position, it is not possible to fine-tune the stopping position depending on the work, which may result in a decrease in work efficiency during swing work.

[0006] The technology described in Patent Document 2 aims to stop the upper rotating body at the position intended by the operator by canceling the automatic rotation control when the rotation speed of the upper rotating body falls below a predetermined set speed. However, when the rotation speed of the upper rotating body falls below the set speed, the operator must fine-tune the control lever to adjust the rotation speed and stop position, which requires delicate lever operation and may reduce the efficiency of the rotation work.

[0007] The present disclosure has been made to solve the above-mentioned problems, and its purpose is to provide a construction machine control device and a construction machine equipped with the construction machine control device that can improve the work efficiency of the upper rotating body rotation work. [Means for solving the problem]

[0008] A first aspect is a construction machine control device for a construction machine comprising a lower running body, an upper rotating body rotatably mounted on the lower running body, an operating member that receives rotation operations of the upper rotating body, and a rotation angle detection unit that detects the rotation angle of the upper rotating body, and further comprising a controller that executes rotation control to rotate the upper rotating body toward a predetermined target rotation angle, the controller sets a deceleration region in which the upper rotating body is decelerated, and a very slow speed region in which the upper rotating body is rotated at a predetermined very slow speed after the upper rotating body has decelerated, the very slow speed region including the target rotation angle, and the controller decelerates the upper rotating body when the rotation angle of the upper rotating body is within the deceleration region during the rotation control, and rotates the upper rotating body at the very slow speed when the rotation angle is within the very slow speed region during the rotation control.

[0009] According to the first aspect, the controller controls the upper rotating body so that it moves at a minute speed in the slow speed region including the target swing angle, rather than stopping the upper rotating body at a target swing angle, so that the operator can stop the upper rotating body at a position of their choice when the swing angle of the upper rotating body is within the slow speed region. This makes it possible to fine-tune the stopping position of the upper rotating body, thereby improving the efficiency of swing work.

[0010] The construction machine control device for a construction machine according to the second aspect is preferably the construction machine control device for a construction machine according to the first aspect, further comprising the following feature: That is, in the construction machine control device for a construction machine according to the second aspect, when the swing angle of the upper swing body is in the very slow speed region during the swing control, the controller controls the swing speed of the upper swing body based on the swing control amount which has the smaller value out of a first swing control amount required to swing the upper swing body at the very slow speed and a second swing control amount which is set in accordance with the swing operation amount of the operating member by the operator.

[0011] According to the second aspect, in the very slow speed region, the swing control amount of the upper rotating body does not exceed the first swing control amount required to swing the upper rotating body at a very slow speed, eliminating the need for the operator to adjust the swing speed by finely manipulating the operating member. This allows even unskilled personnel to easily fine-tune the stopping position of the upper rotating body, improving the efficiency of swing operations. Furthermore, when the second swing control amount, which is set according to the swing operation amount of the operating member by the operator, is smaller than the first swing control amount, the second swing control amount is selected, preventing the upper rotating body from swinging at a speed greater than the operator's intended swing speed.

[0012] The construction machine control device for a construction machine according to the third aspect is preferably the construction machine control device for a construction machine according to the first or second aspect, further comprising the following feature: That is, in the construction machine control device for a construction machine according to the third aspect, the controller stops the swing control when, during the swing control, the operating member is operated to a neutral position or when the operating member is operated in a direction corresponding to the opposite direction to the swing operation direction of the upper swing body.

[0013] When it is desired to quickly rotate the upper rotating body from near the target rotation angle toward another position during rotation control, or when it is desired to rotate the upper rotating body quickly in a slow speed range, if the rotation speed is limited by the rotation control, the work efficiency of the rotation work will decrease.In contrast, according to the third aspect, the rotation control is stopped when the operating member is operated to the neutral position during rotation control, or when the operating member is operated in the direction opposite to the rotation movement direction of the upper rotating body, so the upper rotating body can be rotated without limiting the rotation speed, and the work efficiency of the rotation work will improve.

[0014] The construction machine control device for a construction machine according to the fourth aspect is preferably the construction machine control device for a construction machine according to any one of the first to third aspects, further comprising the following feature: That is, in the construction machine control device for a construction machine according to the fourth aspect, the controller sets a function release region which is a predetermined angle range based on the target swing angle, and does not perform the swing control if the swing angle at the time of starting the swing control is within the function release region.

[0015] For example, when performing leveling work near the target swing angle, if the swing speed of the upper swing body is limited because the swing angle is within the deceleration region or the slow speed region, the efficiency of the swing work will decrease. In contrast, according to the fourth aspect, if the swing angle at the time of starting swing control is within the function release region, swing control will not be performed, so the decrease in the efficiency of the swing work can be suppressed.

[0016] The construction machine control device for a construction machine according to the fifth aspect is preferably the construction machine control device for a construction machine according to any one of the first to fourth aspects, further comprising the following feature: That is, in the construction machine control device for a construction machine according to the fifth aspect, the faster the rotation speed of the upper rotating body, the wider the deceleration region becomes.

[0017] According to the fifth aspect, the deceleration region is set so that the region becomes wider as the rotation speed of the upper rotating body becomes faster, and therefore it becomes easier to decelerate the rotation speed of the upper rotating body to a very small speed within the deceleration region.

[0018] A construction machine according to a sixth aspect comprises a lower running body, an upper rotating body rotatably mounted on the lower running body, an operating member for operating the upper rotating body to rotate, a rotation angle detection unit for detecting the rotation angle of the upper rotating body, and a construction machine control device according to any one of the first to fifth aspects.

[0019] According to the sixth aspect, when the rotation angle of the upper rotating body is in the deceleration region during rotation control, the upper rotating body is decelerated, and when the rotation angle is in the very slow speed region during rotation control, the upper rotating body is rotated at the very slow speed after deceleration, thereby providing a construction machine that improves the work efficiency of rotation work. [Effects of the Invention]

[0020] According to the present disclosure, it is possible to provide a construction machine control device for a construction machine and a construction machine that can improve the work efficiency of the rotation work of the upper rotating body. [Brief explanation of the drawings]

[0021] [Figure 1] 1 is a side view illustrating an example of a construction machine according to an embodiment of the present disclosure. FIG. [Figure 2] FIG. 2 is a diagram illustrating a system structure of the construction machine of FIG. 1. [Figure 3] FIG. 10 is a diagram showing a state in which the upper swing body swings from the position indicated by the dashed line toward a target swing angle. [Figure 4] 4 is a time chart showing behavior during turning control. [Figure 5] 6 is a flowchart illustrating the control operation of the controller when the upper rotating body is rotated toward a target rotation angle. [Figure 6] 10 is another aspect of the flowchart illustrating the control operation of the controller when the upper rotating body is rotated toward the target rotation angle. [Figure 7] 10 is a flowchart illustrating yet another aspect of the control operation of the controller when the upper rotating body is rotated toward a target rotation angle. [Figure 8] 10A and 10B are diagrams illustrating an example in which a function release region is set across a target turning angle. [Figure 9] 10 is a flowchart illustrating yet another aspect of the control operation of the controller when the upper rotating body is rotated toward a target rotation angle. [Figure 10] FIG. 10 is a diagram illustrating an example in which a target turning angle is set within a slow speed region. DETAILED DESCRIPTION OF THE INVENTION

[0022] [First embodiment] Hereinafter, an embodiment of the present disclosure will be described in detail with reference to the drawings. Fig. 1 is a side view showing an example of a construction machine 1 according to an embodiment of the present disclosure. The construction machine 1 shown in Fig. 1 is a hydraulic excavator.

