Control methods for industrial machinery, control programs for industrial machinery, control systems for industrial machinery, industrial machinery

Abstract

This invention provides a control method for a work machine, a control program for a work machine, a control system for a work machine, and a work machine, all of which improve the operability of the work machine during complex operations. [Solution] The control method for the work machine performs a first control when a specific operating tool 314b1 and another operating tool 314b2 are operated simultaneously, in a specific operating area of ​​the operating tools, the amount of movement of the spool of the directional control valve 514a corresponding to the specific operating tool in relation to the amount of operation of the specific operating tool is made greater than the amount of movement of the spool of the directional control valve 514b corresponding to the other operating tool in relation to the amount of operation of the other operating tool.

Description

Technical Field

[0001] The present invention relates to a control method for a working machine, a control program for a working machine, a control system for a working machine, and a working machine.

Background Art

[0002] As a related technique, there is known a hydraulic excavator that controls so as to reduce the amount of change in the flow rate of hydraulic oil supplied to a boom cylinder with respect to a change in the operation amount of the boom cylinder when the boom cylinder and other hydraulic actuators are operated in combination. (See Patent Document 1)

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In a working machine including a related-art hydraulic excavator, when performing a horizontal pulling operation of raising the boom while performing a crowd operation of the arm, the pressure of the boom cylinder becomes higher than that of the arm cylinder. As a result, hydraulic oil flows into the arm cylinder more than necessary, and the crowd amount of the arm increases. As a result, there may occur a problem that the blade of the bucket at the tip of the arm pierces the construction surface. Also, this problem may occur significantly in a specific operation area.

[0005] In one aspect, there is a problem that a specific operation of a specific hydraulic actuator deteriorates the response of the operation of other actuators due to its pressure characteristics.

[0006] The present invention has been made in view of the problems of the prior art described above, and its objective is to provide a control method for a work machine, a control program for a work machine, a control system for a work machine, and a work machine that can improve the operability of the work machine during complex operations. [Means for solving the problem]

[0007] A control method for a work machine according to one aspect of the present invention is a control method for a work machine that controls the amount of movement of a spool that determines the opening amount of a spool of a directional control valve through which hydraulic fluid discharged from a hydraulic pump flowing to an actuator passes, by the amount of operation of an actuator's operating tool, and comprises: when a specific operating tool among a plurality of operating tools and another operating tool among a plurality of operating tools are operated simultaneously, a first control is performed in a specific operating area of ​​the operating tool such that the amount of movement of the spool of the directional control valve corresponding to the specific operating tool in relation to the amount of operation of the specific operating tool is greater than the amount of movement of the spool of the directional control valve corresponding to the other operating tool in relation to the amount of operation of the other operating tool.

[0008] A control program for a work machine according to one aspect of the present invention causes one or more computing devices to execute a control method for the work machine.

[0009] A control system for a work machine according to one aspect of the present invention is a control system for a work machine that controls the amount of movement of a spool that determines the opening amount of a spool of a directional control valve through which hydraulic fluid discharged from a hydraulic pump flowing to an actuator passes, based on the amount of operation of an actuator's operating tool, comprising: a determination unit that determines whether or not a specific operation has occurred in which a specific operating tool among a plurality of operating tools and another operating tool among a plurality of operating tools are operated simultaneously; and a control unit that, when it is determined that the specific operation has occurred, executes a first control in a specific operating area of ​​the operating tool, such that the amount of movement of the spool of the directional control valve corresponding to the specific operating tool in relation to the amount of operation of the specific operating tool is greater than the amount of movement of the spool of the directional control valve corresponding to the other operating tool in relation to the amount of operation of the other operating tool. Prepare.

