Work machines and work machine support systems

Abstract

To provide a work machine which enables even an unskilled person to efficiently perform an operation.SOLUTION: A person operator operates an operator. A spool valve changes a flow rate of hydraulic oil supplied to a hydraulic actuator. A spool of the spool valve is displaced in accordance with an operation amount of the operator, and an opening area of a path passed by the hydraulic oil changes in accordance with a spool displacement amount. The spool valve is characterized by a nonuniform ratio of the increase of the opening area to the increase of the spool displacement amount. A control device displays, on a display device, correspondence between a physical amount dependent on the operation amount of the operator and a physical amount dependent on the opening area in association with a current operation amount of the operator.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a working machine and a working machine support system.

Background Art

[0002] In a working machine such as an excavator equipped with a hydraulic actuator or the like, a spool valve is opened by a lever operation, hydraulic oil flows into the hydraulic actuator, and the hydraulic actuator is driven. Patent Document 1 below discloses an excavator that can improve the operability of a hydraulic actuator. In this excavator, hydraulic oil flows into a boom control hydraulic cylinder through a boom control valve. The ratio of the increase in the opening area to the increase in the spool displacement amount of the boom control valve has an opening characteristic that changes at a predetermined point.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] To perform operations such as floor excavation that require fine operation of an excavator, a high level of skill is required for the operator. When an unskilled person operates the excavator disclosed in Patent Document 1, it is difficult to finely adjust the operation lever, resulting in a decrease in work efficiency. An object of the present invention is to provide a working machine that can be efficiently operated by an unskilled person. Another object of the present invention is to provide a working machine support system including this working machine.

Means for Solving the Problems

[0005] According to one aspect of the present invention, an operator that an operator operates, a hydraulic actuator, A spool valve that changes the flow rate of hydraulic fluid supplied to the hydraulic actuator, Display device and Control device and Equipped with, The spool of the spool valve is displaced according to the amount of operation of the operator, and the opening area of ​​the path through which the hydraulic fluid passes changes according to the amount of spool displacement. The spool valve has the characteristic that the ratio of the increase in the opening area to the increase in the spool displacement is not constant. The control device provides a work machine that displays on the display device the correspondence between a physical quantity that depends on the amount of operation of the operator and a physical quantity that depends on the opening area, in relation to the current amount of operation of the operator.

[0006] According to another aspect of the present invention, The aforementioned work machine, The aforementioned work machine communicates with an external device including a display screen. Equipped with, The aforementioned work machine transmits to the external device information defining the correspondence between a physical quantity dependent on the amount of operation of the operator and a physical quantity dependent on the opening area, and information indicating the current amount of operation of the operator. The external device provides a machine support system that displays on the display screen the correspondence between a physical quantity dependent on the amount of operation of the operator and a physical quantity dependent on the opening area, in relation to the current amount of operation of the operator. [Effects of the Invention]

[0007] By viewing an image that shows the correspondence between a physical quantity dependent on the amount of manipulation of the control element and the aperture area, in relation to the current amount of manipulation of the control element, even inexperienced users can operate the device efficiently. [Brief explanation of the drawing]

[0008] [Figure 1] Figure 1 is a side view of an excavator according to one embodiment. [Figure 2] Figure 2 is a block diagram of the excavator drive system according to the embodiment shown in Figure 1. [Figure 3] Figure 3A is a graph illustrating an example of the relationship between pilot pressure and spool displacement, and Figure 3B is a graph illustrating an example of the relationship between spool displacement and opening area. [Figure 4] Figure 4 shows an example of an image displayed on a display device by the control device for the excavator according to the embodiment shown in Figure 1. [Figure 5] Figure 5 shows an example of an image displayed on a display device by a control device for a work machine, which is a modified version of the embodiment shown in Figure 1. [Figure 6] Figure 6 shows an example of an image displayed on a display device by a control device for a work machine according to another modification of the embodiment. [Figure 7] Figure 7 shows an example of an image displayed on a display device by a control device for a work machine, according to yet another modification of the embodiment. [Figure 8] Figure 8 is a block diagram of the drive system of an excavator according to yet another embodiment. [Figure 9] Figure 9 is a schematic diagram of a machine support system according to yet another embodiment. [Modes for carrying out the invention]

[0009] Referring to Figures 1 to 4, an example of a working machine according to one embodiment will be described using a shovel as an example. Figure 1 is a side view of the excavator according to this embodiment. An upper slewing body 13 is rotatably mounted on the lower traveling body 11 of the excavator 10 via a slewing mechanism 12. A boom 14 is attached to the upper slewing body 13. An arm 15 is attached to the tip of the boom 14, and a bucket 16 is attached to the tip of the arm 15 as an end attachment.