[0023] The construction machine 1 comprises a lower traveling body 2, an upper rotating body 3 rotatably mounted on the lower traveling body 2, and a working implement 4 mounted on the upper rotating body 3 so as to be able to rise and fall. The lower traveling body 2 has crawlers 2a, but may also have tires (not shown). The upper rotating body 3 has a rotating frame 3a supported by the lower traveling body 2, a cab arranged on the rotating frame 3a, and a counterweight. The working implement 4 comprises a boom 6, an arm 7 rotatably connected to the tip of the boom 6, and a bucket 8 rotatably connected to the tip of the arm 7.

[0024] 2 is a diagram illustrating the system structure of the construction machine 1. The construction machine 1 includes a plurality of hydraulic actuators that operate the work implement 4 and the upper rotating body 3, a plurality of operating members 19 that are operated to operate the work implement 4 and the upper rotating body 3, a hydraulic pump 15 that supplies hydraulic oil to the plurality of hydraulic actuators, a pilot pump 16, a control valve 23 that switches the supply path and flow rate of hydraulic oil supplied to each of the plurality of hydraulic actuators, and a construction machine control device. The construction machine control device includes a controller 70. The control valve 23 includes a plurality of proportional valves 20 and a plurality of directional control valves 22.

[0025] In this embodiment, the multiple hydraulic actuators include a boom cylinder 9 for rotating the boom 6, an arm cylinder 10 for rotating the arm 7, a bucket cylinder 11 for rotating the bucket 8, a swing motor 12 for rotating the upper swing body 3, and a traveling motor (not shown). The multiple actuators are operated by the supply of hydraulic oil discharged from a hydraulic pump 15.

[0026] The boom 6 is rotatably attached to the upper rotating body 3, and performs a raising and lowering operation relative to the upper rotating body 3 as the boom cylinder 9 extends and retracts. Specifically, when the boom cylinder 9 retracts, the boom 6 performs a boom-lowering operation in which the tip of the boom 6 approaches the ground G. When the boom cylinder 9 extends, the boom 6 performs a boom-raising operation in which the tip of the boom 6 moves away from the ground G.

[0027] The arm 7 is rotatably attached to the tip of the boom 6, and performs a rotational movement in which it rotates relative to the boom 6 as the arm cylinder 10 extends and retracts. Specifically, when the arm cylinder 10 retracts, the arm 7 performs an arm-pushing movement in which the tip of the arm 7 moves away from the boom 6. When the arm cylinder 10 extends, the arm 7 performs an arm-pulling movement in which the tip of the arm 7 moves toward the boom 6.

[0028] The bucket 8 is rotatably attached to the tip of the arm 7, and performs a rotational movement in which it rotates relative to the arm 7 as the bucket cylinder 11 extends and retracts. Specifically, when the bucket cylinder 11 retracts, the bucket 8 performs a bucket earth-discharging movement (bucket pushing movement). The bucket earth-discharging movement is, for example, an operation performed when discharging material such as soil held in the bucket 8 to a discharge destination such as the bed of a truck. When the bucket cylinder 11 extends, the bucket 8 performs a bucket digging movement (bucket pulling movement). The bucket digging movement is, for example, an operation performed when using the bucket 8 to excavate an excavation target such as the ground.

[0029] The upper rotating body 3 performs a rotational movement (right-handed rotational movement or left-handed rotational movement) around a vertical axis relative to the lower traveling body 2 in accordance with the operation of the rotation motor 12. The lower traveling body 2 performs a traveling movement in which it travels on the ground in accordance with the operation of the traveling motor.

[0030] The multiple operating members 19 include multiple members that are subjected to various operations by the operator. Specifically, for example, the multiple operating members 19 may include a boom operating member 19a for operating the boom 6, an arm operating member 19b for operating the arm 7, a bucket operating member 19c for operating the bucket 8, a swing operating member 19d for operating the swing of the upper swing structure 3, and a travel operating member 19e for operating the travel of the lower traveling structure 2. Each of the multiple operating members 19 may be an operating lever or an operating pedal.

[0031] The boom operation member 19a receives boom lowering and boom raising operations from the operator. The boom lowering operation is an operation for causing the boom 6 to perform a boom lowering operation, and the boom raising operation is an operation for causing the boom 6 to perform a boom raising operation. The arm operation member 19b receives arm pushing and arm pulling operations from the operator. The arm pushing operation is an operation for causing the arm 7 to perform an arm pushing operation, and the arm pulling operation is an operation for causing the arm 7 to perform an arm pulling operation. The bucket operation member 19c receives bucket earth dumping operation and bucket digging operation from the operator. The bucket earth dumping operation is an operation for causing the bucket 8 to perform a bucket earth dumping operation, and the bucket digging operation is an operation for causing the bucket 8 to perform a bucket digging operation. The swing operation member 19d receives right swing operation and left swing operation from the operator. The right swing operation is an operation for causing the upper swing body 3 to perform a right swing operation, and the left swing operation is an operation for causing the upper swing body 3 to perform a left swing operation. The travel operating member 19e is operated by an operator to cause the lower travel structure 2 to travel.

[0032] The construction machine 1 is equipped with a plurality of operation detectors 21. The plurality of operation detectors 21 include a boom operation detector 21a, an arm operation detector 21b, a bucket operation detector 21c, a swing operation detector 21d, and a travel operation detector 21e. The boom operation detector 21a detects the boom operation amount Lbm of the boom lowering operation and the boom operation amount Lbm of the boom raising operation received by the boom operation member 19a. The arm operation detector 21b detects the arm operation amount La of the arm pushing operation and the arm operation amount La of the arm pulling operation received by the arm operation member 19b. The bucket operation detector 21c detects the bucket operation amount Lbk of the bucket earth dumping operation and the bucket operation amount Lbk of the bucket excavation operation received by the bucket operation member 19c. The swing operation detector 21d detects the swing operation amount Lsw of the right swing operation and the swing operation amount Lsw of the left swing operation received by the swing operation member 19d. The travel operation detector 21e detects the amount of travel operation of the travel operation member 19e. Each of the multiple operation detectors 21 inputs the detection result to the controller 70. The turning operation member 19d is an example of an operating member for performing the turning operation of the upper turning body of the present disclosure.