[0010] A working machine according to one aspect of the present invention comprises a control system for working machines and a working machine operated by the actuator. [Effects of the Invention]

[0011] According to the present invention, it is possible to provide a control method for a work machine, a control program for a work machine, a control system for a work machine, and a work machine that can improve the operability of a work machine by controlling the flow characteristics of a specific actuator that operates the work machine. [Brief explanation of the drawing]

[0012] [Figure 1] This is a left side view of a hydraulic excavator according to the first embodiment of the present invention. [Figure 2] This is a schematic diagram of a control system for a hydraulic excavator according to the first embodiment of the present invention. [Figure 3] This is an opening diagram of the directional control valve of a boom cylinder according to the first embodiment of the present invention. [Figure 4] This is an opening diagram of the directional control valve of an arm cylinder according to the first embodiment of the present invention. [Figure 5] This is a control signal map for a hydraulic excavator according to the first embodiment of the present invention. [Figure 6] This is a flowchart diagram of the control flow of a control device for a hydraulic excavator according to the first embodiment of the present invention. [Modes for carrying out the invention]

[0013] Hereinafter, a first embodiment of the present invention will be described in detail, using a hydraulic excavator 100 as a representative example of a work machine according to the present invention, with reference to the attached drawings. The direction in which the work machine 400 is attached to the upper rotating body 300 is defined as the front, and the opposite direction is defined as the rear.

[0014] As shown in Figure 1, the hydraulic excavator 100 is composed of a self-propelled lower traveling body 200, an upper rotating body 300 that is rotatably supported on the lower traveling body 200, and a work machine 400 that is rotatably supported vertically in front of the upper rotating body 300, and is further equipped with the control system 500 shown in Figure 2.

[0015] The lower running body 200 has a center frame (not shown) and side frames 210 that extend in the front-rear direction in pairs symmetrically to the center frame. Drive wheels 211 driven by a running motor 211 are installed at the rear ends of the left and right side frames 210, and a number of idler wheels 212 are arranged facing forward. Tracks 214 are wrapped around the drive wheels 212 and idler wheels 213.

[0016] The upper rotating body 300 consists of an operator's compartment 310 positioned from the front to the rear of the machine and having an entry hatch on the left side of the machine, an engine room 320 formed from the left side to the rear of the machine and configured to communicate with the area below the operator's compartment 310, and a swing post 330 that is supported by a protruding part at the front of the machine so as to be rotatable from side to side and supports the work machine 400 so as to be rotatable up and down.

[0017] The work machine 400 includes a boom 410 supported by a swing post 330 so as to be able to rotate up and down, an arm 420 mounted on the tip of the boom 410 so as to be able to rotate up and down, a bucket 430 mounted on the tip of the arm 420 so as to be able to rotate, and a swing cylinder (not shown) that moves the swing post 330 is located on the right side of the frame of the upper slewing body 300.

[0018] The boom cylinder 440 is installed in front of and below the boom 410. When hydraulic oil is supplied from the control valve 514 to the rod side oil chamber of the boom cylinder 440, the boom cylinder 440 contracts, so the boom 410 descends. When the hydraulic oil continues to be supplied, the boom cylinder 440 contracts to the stroke end in the rod contraction direction. Also, when hydraulic oil is supplied from the control valve 514 to the bottom side oil chamber of the boom cylinder 440, the boom cylinder 440 extends, so the boom 410 ascends. When the hydraulic oil continues to be supplied, the boom cylinder 440 extends to the stroke end in the rod extension direction.

[0019] The arm cylinder 450 is installed above the boom 410. When hydraulic oil is supplied from the control valve 514 to the rod side oil chamber of the arm cylinder 450, the arm cylinder 450 contracts, so the arm 420 performs a dumping operation of rotating forward. When the hydraulic oil continues to be supplied, the arm cylinder 450 contracts to the stroke end in the rod contraction direction. Also, when hydraulic oil is supplied from the control valve 514 to the bottom side oil chamber of the arm cylinder 450, the arm cylinder 450 extends, so the arm 420 performs a crowding operation of rotating backward. When the hydraulic oil continues to be supplied, the arm cylinder 450 extends to the stroke end in the rod extension direction.

[0020] Here, when the boom 410 ascends and the arm 420 performs the crowding operation simultaneously, a horizontal pulling operation that horizontally pulls in the cutting edge of the bucket 430 becomes possible.