[0010] The boom 14 is driven by the boom cylinder 17, the arm 15 is driven by the arm cylinder 18, and the bucket 16 is driven by the bucket cylinder 19. Hydraulic cylinders are used as the boom cylinder 17, the arm cylinder 18, and the bucket cylinder 19.

[0011] FIG. 2 is a block diagram showing the drive system of the excavator 10 according to the present embodiment. In FIG. 2, the mechanical power transmission system, the hydraulic oil line, the pilot line, and the electric control system are indicated by double lines, thick solid lines, thin solid lines, and broken lines, respectively. The drive system of the excavator 10 includes an engine 21, a main pump 24, a pilot pump 25, a control valve 27, an operating device 26, a discharge pressure sensor 38, an operating pressure sensor 39, a control device 40, and a display device 42, etc.

[0012] The engine 21 is, for example, an internal combustion engine that operates to maintain a predetermined rotational speed, such as a diesel engine. The output shaft of the engine 21 is connected to the input shafts of the main pump 24 and the pilot pump 25, respectively.

[0013] The main pump 24 supplies hydraulic oil to the control valve 27 via the hydraulic oil line. As the main pump 24, for example, a swash plate type variable displacement hydraulic pump is used. The pilot pump 25 supplies a primary pilot pressure to the operating device 26 via the pilot line. As the pilot pump 25, for example, a fixed displacement hydraulic pump is used.

[0014] Hydraulic actuators such as a boom cylinder 17, an arm cylinder 18, a bucket cylinder 19, a left travel hydraulic motor 11L, a right travel hydraulic motor 11R, and a swing hydraulic motor 12A are connected to the control valve 27. As the boom cylinder 17, the arm cylinder 18, and the bucket cylinder 19, single-rod double-acting hydraulic cylinders are used.

[0015] The control valve 27 includes a plurality of spool valves that control the flow of the hydraulic oil discharged from the main pump 24. The plurality of spool valves include, for example, a boom control valve 27A, an arm control valve 27B, a bucket control valve 27C, a left travel motor control valve 27D, a right travel motor control valve 27E, and a swing control valve 27F. The control valve 27 selectively supplies the hydraulic oil discharged from the main pump 24 to the plurality of hydraulic actuators through the spool valves.

[0016] The operating device 26 includes a plurality of controls 26A operated by an operator, such as an operating lever or operating pedal. The operating device 26 converts the primary pilot pressure supplied from the pilot pump 25 into a secondary pilot pressure according to the operation, and supplies the secondary pilot pressure to the pilot port of the spool valve corresponding to each hydraulic actuator. The secondary pilot pressure changes according to the operating direction and amount of the controls 26A of the operating device 26 corresponding to each hydraulic actuator.

[0017] The spool valve changes the flow rate and direction of the hydraulic fluid supplied to the hydraulic actuator in response to the secondary pilot pressure supplied via the operating device 26.

[0018] Pilot pressure sensors 28A to 28F measure the secondary pilot pressure supplied to each of the multiple spool valves, and the measurement results are input to the control device 40. Pilot pressure sensors 28A, 28B, and 28C measure the secondary pilot pressure supplied to the boom control valve 27A, arm control valve 27B, and bucket control valve 27C, respectively. Pilot pressure sensors 28D, 28E, and 28F measure the secondary pilot pressure supplied to the left travel motor control valve 27D, right travel motor control valve 27E, and swing control valve 27F, respectively.

[0019] The discharge pressure sensor 38 detects the pressure of the hydraulic fluid discharged by the main pump 24. The measured pressure value detected by the discharge pressure sensor 38 is input to the control device 40. The operating pressure sensor 39 detects the secondary pilot pressure generated by the operating device 26 corresponding to each hydraulic actuator. The measured secondary pilot pressure value detected by the operating pressure sensor 39 is input to the control device 40. Note that the operation of the operating device 26 may be detected using sensors other than the pressure sensors.