[0033] The construction machine 1 may be equipped with a remote control valve that outputs a pilot pressure (secondary pressure) according to the amount of operation received by the operating member 19. In this case, each of the multiple operation detectors 21 may be a pressure sensor that detects the pilot pressure according to the amount of operation.

[0034] The hydraulic pump 15 supplies hydraulic oil to at least one of the plurality of hydraulic actuators. The hydraulic pump 15 may be composed of only one hydraulic pump, or may include a plurality of hydraulic pumps (for example, two hydraulic pumps). The hydraulic pump 15 is driven by the engine 5 to discharge hydraulic oil. The pilot pump 16 is driven by the engine 5 to discharge hydraulic oil to be supplied to each of the plurality of directional control valves 22.

[0035] The plurality of proportional valves 20 may include a first boom proportional valve 20a, a second boom proportional valve 20b, a first arm proportional valve 20c, a second arm proportional valve 20d, a first bucket proportional valve 20e, a second bucket proportional valve 20f, a first swing proportional valve 20g, and a second swing proportional valve 20h. Each of the plurality of proportional valves 20 is an electromagnetic proportional valve that outputs a secondary pressure (pilot pressure) according to a command (current command value) input from a controller 70.

[0036] The plurality of direction switching valves 22 may include a boom direction switching valve 22a, an arm direction switching valve 22b, a bucket direction switching valve 22c, and a swing direction switching valve 22d.

[0037] The boom direction switching valve 22a switches the direction in which hydraulic oil discharged from the hydraulic pump 15 is supplied to the boom cylinder 9. The boom direction switching valve 22a has a spool that moves in response to the first pilot pressure output from the first boom proportional valve 20a and the second pilot pressure output from the second boom proportional valve 20b. The boom direction switching valve 22a has a first pilot port that receives the first pilot pressure of the first boom proportional valve 20a and a second pilot port that receives the second pilot pressure of the second boom proportional valve 20b.

[0038] For example, when the controller 70 inputs a boom-raising command (current command value) to the first boom proportional valve 20a, a first pilot pressure corresponding to the boom-raising command is supplied from the first boom proportional valve 20a to a first pilot port, and the boom direction switching valve 22a opens to allow hydraulic oil to be supplied to the head side chamber of the boom cylinder 9 and hydraulic oil discharged from the rod side chamber of the boom cylinder 9 to return to the tank. As a result, the boom cylinder 9 extends at a speed corresponding to the boom-raising command, and the boom 6 performs a boom-raising operation at a speed corresponding to the boom-raising command. Furthermore, when the controller 70 inputs a boom-lowering command (current command value) to the second boom proportional valve 20b, a second pilot pressure corresponding to the boom-lowering command is supplied from the second boom proportional valve 20b to a second pilot port, and the boom direction switching valve 22a opens to allow hydraulic oil to be supplied to the rod side chamber of the boom cylinder 9 and hydraulic oil discharged from the head side chamber of the boom cylinder 9 to return to the tank. As a result, the boom cylinder 9 contracts at a speed according to the boom lowering command, and the boom 6 performs a boom lowering operation at a speed according to the boom lowering command.

[0039] The arm direction switching valve 22b switches the direction in which hydraulic oil discharged from the hydraulic pump 15 is supplied to the arm cylinder 10. The arm direction switching valve 22b has a spool that moves in response to the first pilot pressure output from the first arm proportional valve 20c and the second pilot pressure output from the second arm proportional valve 20d. The arm direction switching valve 22b has a first pilot port that receives the first pilot pressure of the first arm proportional valve 20c and a second pilot port that receives the second pilot pressure of the second arm proportional valve 20d.

[0040] For example, when the controller 70 inputs an arm pull command (current command value) to the first arm proportional valve 20c, a first pilot pressure corresponding to the arm pull command is supplied from the first arm proportional valve 20c to a first pilot port, and the arm direction switching valve 22b opens so that hydraulic oil is supplied to the head side chamber of the arm cylinder 10 and hydraulic oil discharged from the rod side chamber of the arm cylinder 10 returns to the tank. As a result, the arm cylinder 10 extends at a speed corresponding to the arm pull command, and the arm 7 performs an arm pull operation at a speed corresponding to the arm pull command. Also, when the controller 70 inputs an arm push command (current command value) to the second arm proportional valve 20d, a second pilot pressure corresponding to the arm push command is supplied from the second arm proportional valve 20d to a second pilot port, and the arm direction switching valve 22b opens so that hydraulic oil is supplied to the rod side chamber of the arm cylinder 10 and hydraulic oil discharged from the head side chamber of the arm cylinder 10 returns to the tank. As a result, the arm cylinder 10 contracts at a speed according to the arm push command, and the arm 7 performs an arm push operation at a speed according to the arm push command.

[0041] The bucket directional control valve 22c switches the direction in which hydraulic oil discharged from the hydraulic pump 15 is supplied to the bucket cylinder 11. The bucket directional control valve 22c has a spool that moves in response to a first pilot pressure output from the first bucket proportional valve 20e and a second pilot pressure output from the second bucket proportional valve 20f. The bucket directional control valve 22c has a first pilot port that receives the first pilot pressure of the first bucket proportional valve 20e and a second pilot port that receives the second pilot pressure of the second bucket proportional valve 20f.

[0042] For example, when the controller 70 inputs a bucket pulling command (current command value) to the first bucket proportional valve 20e, a first pilot pressure corresponding to the bucket pulling command is supplied from the first bucket proportional valve 20e to a first pilot port, and the bucket directional control valve 22c opens so that hydraulic oil is supplied to the head side chamber of the bucket cylinder 11 and hydraulic oil discharged from the rod side chamber of the bucket cylinder 11 returns to the tank. As a result, the bucket cylinder 11 extends at a speed corresponding to the bucket pulling command, and the bucket 8 performs a bucket pulling operation at a speed corresponding to the bucket pulling command. Furthermore, when the controller 70 inputs a bucket pushing command (current command value) to the second bucket proportional valve 20f, a second pilot pressure corresponding to the bucket pushing command is supplied from the second bucket proportional valve 20f to a second pilot port, and the bucket directional control valve 22c opens so that hydraulic oil is supplied to the rod side chamber of the bucket cylinder 11 and hydraulic oil discharged from the head side chamber of the bucket cylinder 11 returns to the tank. As a result, the bucket cylinder 11 contracts at a speed according to the bucket pushing command, and the bucket 8 performs the bucket pushing operation at a speed according to the bucket pushing command.