[0021] The engine room 320 houses several devices, including an engine (not shown), a variable displacement pump 511 driven by the engine to pump hydraulic fluid to multiple actuators that move the hydraulic excavator 100, such as the boom cylinder 440 and arm cylinder 450, a control valve 514 which is a collection of directional control valves that control the corresponding actuators, a pilot pump 512 which generates the primary pressure of the pilot pressure input to the regulator 511a which controls the flow rate of the variable displacement pump 511, and a controller 520 which is a control device that outputs control signals to the control valve 514.

[0022] The driver's unit 310 is formed from a seat 311, a floor material 313 extending forward from the lower front of the seat mount 312 below the seat 311, an operating device 314, and a display device 315 positioned to the right front of the seat 311.

[0023] The operating device 314 is arranged in a row to the left and right in front of the seat 311 and includes left and right travel levers 314a protruding from the floor material 313, left and right operating levers 314b1 and 314b2 (not shown) erected on console boxes located to the left and right of the seat 311, and a cutoff lever 314c that extends forward from the left console box and, by rotating the console together with the console towards the rear, disables all actuators of the hydraulic excavator 100.

[0024] Next, we will explain the control system 500 of the hydraulic excavator 100 using Figure 2.

[0025] The control system 500 consists of at least a hydraulic circuit 510, a control device 520, and an operating device 314.

[0026] The operating device 314 outputs the operating direction and amount of each operating lever as an operating signal to the control device 520. The control device 520 then outputs a control signal to the electromagnetic proportional valve 517, which is the input port of the directional control valve corresponding to the operating direction of each operating lever of the control valve 514, thereby operating each actuator.

[0027] When the right operating lever 314b2 is tilted backward, it outputs an operation signal to the control device 520 for the boom raising operation, which extends the boom cylinder 440.

[0028] When the right operating lever 314b2 is tilted forward, an operation signal is output to the control device 520 to operate the boom lowering operation, which retracts the boom cylinder 440.

[0029] When the left operating lever 314b1 is tilted backward, the arm cylinder 450 extends, and an operation signal for arm cloud operation (arm-in operation), which brings the arm 420 closer to the operating unit 310, is output to the control device 520.

[0030] When the left operating lever 314b1 is tilted forward, the arm cylinder 450 outputs an operating signal to the control device 520 for an arm dump operation (arm out operation), which moves the shortened arm 420 away from the driver unit 310.

[0031] In the hydraulic circuit 510, the high-pressure hydraulic fluid piping extending from the variable displacement pump 511 is represented by a solid line, and the low-pressure hydraulic fluid (pilot pressure) piping extending from the pilot pump 512 is represented by a dotted line.

[0032] The hydraulic circuit 510 consists of a center bypass passage 513 extending from a variable displacement pump 511 that controls the discharge flow rate by inputting pilot pressure reduced by an electromagnetic proportional valve 518 to a regulator 511a, and a control valve 514 composed of directional control valves that control each actuator connected to the oil passages extending from the center bypass passage 513. The hydraulic circuit 510 is a so-called closed center circuit in which no passage is formed from the center bypass passage 513 to the tank 515 regardless of the sliding position of the spool of the directional control valve, but is not limited to this.

[0033] The control valve 514 consists of a directional control valve 514a that controls the boom cylinder 440, a directional control valve 514b that controls the arm cylinder 450, and several other directional control valves that control several other actuators, such as the left and right travel motors 211, the bucket cylinder 480, and the swing motor (not shown). Details of the several other actuators and several other directional control valves are omitted from the description of the hydraulic circuit 510. Control signals output from the control device 520 are input to the electromagnetic proportional valve 517, which is the input port of the directional control valves that make up the control valve 514, according to the amount of operation of the operating device 314.

[0034] When the control device 520 receives an operation signal corresponding to the direction and amount of operation (tilt amount) of the right operation lever 314b2, a control signal output from the control device 520 in accordance with the operation signal, according to the control signal map described later, is input to the input port 517a1 or 517a2 of the directional control valve 514a in accordance with the direction of operation. As a result, the spool of the directional control valve 514a moves, and hydraulic fluid flows into the rod-side oil chamber or bottom-side oil chamber of the boom cylinder 440 according to the opening amount of the meter-in side spool determined by the amount of spool movement. At the same time, hydraulic fluid corresponding to the opening amount of the spool on the meter-out side, which corresponds to the opening on the meter-in side determined by the amount of spool movement, is discharged from the bottom-side oil chamber or rod-side oil chamber of the boom cylinder 440, and the stroke of the boom cylinder 440 changes.