[0043] The swing direction switching valve 22d switches the direction in which hydraulic oil discharged from the hydraulic pump 15 is supplied to the swing motor 12. The swing direction switching valve 22d has a spool that moves in response to a first pilot pressure Ppi1 output from the first swing proportional valve 20g and a second pilot pressure Ppi2 output from the second swing proportional valve 20h. The swing direction switching valve 22d has a first pilot port that receives the first pilot pressure Ppi1 of the first swing proportional valve 20g and a second pilot port that receives the second pilot pressure Ppi2 of the second swing proportional valve 20h.

[0044] For example, when the controller 70 inputs a left swing command (current command value) to the first swing proportional valve 20g, the first pilot pressure Ppi1 corresponding to the left swing command is supplied to the first pilot port from the first swing proportional valve 20g, and the swing direction switching valve 22d opens so as to supply hydraulic oil to the first port of the swing motor 12 and allow hydraulic oil discharged from the second port of the swing motor 12 to return to the tank. As a result, the swing motor 12 swings left at a speed corresponding to the left swing command, and the upper swing body 3 performs a left swing operation at a speed corresponding to the left swing command. Furthermore, when the controller 70 inputs a right rotation command (current command value) to the second rotation proportional valve 20h, the second pilot pressure Ppi2 corresponding to the right rotation command is supplied to the second pilot port from the second rotation proportional valve 20h, and the rotation direction switching valve 22d opens so that hydraulic oil is supplied to the second port of the rotation motor 12 and hydraulic oil discharged from the first port of the rotation motor 12 returns to the tank. As a result, the rotation motor 12 rotates to the right at a speed corresponding to the right rotation command, and the upper rotating body 3 performs a right rotation operation at a speed corresponding to the right rotation command.

[0045] The controller 70 has a computer including an arithmetic processing unit and a memory. The controller 70 controls the operation of the construction machine 1 by the arithmetic processing unit executing a program stored in the memory.

[0046] The construction machine 1 is equipped with multiple angle sensors 24. Detection values ​​(angles) detected by the multiple angle sensors 24 are input to the controller 70. The multiple angle sensors 24 include first to fifth angle sensors. The first angle sensor 24a detects the boom angle θbm of the boom 6. The second angle sensor 24b detects the arm angle θa of the arm 7. The third angle sensor 24c detects the bucket angle θbk of the bucket 8. The fourth angle sensor 24d detects the swing angle θsw of the swing motor 12 that swings the upper swing body 3. The fourth angle sensor 24d is an example of a swing angle detection unit that detects the swing angle of the present disclosure.

[0047] The construction machine 1 may also be equipped with multiple pressure sensors 25. In this case, detected values ​​(pressures) detected by the multiple pressure sensors 25 are input to the controller 70. The multiple pressure sensors 25 include first to eighth pressure sensors. The first pressure sensor 25a and the second pressure sensor 25b detect the pressure in the head side chamber and the rod side chamber of the boom cylinder 9, respectively. The third pressure sensor 25c and the fourth pressure sensor 25d detect the pressure in the head side chamber and the rod side chamber of the arm cylinder 10, respectively. The fifth pressure sensor 25e and the sixth pressure sensor 25f detect the pressure in the head side chamber and the rod side chamber of the bucket cylinder 11, respectively. The seventh pressure sensor 25g detects the pressure of the hydraulic oil at one port of the swing motor 12, and the eighth pressure sensor 25h detects the pressure of the hydraulic oil at the other port of the swing motor 12.

[0048] The construction machine 1 may also be equipped with multiple speed sensors 26. In this case, the controller 70 receives detection values ​​(speed ω) detected by the multiple speed sensors 26. The multiple speed sensors 26 include first to fourth speed sensors. The first speed sensor 26a detects the boom speed. The boom speed is the speed of the boom cylinder 9 or the speed of the boom 6. The second speed sensor 26b detects the arm speed. The arm speed is the speed of the arm cylinder 10 or the speed of the arm 7. The third speed sensor 26c detects the bucket speed. The bucket speed is the speed of the bucket cylinder 11 or the speed of the bucket 8. The fourth speed sensor 26d detects the swing speed ωsw. The swing speed ωsw is the speed of the swing motor 12 or the swing speed of the upper swing body 3.

[0049] The construction machine 1 also includes a changeover switch 28. An on / off switching signal output from the changeover switch 28 is input to the controller 70. The changeover switch 28 may be, for example, a switch displayed on a touch panel, or a mechanical switch such as a seesaw switch. The changeover switch 28 is switched by the operator, and can be switched while the operating member 19 is being operated. The changeover switch 28 does not necessarily have to be a switch displayed on a touch panel or a seesaw switch, and may be another switch that can be switched on and off.

[0050] The changeover switch 28 is a switch for switching the rotation operation of the upper rotating body 3 between rotation control by the controller 70 and normal control in response to manual operation by the operator. When the changeover switch 28 is switched to the ON position, the controller 70 switches the control mode of the construction machine 1 to a rotation control mode, and when the changeover switch 28 is switched to the OFF position, the control mode is switched to a manual operation mode.

[0051] The target swing angle setter 30 is used to set a target swing angle θaim, which is a target for swinging the upper swing structure 3. The target swing angle θaim is set in advance before work by the construction machine 1 begins. An example of a method for setting the target swing angle θaim will be described below. The operator first swings the upper swing structure 3 to a swing angle θ to be set as the target swing angle θaim. After swinging the upper swing structure 3 to the desired swing angle θ, the operator provides a predetermined input to the target swing angle setter 30. The controller 70 stores the swing angle θ at which the target swing angle setter 30 receives the predetermined input as the target swing angle θaim. The target swing angle setter 30 may be a switch that accepts a button operation by the operator as the predetermined input, or may be configured to accept an operation by the operator on a screen displayed on a monitor located in the cab as the predetermined input, for example. The target swing angle setter 30 may also be an input device such as a keyboard for inputting the target swing angle θaim.

[0052] When the selector switch 28 is turned on while the swing operation member 19d is operated, the controller 70 executes swing control to swing the upper swing body 3 toward the target swing angle θaim. The controller 70 sequentially calculates a swing control amount Qsw for controlling the swing speed of the upper swing body 3, and controls the swing speed based on the sequentially calculated swing control amount Qsw.

[0053] The swing control amount Qsw may be, for example, a first pilot pressure Ppi1, which is a target pilot pressure output from the first swing proportional valve 20g, or a second pilot pressure Ppi2, which is a target pilot pressure output from the second swing proportional valve 20h. In this case, the controller 70 stores in advance a relational expression, a map such as a look-up table, or the like, which expresses the relationship between the operation amount of the swing operation (swing operation amount) and the target pilot pressure. The controller 70 calculates the first pilot pressure Ppi1 or the second pilot pressure Ppi2 based on the swing operation amount and the map.