[0035] The amount of spool movement and spool opening of the directional control valve 514a are determined as shown in the opening diagram of the boom cylinder directional control valve in Figure 3. For example, when the right operating lever 314b2 is operated backward (boom raising operation), the amount of spool movement increases according to the amount of operation, from L1, L2, L3, L4, L5 to a maximum value of L6. Accordingly, the opening on the meter-in side, which guides hydraulic fluid to the bottom-side oil chamber, and the opening on the meter-out side, which guides hydraulic fluid to be discharged from the rod-side oil chamber, increase according to the determined opening characteristics. In accordance with these openings, the flow rate of hydraulic fluid to the bottom-side oil chamber of the boom cylinder 440 increases, and the raising speed of the boom 410 increases.

[0036] When the control device 520 receives an operation signal corresponding to the direction and amount of operation (tilt) of the left operating lever 314b1, a control signal output from the control device 520 in accordance with the operation signal, according to the control signal map described later, is input to the input port 517b1 or 517b2 of the directional control valve 514b according to the direction of operation of the left operating lever 314b1. As a result, the spool of the directional control valve 514b moves, and oil flows into the rod-side oil chamber or bottom-side oil chamber of the arm cylinder 450 according to the opening amount of the meter-in side spool determined by the amount of spool movement. At the same time, oil corresponding to the opening amounts of the spool at the meter-out side opening that corresponds to the opening at the meter-in side opening determined by the amount of spool movement is discharged from the bottom-side oil chamber or rod-side oil chamber of the arm cylinder 450, and the stroke of the arm cylinder 450 changes.

[0037] The amount of spool movement and spool opening of the directional control valve 514b are determined as shown in the opening diagram of the arm cylinder directional control valve in Figure 4. For example, when the left operating lever 314b1 is operated backward (arm cloud operation), the amount of spool movement increases according to the amount of operation, from -L1, -L2, -L3, -L4, -L5 up to a maximum value of -L6. Accordingly, the opening on the meter-in side, which guides hydraulic fluid to the bottom-side oil chamber, and the opening on the meter-out side, which guides hydraulic fluid to be discharged from the rod-side oil chamber, increase according to the defined opening characteristics. In accordance with these openings, the flow rate of hydraulic fluid to the bottom-side oil chamber of the arm cylinder 450 increases, and the cloud speed of the arm 420 increases.

[0038] In other words, by performing boom raising and arm cloud operations simultaneously, the aforementioned horizontal pulling operation becomes possible.

[0039] The pressure in the hydraulic circuit 510 is detected by the pressure sensor 519, and the detection result is transmitted to the control device 520.

[0040] In accordance with the detection results of the pressure sensor 519, the control device 520 controls the discharge flow rate of the variable displacement pump 511 so as not to exceed an arbitrarily set pressure in order to prevent damage to the hydraulic circuit 510.

[0041] The control device 520 is an ECU (Electronic Control Unit) and consists of an arithmetic unit 521 comprising an input buffer that converts the signal level of digital input signals, an AD converter that converts analog input signals to digital, and a microcontroller that calculates control quantities from various input signals, and an output driver, communication driver, communication receiver, etc. that convert the output signals of the microcontroller into drive signals that drive actuators.

[0042] Signals input to the control device 520 are represented by a dashed line with an arrow pointing towards the control device 520 at its tip, and signals output from the control device 520 are represented by a dashed line with an arrow pointing towards the device into which the signal is input.

[0043] The calculation unit 521 includes a storage unit 522, a specific operation determination unit 523, and a control signal generation unit 524.

[0044] The memory unit 522 stores control signal maps that include at least a control signal map for steady-state operations and a control signal map for specific operations.

[0045] The specific operation determination unit 523 sets a determination flag when it simultaneously detects the operation signal for boom raising from the right operation lever 314b2 and the operation signal for arm cloud operation from the left operation lever 314b1.