[0054] Furthermore, the swing control amount Qsw may be a swing command value Isw [A] which is a current command value input from the controller 70 to the first swing proportional valve 20g, or a swing command value Isw [A] which is a current command value input from the controller 70 to the second swing proportional valve 20h. In this case, the controller 70 stores in advance a relational expression expressing the relationship between the swing operation amount and the current command value, or a map such as a look-up table. The controller 70 calculates the swing command value Isw [A] based on the swing operation amount and the map.

[0055] Hereinafter, the swing control will be described using as an example a case where the swing control amount Qsw is the first pilot pressure Ppi1 of the first swing proportional valve 20g and the second pilot pressure Ppi2 of the second swing proportional valve 20h.

[0056] When the swing operating member 19d is subjected to a left swing operation by the operator, the controller 70 calculates a first pilot pressure Ppi1, which is a target pilot pressure to be output from the first swing proportional valve 20g, based on the swing operation amount Lsw of the left swing operation received by the swing operating member 19d.When the swing operating member 19d is subjected to a right swing operation by the operator, the controller 70 calculates a second pilot pressure Ppi2, which is a target pilot pressure to be output from the second swing proportional valve 20h, based on the swing operation amount Lsw of the right swing operation received by the swing operating member 19d.

[0057] In the swing control, when the swing angle is outside the range of the deceleration region or the slow speed region described below, the controller 70 inputs a current command value to the swing proportional valve so that a target pilot pressure corresponding to the swing operation amount Lsw is output from the swing proportional valve. As a result, the upper swing body 3 operates according to the swing operation amount of the swing operation. On the other hand, when the swing angle is within the deceleration region or the slow speed region, the controller 70 calculates a target pilot pressure for decelerating the swing speed ωsw in the deceleration region or a target pilot pressure for swinging the upper swing body 3 at the minute speed ωmin in the slow speed region, rather than a target pilot pressure corresponding to the swing operation amount Lsw, and inputs a current command value to the swing proportional valve so that the calculated target pilot pressure is output from the swing proportional valve.

[0058] When the swing control is started, the controller 70 detects the swing speed ωsw of the upper swing body 3 at any time. Furthermore, the controller 70 sets a deceleration region Sdec based on the swing speed ωsw. The deceleration region is a region for decelerating the swing speed ωsw of the upper swing body 3 when the upper swing body 3 approaches the target swing angle θaim to some extent.

[0059] FIG. 3 shows an example of the deceleration region Sdec. FIG. 3 shows a state in which the upper swing body 3 swings from the position indicated by the dashed line toward the target swing angle θaim. The controller 70 may set the deceleration region Sdec based on a preset target swing angle θaim. The controller 70 sets the deceleration region Sdec in a region between the target swing angle θaim and the swing start angle. The controller 70 may set the deceleration region Sdec so that the start end of a slow speed region Smin (start angle of the slow speed region Smin) described below coincides with the end end of the deceleration region Sdec (end angle of the deceleration region Sdec).

[0060] The controller 70 may set the deceleration region Sdec so that the region becomes wider as the rotation speed ωsw of the upper rotating body 3 becomes faster. The deceleration region Sdec is set to a magnitude that allows the rotation speed ωsw to be decelerated to a predetermined infinitesimal speed ωmin when the upper rotating body 3 reaches the target rotation angle θaim. For example, when the upper rotating body 3 is decelerated at a predetermined speed change rate, the faster the rotation speed ωsw of the upper rotating body 3, the wider the rotation region required to decelerate to the infinitesimal speed ωmin. Therefore, regardless of the rotation speed ωsw, the range of the deceleration region Sdec is widened as the rotation speed ωsw becomes faster so that the rotation speed ωsw decelerates to the infinitesimal speed ωmin before the rotation angle θsw reaches the target rotation angle θaim. The controller 70 may, for example, previously store a relational expression or a map such as a look-up table that represents the relationship between the rotation speed ωsw and the range of the deceleration region Sdec. In this case, the controller 70 determines the range of the deceleration region Sdec by applying the detected rotation speed ωsw to the map.

[0061] Furthermore, the controller 70 sets a slow speed region Smin for rotating the upper rotating body 3 at a predetermined minute speed ωmin after the upper rotating body 3 has decelerated. The controller 70 sets the slow speed region Smin so that the target swing angle θaim is included in the slow speed region Smin. In this embodiment, the target swing angle θaim is set at the boundary between the deceleration region Sdec and the slow speed region Smin. The slow speed region Smin includes this boundary. In the specific example shown in FIG. 3, the slow speed region Smin is set in the same direction as the swing operation direction with respect to the target swing angle θaim. The controller 70 may store the size (angle range) of the slow speed region Smin in advance. Furthermore, the controller 70 may set the size (angle range) of the slow speed region Smin based on a setting value input by an operator to an input device (not shown).

[0062] The minute speed ωmin may be a value determined in advance experimentally or by design. The minute speed ωmin is set to a low value that allows the upper rotating body 3 to be stopped at the position intended by the operator. When the swing operation member 19d is returned to the neutral position from a state in which the swing operation member 19d is being operated by the operator for swinging, the controller 70 stops the swing of the upper rotating body 3. In the minute speed region Smin, the upper rotating body 3 swings at the minute speed ωmin, so there is almost no effect from the inertia of the work implement 4, and even an unskilled person can easily stop the upper rotating body 3 at the desired position.

[0063] The controller 70 determines whether or not the changeover switch 28 has been switched on while the construction machine 1 is working, that is, whether or not to execute swing control for swinging the upper swing body 3 toward the target swing angle θaim.

[0064] Furthermore, when the selector switch 28 is switched on, the controller 70 determines whether or not a target swing angle θaim, which is a target for swinging the upper swing body 3, has been set in advance. If the target swing angle θaim has not been set, the controller 70 continues normal control according to manual operation, for example, by swinging the upper swing body 3 according to the swing operation amount Lsw of the operator. Furthermore, if the target swing angle θaim has not been set, the controller 70 may prompt the operator to set the target swing angle θaim by voice or by displaying on the monitor, for example.

[0065] When the selector switch 28 is turned on with the target swing angle θaim set, the controller 70 starts swing control to swing the upper swing body 3 toward the target swing angle θaim. At this time, the controller 70 sets a deceleration region Sdec and a slow speed region Smin based on the swing speed ωsw of the upper swing body 3, and determines whether the swing angle θsw of the upper swing body 3 is within the deceleration region Sdec during the swing control.

[0066] When the swing angle θsw of the upper swing body 3 is within the deceleration region Sdec, the controller 70 decelerates the upper swing body 3. At this time, the controller 70 may calculate a speed change rate at which the swing speed ωsw becomes the infinitesimal speed ωmin when the swing angle θsw reaches the target swing angle θaim. In this case, the controller 70 calculates a swing control amount Qsw for decelerating the upper swing body 3 at the calculated speed change rate. Specifically, when the swing direction of the upper swing body 3 is the left swing direction, the controller 70 calculates a first pilot pressure Ppi1 which is the target pilot pressure to be output from the first swing proportional valve 20g, and when the swing direction of the upper swing body 3 is the right swing direction, the controller 70 calculates a second pilot pressure Ppi2 which is the target pilot pressure to be output from the second swing proportional valve 20h. The controller 70 calculates a current command value that outputs the calculated first pilot pressure Ppi or second pilot pressure Ppi2, and inputs the current command value to the first swing proportional valve 20g or the second swing proportional valve 20h.

[0067] The controller 70 may control the upper rotating body 3 to rotate at the minute speed ωmin if the rotation speed ωsw reaches the minute speed ωmin before the rotation angle θsw of the upper rotating body 3 reaches the target rotation angle θaim.

[0068] The controller 70 also determines whether the swing angle θsw of the upper swing body 3 is within the slow speed region Smin. If the swing angle θsw of the upper swing body 3 is within the slow speed region Smin, the controller 70 causes the upper swing body 3 to swing at the slow speed ωmin after deceleration. That is, the controller 70 causes the swing proportional valve to output a swing control amount Qsw so that the swing speed ωsw of the upper swing body 3 swings at the slow speed ωmin. Specifically, the controller 70 calculates a first pilot pressure Ppi1 of the first swing proportional valve 20g or a second pilot pressure Ppi2 of the second swing proportional valve 20h such that the swing speed ωsw of the upper swing body 3 becomes the slow speed ωmin. Next, the controller 70 inputs a command value (current command value) for outputting the calculated first pilot pressure Ppi1 or second pilot pressure Ppi2 to the first swing proportional valve 20g or the second swing proportional valve 20h. As a result, in the slow speed region Smin, the swing speed ωsw of the upper swing body 3 is controlled to the minute speed ωmin. Note that if the swing speed ωsw is higher than the minute speed ωmin when the upper swing body 3 enters the slow speed region Smin, the controller 70 may decelerate the upper swing body 3 at the same speed change rate as in the deceleration region Sdec, for example, and then control the swing speed ωsw to the minute speed ωmin.

[0069] By controlling the rotation speed ωsw of the upper rotating body 3 as described above, the rotation speed ωsw becomes the minute speed ωmin when the upper rotating body 3 reaches the target rotation angle θaim. Furthermore, since the minute speed ωmin is a low speed that allows an operator to stop the upper rotating body 3 at the intended position, even an unskilled operator can easily stop the upper rotating body 3 at the desired position. As a result, the work efficiency of the rotation work of the upper rotating body 3 can be improved.

[0070] Figure 4 is a time chart showing behavior during turning control. In Figure 4, the period from time t1 to time t2 indicates a time period in which the turning angle θsw is within the deceleration region Sdec, and the period from time t2 onwards indicates a time period in which the turning angle θsw is within the slow speed region Smin. Note that the period before time t1 indicates a time period before the turning angle θsw enters the deceleration region Sdec.

[0071] When the upper swing body 3 enters the deceleration region Sdec, the swing control amount Qsw (pilot pressure) decreases as shown by the solid line, causing the swing speed ωsw to decrease toward the minute speed ωmin. In FIG. 4, the swing control amount Qsw shown by the dashed line and the dashed-dotted line is an example of the swing control amount Qsw (swing control amount in normal control) determined from the swing operation amount Lsw of the swing operation by the operator. In this embodiment, when the swing angle θsw is within the deceleration region Sdec or the slow speed region Smin, the swing control amount Qsw becomes as shown by the solid line, regardless of the swing operation amount Lsw of the swing operation by the operator. As a result, the swing control amount Qsw is adjusted by the controller 70 in the deceleration region Sdec, regardless of the swing operation amount Lsw of the swing operation by the operator, and at time t2 when the swing angle θsw enters the slow speed region Smin, the swing speed ωsw becomes the minute speed ωmin. Furthermore, after time t2 when the swing angle θsw falls within the slow speed region Smin, the swing speed ωsw is maintained at the slow speed ωmin. Since the upper swing structure 3 swings at the slow speed ωmin after time t2, the operator can stop the upper swing structure 3 by returning the swing operation member 19d to the neutral position at the intended position.

[0072] 5 is a flowchart illustrating the control operation of the controller 70 during swing control to swing the upper swing body 3 toward the target swing angle θaim. This flowchart is executed when the selector switch 28 is turned on while the construction machine 1 is working.

[0073] First, the controller 70 determines whether or not a deceleration function for automatically decelerating the upper rotating body 3 is enabled (step S10). In other words, the controller 70 determines whether or not the swing control is enabled. Whether or not the swing control is enabled is determined, for example, based on whether or not the selector switch 28 is on. Specifically, when the selector switch 28 is on, the swing control is determined to be enabled, and when the selector switch 28 is off, the swing control is determined to be disabled. Thus, when the selector switch 28 is off, the swing control is determined to be disabled (NO in step S10), and the upper rotating body 3 is rotated in accordance with the swing operation amount Lsw of the swing operation member 19d by the operator (step S70).

[0074] On the other hand, if the selector switch 28 is on, it is determined that the swing control is enabled (YES in step S10), and the controller 70 determines whether or not the target swing angle θaim has been set (step S20). If the target swing angle θaim has not been set (NO in step S20), the controller 70 causes the upper swing body 3 to swing in accordance with the swing operation amount Lsw of the swing operation member 19d operated by the operator (step S70). If the target swing angle θaim has been set (YES in step S20), the controller 70 determines whether or not the swing angle θsw of the upper swing body 3 is within the deceleration region Sdec (step S30). If the swing angle θ of the upper swing body 3 is within the deceleration region Sdec (YES in step S30), the controller 70 adjusts the swing control amount Qsw so that the swing speed ωsw decelerates at a predetermined speed change rate (step S50). If the swing angle θ of the upper swing body 3 is not within the deceleration region Sdec (NO in step S30), the controller 70 determines whether the swing angle θsw is within the slow speed region Smin. If the swing angle θsw is not within the slow speed region Smin (NO in step S40), the controller 70 causes the upper swing body 3 to swing in accordance with the swing operation amount Lsw of the swing operation member 19d by the operator (step S70). On the other hand, if the swing angle θsw is within the slow speed region Smin (YES in step S40), the controller 70 adjusts the swing control amount Qsw so that the swing speed ωsw of the upper swing body 3 becomes the slow speed ωmin (step S60).