[0046] The boom-raising operation of the left operating lever 314b1, which is performed in conjunction with the arm cloud operation of the right operating lever 314b2, is referred to as a specific operation, and operations of the operating device 314 other than specific operations are referred to as normal operations. Here, the specific operation determination unit 523 sets a determination flag when a specific operation is performed, and does not set a determination flag when a normal operation is performed.

[0047] Based on the control signal map, the control signal generation unit 523 calculates a control signal, which is an electrical signal input to the input port 517 of the directional control valve corresponding to the operated operating device 314 of the control valve 314, from the operating signal output from the operated operating device 314 to the control device 520.

[0048] Specifically, the control signal generation unit 523 calculates a control signal based on the steady-state operation control signal map for the boom-raising operation of the right operation lever 314b2 if the operation specific operation determination unit 523 does not set a determination flag. If the determination flag is set, it calculates a control signal based on the specific operation control map for the boom-raising operation of the right operation lever 314b2.

[0049] Therefore, when a horizontal pulling operation is performed, the control signal generation unit 523 calculates a control signal for the arm cloud operation based on the control signal map for the steady-state operation, and calculates a control signal for the boom raising operation, which is performed simultaneously, based on the control map for the specific operation.

[0050] The control signal map defines the relationship between the operating signal and the control signal. The amount of movement of the spool of the directional control valve is determined by the magnitude of the control signal input to the electromagnetic proportional valve 517, which is the input port of the directional control valve.

[0051] In other words, the control signal map can be said to indirectly define the relationship between the amount manipulated by the operating device 314 and the amount of movement of the spool.

[0052] Figure 5 shows an example of a control signal map, illustrating both the control signal map for steady-state operation and the control map for a specific operation.

[0053] The horizontal axis of the control signal map represents the percentage (%) of the maximum current value I1 of the control signal output by the operating device 314 to the control device 500.

[0054] The percentage (%) of the maximum current value I1 of the control signal corresponds to the percentage (%) of the control amount of the control device 314, i.e., the maximum control amount. For example, a 100% control signal corresponds to the maximum control amount, and a 50% control signal corresponds to 50% of the control amount.

[0055] The vertical axis of the control signal map represents the percentage (%) of the maximum current value I2 of the control signal output by the control device 500 to the electromagnetic proportional valve 517, which is the input port of the directional control valve 514.

[0056] The percentage (%) of the maximum current value I2 of the control signal corresponds to the amount of movement of the spool of the directional control valve 514. For example, with a control signal of 100%, the amount of spool movement is the maximum amount, L6 (-L6), and with a control signal of 50%, the amount of spool movement is L3 (-L3).

[0057] Therefore, when the control signal is 100% and the control signal is 100%, the spool movement is the maximum movement when the control amount is at its maximum.

[0058] In the steady-state operation control signal map, the control signal increases proportionally to the operation signal. Therefore, with respect to the amount of arm cloud operation (the amount of tilt of the left operating lever 314b1 from neutral to the rear), the absolute value of the spool movement of the directional control valve 514b increases proportionally from 0 to -L6. As a result, as shown in Figure 3, the spool opening indirectly widens in accordance with the amount of arm cloud operation.

[0059] The control signal map for a specific operation is set to a larger value than the control signal map for steady-state operation in the range of 0% to 80% of the operation signal. Therefore, in the range of 0% to 80% of the operation amount of the operating device 314, the amount of movement of the spool of the directional control valve 514b corresponding to the boom cylinder 440 (movement in the extension direction) for the boom raising operation amount (amount of tilting backward from the neutral position of the right operation lever 314b2) is set to be larger than the amount of movement of the spool of the directional control valve 514a corresponding to the arm cylinder 450 (movement in the extension direction) for the arm cloud operation operation amount.

[0060] In other words, the control signal map for a specific operation can be described as part of a program that causes the calculation unit 521 to execute a control method for a work machine that, when the right operating lever 314b2, which is a specific operating tool among multiple operating tools, and the left operating lever 314b1, which is another operating tool among multiple operating tools, are operated simultaneously, executes a first control that makes the amount of movement of the spool of the directional control valve 514a in relation to the amount of operation of the specific operating tool greater than the amount of movement of the spool of the directional control valve 514b in relation to the amount of operation of the other operating tool, within a specific operating area of ​​these operating tools.

[0061] The control signal map for a specific operation is set to the same value as the control signal map for steady operation in the range where the operation signal is between 80% and 100%. In other words, in the range where the amount of operation of the operating device 314 (right operating lever 314b2) is between 80% and 100% (specific operating range), the amount of movement of the spool of the directional control valve 514b corresponding to the boom cylinder 440 (movement in the extension direction) in relation to the amount of operation of the boom raising operation is set to the same amount as the amount of movement of the spool of the directional control valve 514a corresponding to the arm cylinder 450 (movement in the extension direction) in relation to the amount of operation of the arm cloud operation of the left operating lever 314b1.

[0062] In other words, the control signal map for a specific operation can be described as part of a program that causes the calculation unit 521 to execute a control method for the work machine that performs a second control, which makes the amount of movement of the spool of the directional control valve 514a equal to the amount of movement of the spool of the directional control valve 514b in relation to the amount of operation of other operating tools, in operating areas other than the specific operating area.

[0063] Therefore, when the control device 520 performs the first control, the hydraulic fluid can be supplied in a balanced manner to the bottom side of the boom cylinder, where the pressure tends to rise during horizontal pulling, so that an excessive amount of hydraulic fluid is not drawn to the bottom side of the arm cylinder. As a result, the arm's cloud movement does not become excessively fast, and the hydraulic excavator 100 can perform a smooth horizontal pulling operation.

[0064] Furthermore, the control device 520 performs a second control, enabling hydraulic control according to the characteristics of the operating area of ​​the operating device, thereby allowing the hydraulic excavator 100 to perform a smooth horizontal pulling operation.

[0065] Furthermore, a specific operating area includes the region where the operating amount of the operating device 314 (right operating lever 314b2) is up to 50%, which is the region from the neutral position to half of the maximum tilt position. In particular, by performing the first control in this region, it becomes possible to stably perform the horizontal pulling operation.

[0066] Here, the control signal map for a specific operation is formed such that the slope rises so that the control signal is maximum relative to the control signal map of the steady operation around the center of the 0% to 80% region, and then gradually overlaps with the control signal line of the control signal map of the steady operation.

[0067] In other words, the control signal map for a specific operation can be described as part of a program that causes the calculation unit 521 to execute a control method for a work machine that performs a first control in which the difference between the amount of movement of a specific actuator's spool in response to an increase in the amount of operation of a specific operating tool and the amount of movement of other actuators' spools in response to the amount of operation of other operating tools gradually increases and then gradually decreases.

[0068] With the above configuration, the hydraulic excavator 100 can perform smooth horizontal pulling operations even in operating areas that tend to be unstable.

[0069] The control flow will be explained using Figure 6. Figure 6 is a flowchart related to the control method.

[0070] The left control lever 314b1 is used to operate the arm cloud, and the right control lever 314b2 is used to raise the boom (specific operation). (S1)

[0071] If the amount of movement of the right operating lever 314b2 is 80% or less (S2:NO), the control device 520 executes the first control, setting the amount of movement of the spool of the directional control valve 514a in relation to the amount of movement of the right operating lever 314b2 to be greater than the amount of movement of the spool of the directional control valve 514b in relation to the amount of movement of the right operating lever 314b2, causing the hydraulic excavator 100 to perform a boom raising operation along with the arm cloud operation. (S3)

[0072] If the amount of movement of the right control lever 314b2 is greater than 80% (S3: YES) The control device 520 performs a second control, setting the amount of movement of the spool of the directional control valve 514a in relation to the amount of operation of the right operating lever 314b2 to be the same as the amount of movement of the spool of the directional control valve 514b in relation to the amount of operation of the left operating lever 314b1, causing the hydraulic excavator 100 to perform a boom raising operation along with the arm cloud operation. (S4)

[0073] The flowchart shown in Figure 6 is merely an example; processes may be added or omitted as appropriate, processes may be executed repeatedly, and the order of processes may be changed as appropriate.