[0075] [Second embodiment] In this embodiment, the control mode when the swing angle θsw of the upper swing body 3 is within the slow speed region Smin differs from that of the first embodiment described above, but other aspects are the same as those of the first embodiment. Below, we will explain the control mode when the swing angle θsw is within the slow speed region Smin, which differs from that of the first embodiment.

[0076] When the rotation angle θsw of the upper rotating body 3 is in the micro-speed region Smin during rotation control, the controller 70 controls the rotation speed ωsw of the upper rotating body 3 based on the smaller of the rotation control amount Qsw (hereinafter referred to as the first rotation control amount Qsw1) required to set the rotation speed ωsw of the upper rotating body 3 to the micro-speed ωmin, and the rotation control amount Qsw (hereinafter referred to as the second rotation control amount Qsw2) determined according to the rotation operation amount Lsw of the rotation operation member 19d by the operator (low level selection).

[0077] For example, if the first swing control amount Qsw1 calculated by the controller 70 is smaller than the second swing control amount Qsw2 determined according to the swing operation amount Lsw of the swing operation member 19d by the operator, the controller 70 selects the first swing control amount Qsw1. That is, the controller 70 outputs the first swing control amount Qsw1 to the swing proportional valve as the swing control amount Qsw. In this case, the same aspect as the first embodiment described above is achieved.

[0078] On the other hand, when the second swing control amount Qsw2 is smaller than the first swing control amount Qsw1, the controller 70 selects the second swing control amount Qsw2. That is, the controller 70 outputs the second swing control amount Qsw2 to the swing proportional valve as the swing control amount Qsw. As a result, the upper swing body 3 swings at a swing speed ωsw according to the swing operation of the operator, and it is possible to eliminate the discomfort felt by the upper swing body 3 swinging faster than the swing speed ωsw intended by the operator.

[0079] The two-dot chain line in the time chart of Figure 4 shows an example of this embodiment. During the time period after time point t2, the second swing control amount Qsw2, indicated by the two-dot chain line and corresponding to the swing operation amount Lsw of the swing operation member 19d by the operator, is smaller than the first swing control amount Qsw1, indicated by the solid line, for swinging the upper swing body 3 at the minute speed ωmin. In this case, the controller 70 outputs the second swing control amount Qsw2 to the swing proportional valve as the swing control amount Qsw. As a result, as indicated by the two-dot chain line, the swing speed ωsw becomes lower than the minute speed ωmin, and becomes the swing speed ωsw intended by the operator.

[0080] Fig. 6 is a flowchart illustrating the control operation of the controller 70 during swing control to swing the upper swing body 3 toward the target swing angle θaim. This flowchart adds step S100, which is executed when the swing angle θ is within the slow speed region Smin, to the flowchart of Fig. 5 described above. Apart from the addition of step S100, the flowchart is the same as Fig. 5, and therefore explanations of steps other than S100 will be omitted.

[0081] 6, if it is determined that the swing angle θsw is within the minute speed region Smin (YES in step S40), the controller 70 determines whether the second swing control amount Qsw2 corresponding to the swing operation amount Lsw by the operator is equal to or greater than the first swing control amount Qsw1 required to swing the upper swing body 3 at the minute speed ωmin (step S100). If the second swing control amount Qsw2 is equal to or greater than the first swing control amount Qsw1 (YES in step S100), the controller 70 outputs the first swing control amount Qsw1 required to swing the upper swing body 3 at the minute speed ωmin as the swing control amount Qsw to the swing proportional valve (step S60). On the other hand, if the second swing control amount Qsw2 is smaller than the first swing control amount Qsw1 (NO in step S100), the controller 70 outputs the second swing control amount Qsw2 corresponding to the swing operation amount Lsw by the operator as the swing control amount Qsw to the swing proportional valve (step S70). This allows the upper swing body 3 to swing at the swing speed ωsw intended by the operator, eliminating any sense of discomfort to the operator.

[0082] [Third embodiment] In this embodiment, if the rotation operating member 19d is operated to the neutral position during rotation control to rotate the upper rotating body 3 toward the target rotation angle θaim, or if the rotation operating member 19d is operated in the direction opposite to the rotation operation direction of the upper rotating body 3, the controller 70 stops the rotation control.

[0083] During the swing control, for example, if it becomes necessary to swing the upper swing body 3 toward a position other than the target swing angle θaim, or if it is desired to swing the upper swing body 3 at a swing speed ωsw higher than the minute speed ωmin even if the upper swing body 3 is within the slow speed region Smin, the efficiency of the swing work will decrease if the swing control cannot be stopped.In contrast, in this embodiment, if the swing operation member 19d is operated to the neutral position during the swing control, or if the swing operation member 19d is operated in the direction opposite to the swing operation direction of the upper swing body 3, the controller 70 stops the swing control.

[0084] The controller 70 determines whether the operation direction of the swing operation member 19d during the swing control is the same as the swing operation direction of the upper swing body 3. The controller 70 stops the swing control when the swing operation member 19d is operated to the neutral position during the swing control. The controller 70 may cancel the slow speed region Smin when the swing operation member 19d is operated to the neutral position during the swing control. Similarly, the controller 70 stops the swing control when the swing operation member 19d is operated in the direction opposite to the swing operation direction of the upper swing body 3 during the swing control. That is, when the operation direction of the swing operation member 19d is different from the swing operation direction of the upper swing body 3, the controller 70 cancels the deceleration region Sdec and the slow speed region Smin that were set during the swing control. At this time, the controller 70 may switch to normal control in response to manual operation, in which the upper swing body 3 is rotated in accordance with the swing operation amount Lsw of the swing operation member 19d by the operator. This allows the upper rotating body 3 to be rotated at a rotation speed ωsw higher than the minute speed ωmin, by quickly stopping the rotation control even during the rotation control and rotating the upper rotating body 3 to a position different from the target rotation angle θaim.

[0085] Fig. 7 is a flowchart illustrating the control operation of the controller 70 during swing control to swing the upper swing body 3 toward the target swing angle θaim. In the flowchart of Fig. 7, step S200 is added immediately below step S20 in the flowchart of Fig. 5 described above, in which it is determined whether the operation direction of the swing operation member 19d is the same as the swing operation direction. Moreover, other than the addition of step S200, the flowchart is the same as Fig. 5, and therefore explanations of steps other than S200 will be omitted.