[0074] Next, a modified example of the first embodiment of the present invention will be described.

[0075] In the first embodiment, the specific operation was defined as the boom-raising operation of the right operating lever 314b2, which is performed together with the arm cloud operation of the left operating lever 314b1. However, the specific operation may also be defined as the travel operation of the left and right travel levers 314a, which is performed together with the boom-raising operation of the right operating lever 314b2 and the slewing operation of the left operating lever 314b1. Alternatively, the specific operation may be defined as a combination of compound operations selected from any of the other operating devices 314.

[0076] The invention according to embodiments of the present invention can be specified as follows:

[0077] <Note 1> A control method for a work machine that controls the amount of movement of a spool of a directional control valve through which hydraulic fluid discharged from a hydraulic pump flows to an actuator, by the amount of operation of an actuator's operating tool, the method comprising: when a specific operating tool among a plurality of operating tools and another operating tool among a plurality of operating tools are operated simultaneously, a first control is performed in a specific operating area of ​​the operating tool such that the amount of movement of the spool of the directional control valve corresponding to the specific operating tool in relation to the amount of operation of the specific operating tool is greater than the amount of movement of the spool of the directional control valve corresponding to the other operating tool in relation to the amount of operation of the other operating tool.

[0078] <Note 2> A control method for a work machine according to Appendix 1, further comprising: performing a second control in another operating area to make the amount of movement of the spool of the directional control valve corresponding to the specific operating tool equal to the amount of movement of the spool of the directional control valve corresponding to the other operating tool in relation to the amount of operation of the other operating tool.

[0079] <Note 3> The control method for a work machine according to Appendix 1 or Appendix 2, wherein the specific operating area is an area in which the operating tool can be tilted between a neutral position and a specific position.

[0080] <Note 4> A control method for a work machine according to any one of Appendix 1 to Appendix 3, wherein the specific operating area includes at least the area from the neutral position of the operating tool to half of the maximum tilt position.

[0081] <Note 5> A control method for a work machine as described in any of Appendix 1 to Appendix 4, wherein, in the aforementioned specific operating area, the difference between the amount of movement of the spool of the directional control valve corresponding to the specific operating tool in response to an increase in the amount of operation of the specific operating tool and the amount of movement of the spool of the directional control valve corresponding to the other operating tool in response to the amount of operation of the other operating tool gradually increases and then gradually decreases.

[0082] <Note 6> A method for controlling a work machine according to any one of claims 1 to 5, wherein the work machine includes a boom cylinder that rotates the work machine up and down, the specific actuator operated by the specific operating tool is the boom cylinder, and the amount of operation of the specific operating tool is the amount of operation of the boom cylinder in the extension direction.

[0083] <Note 7> The control method for the work machine described in Appendix 7, wherein the work machine includes an arm cylinder that rotates an arm having a bucket at its end back and forth, and the other actuator operated by the other operating tool is the arm cylinder.

[0084] <Note 8> A control program for a work machine that causes one or more computing devices to execute the control method for the work machine described in any one of the items in Appendix 1 to 5.

[0085] <Note 9> A control system for a work machine that controls the amount of movement of a spool of a directional control valve through which hydraulic fluid discharged from a hydraulic pump flows to an actuator, based on the amount of operation of the actuator's operating tool, comprising: a determination unit that determines whether or not a specific operation has occurred in which a specific operating tool among a plurality of operating tools and another operating tool among a plurality of operating tools are operated simultaneously; and a control unit that, when it is determined that the specific operation has occurred, performs a first control in a specific operating area of ​​the operating tool, such that the amount of movement of the spool of the directional control valve corresponding to the specific operating tool in relation to the amount of operation of the specific operating tool is greater than the amount of movement of the spool of the directional control valve corresponding to the other operating tool in relation to the amount of operation of the other operating tool.

[0086] <Note 10> A work machine comprising a control system for work machines as described in Appendix 9, and a work machine operated by the actuator.

[0087] The various configurations described in the first embodiment and its modifications described above can be combined and adopted as appropriate.

[0088] In the above explanation, a hydraulic excavator was used as an example of a work machine, but the work machine is not limited to a hydraulic excavator. It can be any construction machine such as a compact track loader or wheel loader, or even other work machines such as a tractor. Furthermore, although an engine was used as the prime mover in the explanation, an electric motor is also acceptable.

[0089] Although embodiments of the present invention have been described above, the scope of the present invention is not limited thereto, and it can be expanded or modified without departing from the spirit of the invention. [Industrial applicability]

[0090] The present invention relates to a control method for a work machine, a control program for a work machine, a control system for a work machine, and a work machine, and has industrial applicability. [Explanation of symbols]

[0091] 314b1 Left operating lever (other operating device) 314b2 Right operating lever (specific operating device) 514a Directional control valve corresponding to a specific operating device 514b Directional control valve compatible with other operating devices 520 Control device 521 Arithmetic section 522 Storage section 523 Specific operation determination section 524 Control signal generation unit

Claims

1. A control method for a work machine, which controls the amount of movement of the spool of a directional control valve through which hydraulic fluid discharged from a hydraulic pump flows to an actuator by the amount of operation of the actuator's operating tool, A control method for a work machine, comprising: when a specific operating tool among a plurality of operating tools and another operating tool among a plurality of operating tools are operated simultaneously, a first control is performed in a specific operating area of ​​the operating tool such that the amount of movement of the spool of the directional control valve corresponding to the specific operating tool in relation to the amount of operation of the specific operating tool is greater than the amount of movement of the spool of the directional control valve corresponding to the other operating tool in relation to the amount of operation of the other operating tool.

2. A control method for a work machine according to claim 1, further comprising: performing a second control in another operating area to make the amount of movement of the spool of the directional control valve corresponding to the specific operating tool equal to the amount of movement of the spool of the directional control valve corresponding to the other operating tool in relation to the amount of operation of the other operating tool.

3. The method for controlling a work machine according to claim 2, wherein the specific operating area is an area in which the operating tool can be tilted between a neutral position and a specific position.

4. The method for controlling a work machine according to claim 3, wherein the specific operating area includes at least the area from the neutral position of the operating tool to half of the maximum tilt position.

5. A method for controlling a work machine according to claim 4, wherein, in the specific operating area, the difference between the amount of movement of the spool of the directional control valve corresponding to the specific operating tool in response to an increase in the amount of operation of the specific operating tool and the amount of movement of the spool of the directional control valve corresponding to the other operating tool in response to an increase in the amount of operation of the other operating tool gradually increases and then gradually decreases.

6. The aforementioned work machine is equipped with a boom cylinder that rotates the work machine up and down. The specific actuator operated by the aforementioned specific operating tool is the boom cylinder, A method for controlling a work machine according to any one of claims 1 to 5, wherein the amount of operation of the specific operating tool is the amount of operation related to the extension direction of the boom cylinder.

7. The aforementioned work machine is equipped with an arm cylinder that rotates an arm having a bucket at its end back and forth, The control method for a work machine according to claim 6, wherein the other actuator operated by the other operating tool is the arm cylinder.

8. A control program for a work machine that causes one or more computing devices to execute the control method for a work machine according to any one of claims 1 to 5.

9. A control system for a work machine that controls the amount of movement of the spool of a directional control valve through which hydraulic fluid discharged from a hydraulic pump flows to an actuator by the amount of operation of the actuator's operating tool, A determination unit that determines whether or not a specific operation has occurred in which a specific operating tool among the plurality of operating tools and another operating tool among the plurality of operating tools are operated simultaneously, A control system for a work machine, comprising: a control unit that, when it is determined that the aforementioned specific operation has occurred, executes a first control in a specific operating area of ​​the operating tool, such that the amount of movement of the spool of a directional control valve corresponding to the specific operating tool with respect to the amount of operation of the specific operating tool is greater than the amount of movement of the spool of a directional control valve corresponding to the other operating tool with respect to the amount of operation of the other operating tool.

10. A work machine comprising a control system for a work machine according to claim 9, and a work machine operated by the actuator.

Images