[0086] 7, if the target swing angle θaim has been set (YES in step S20), the controller 70 determines whether the operation direction of the swing operation member 19d is the same as the swing movement direction (step S200). If the operation direction of the swing operation member 19d is the same as the swing movement direction (YES in step S200), the process proceeds to step S30. If the operation direction of the swing operation member 19d is different from the swing movement direction (NO in step S200), the controller 70 swings the upper swing body 3 in accordance with the swing operation amount Lsw of the swing operation member 19d by the operator (step S70). If the operation direction of the swing operation member 19d is different from the swing movement direction, this corresponds to the case where the swing operation member 19d is operated to the neutral position or the case where the swing operation member 19d is operated in the direction opposite to the swing movement direction.

[0087] [Fourth embodiment] In this embodiment, the controller 70 sets a function release area Scan, which is a predetermined angle range based on the target swing angle θaim. If the swing angle θsw of the upper swing body 3 at the time of starting swing control is within the function release area Scan, the controller 70 does not perform swing control and releases the deceleration area Sdec and the slow speed area Smin. For example, the controller 70 may set the function release area Scan so that the target swing angle θaim is located in the center of the function release area Scan (predetermined angle range). As shown in FIG. 8, if leveling operation is started when the swing angle θsw is within the function release area Scan, the swing control limits the swing speed ωsw to a very small speed. As a result, the work performance of the swing operation is reduced.

[0088] In contrast to this, in this embodiment, if the turning angle θsw at the time of starting turning control is in the function release region Scan, the controller 70 releases the deceleration region Sdec and the very slow speed region Smin. In other words, if the turning angle θsw at the time of starting turning control is in the function release region Scan, the controller 70 does not perform turning control.

[0089] When the selector switch 28 is turned on, the controller 70 determines whether the swing angle θsw at that time, i.e., the swing angle θsw at the time swing control is started, is outside the function release region Scan. If the swing angle θsw at the time swing control is started is within the function release region Scan, the controller 70 releases the deceleration region Sdec and the slow speed region Smin and does not perform swing control. As a result, the upper swing body 3 can be rotated according to the swing operation amount Lsw by the operator, and a decrease in work performance during swing work due to a restriction on the swing speed ωsw during leveling work can be prevented.

[0090] Fig. 9 is a flowchart illustrating the control operation of the controller 70 during swing control to swing the upper swing body 3 toward the target swing angle θaim. In the flowchart of Fig. 9, step S300 is added immediately below step S20 in the flowchart of Fig. 5 described above, in which it is determined whether the swing angle θsw at the time when the swing control is started is outside the function release region Scan. Moreover, other than the addition of step S300, the flowchart is the same as Fig. 5, and therefore explanations of steps other than S300 will be omitted.

[0091] 9, if the target swing angle θaim has been set (YES in step S20), the controller 70 determines whether the swing angle θsw at the time of starting the swing control is outside the function disable region Scan (step S300). If the swing angle θsw at the time of starting the swing control is outside the function disable region Scan (YES in step S300), the process proceeds to step S30. On the other hand, if the swing angle θsw at the time of starting the swing control is within the function disable region Scan, the controller 70 does not perform the swing control and cancels the deceleration region Sdec and the very slow region Smin. At this time, the controller 70 switches to normal control according to manual operation, in which the upper swing body 3 is rotated according to the swing operation amount Lsw of the swing operation member 19d by the operator (step S70).

[0092] [Variations] Although the first to fourth embodiments are described as independent embodiments, they do not necessarily have to be implemented independently. In other words, two or more of the first to fourth embodiments may be implemented in combination as appropriate.

[0093] In the above embodiment, the target swing angle θaim is set at the boundary between the deceleration region Sdec and the slow speed region Smin, but the present disclosure is not limited to this. Specifically, as shown in Fig. 10, the target swing angle θaim may be set at a position other than the boundary within the slow speed region Smin. For example, when it is desired to stop the upper structure 3 before the target swing angle θaim or when it is desired to stop the upper structure 3 at the target swing angle θaim, it is desirable to set the target swing angle θaim within the slow speed region Smin.

[0094] In the second embodiment described above, when the second turning control amount Qsw2 by the operator is smaller than the first turning control amount Qsw1 in the slow speed region Smin, the second turning control amount Qsw2 is output as the turning control amount Qsw, but the same control as in the slow speed region Smin may also be performed in the deceleration region Sdec. That is, when the second turning control amount Qsw2 by the operator is smaller than the first turning control amount Qsw1 in the deceleration region Sdec, the second turning control amount Qsw2 may be output as the turning control amount Qsw.

[0095] In the above embodiment, the construction machine control device is provided on the construction machine 1, but the construction machine control device in the present disclosure does not necessarily have to be provided on the construction machine, and may be located at a location remote from the construction machine. In this case, the construction machine control device and the construction machine are configured to be able to send and receive information via a network such as the Internet or a mobile phone network. [Explanation of symbols]

[0096] 1: Construction machinery 2: Lower running body 3: Upper rotating body 19d: Rotation operation member (operation member) 24d: Fourth angle sensor (turning angle detection unit) 70: Controller

Claims

1. A construction machine control device for a construction machine including a lower traveling body, an upper rotating body rotatably mounted on the lower traveling body, an operating member that receives a rotating operation of the upper rotating body, and a swing angle detection unit that detects a swing angle of the upper rotating body, a controller that executes a swing control to swing the upper swing body toward a preset target swing angle; the controller sets a deceleration region in which the upper rotating body is decelerated, and a very slow speed region in which the upper rotating body is rotated at a predetermined very slow speed after the upper rotating body is decelerated, the very slow speed region including the target rotation angle, The controller decelerates the upper rotating body when the rotation angle of the upper rotating body is within the deceleration region during the rotation control, and rotates the upper rotating body at the very low speed when the rotation angle is within the very low speed region during the rotation control.

2. 2. The construction machine control device according to claim 1, wherein when the rotation angle of the upper rotating body is in the very slow speed region during the rotation control, the controller controls the rotation speed of the upper rotating body based on the smaller of a first rotation control amount required to rotate the upper rotating body at the very slow speed and a second rotation control amount set in accordance with the rotation operation amount of the operating member by the operator.

3. 2. The construction machine control device according to claim 1, wherein the controller stops the swing control when the operating member is operated to a neutral position during the swing control or when the operating member is operated in a direction corresponding to the opposite direction of the swing operation direction of the upper swing body.

4. The controller A function release region is set as a predetermined angle range based on the target turning angle, The construction machine control device according to claim 1 , wherein the turning control is not performed when the turning angle at the time when the turning control is started is within the function release region.

5. The construction machine control device according to claim 1 , wherein the controller sets the deceleration region so that the region becomes wider as the rotation speed of the upper rotating body becomes faster.

6. a lower running body; an upper rotating body rotatably mounted on the lower traveling body; an operating member for performing a rotation operation of the upper rotating body; a rotation angle detection unit that detects a rotation angle of the upper rotating body; A construction machine comprising: the construction machine control device according to any one of claims 1 to 5.

Images