[0020] The display device 42 notifies the operator of the shovel 10 of various information by displaying images, characters, etc., in response to commands from the control device 40.

[0021] The control device 40 is composed of, for example, a computer equipped with a central processing unit (CPU), memory, etc. The CPU executes a program stored in memory, thereby realizing various functions for operating the shovel 10.

[0022] The memory of the control device 40 stores information defining the correspondence between the secondary pilot pressure and the spool displacement (spool stroke) for each of the multiple spool valves of the control valve 27, and information defining the correspondence between the spool displacement and the opening area. Here, "opening area" refers to the flow path cross-sectional area of ​​the restricted portion of the hydraulic fluid flow path inside the spool valve. These correspondences are stored in memory, for example, in the form of a reference table. In this specification, the secondary pilot pressure may sometimes be simply referred to as the pilot pressure.

[0023] The control device 40 can determine the spool displacement of each spool valve based on the correspondence between pilot pressure and spool displacement, and the measured values ​​from pilot pressure sensors 28A to 28F. Furthermore, it can determine the opening area based on the correspondence between spool displacement and opening area, and the spool displacement determined from the pilot pressure.

[0024] Figure 3A is a graph illustrating an example of the relationship between pilot pressure and spool displacement. The horizontal axis represents pilot pressure, and the vertical axis represents spool displacement. Within the range where the pilot pressure is P0 or less, the spool does not displace. When the pilot pressure exceeds P0, the spool begins to displace. There is an almost linear relationship between spool displacement and pilot pressure.

[0025] Figure 3B is a graph illustrating an example of the relationship between spool displacement and opening area. The horizontal axis represents spool displacement, and the vertical axis represents opening area. When the spool displacement is D0 or less, the spool valve remains closed. When the spool displacement exceeds D0, the spool valve begins to open. In the range of spool displacement between D0 and D1, the ratio of the increase in opening area to the increase in spool displacement (hereinafter referred to as the rate of increase in opening area) is approximately constant. Even in the range of spool displacement above D1, the rate of increase in opening area to the increase in spool displacement is approximately constant, but it is greater than the rate of increase in the range of spool displacement between D0 and D1.

[0026] This means that in the range where the spool displacement is between D0 and D1, the ratio of the increase in hydraulic fluid flow rate to the increase in spool displacement is smaller than in the range where the spool displacement is greater than or equal to D1. The relationship between spool displacement and opening area may be set to be a line graph as shown in Figure 3B, or it may be set to be an arbitrary function. In other words, the spool valve has the characteristic that the ratio of the increase in opening area to the increase in spool displacement is not constant.

[0027] Next, referring to Figure 4, we will explain the control performed by the control device 40 when the operator drives the boom of the shovel 10.

[0028] Figure 4 shows an example of an image displayed by the control device 40 on the display device 42. The control device 40 displays the correspondence between the pilot pressure and spool displacement shown in Figure 3A, and the correspondence between the spool displacement and opening area shown in Figure 3B, for the boom control valve 27A, in graph format on the display device 42.

[0029] When an operator controls the control device 26 to drive the boom, the control device 26 supplies pilot pressure to the boom control valve 27A according to the operation. The spool of the boom control valve 27A is displaced according to the correspondence shown in Figure 3A. When the spool of the boom control valve 27A is displaced, the opening area of ​​the boom control valve 27A changes according to the correspondence shown in Figure 3B. In accordance with the change in the opening area, hydraulic fluid flows into the boom cylinder 17 (Figure 2), and the boom 14 is driven.

[0030] The control device 40 acquires the current measured value of the pilot pressure of the boom control valve 27A, which is measured by the pilot pressure sensor 28A. The current spool displacement is determined using the correspondence between pilot pressure and spool displacement shown in Figure 3A. The graph showing the correspondence between pilot pressure and spool displacement displayed on the display device 42 is displayed in a way that allows recognition of the positions corresponding to the current pilot pressure and spool displacement. For example, a mark 45 such as a circle is displayed at the position corresponding to the current pilot pressure and spool displacement.

[0031] Since the pilot pressure changes according to the amount of operation of the control unit 26A, the position of mark 45 reflects the current amount of operation of the control unit 26A. In other words, the control device 40 displays the correspondence between the pilot pressure and the spool displacement amount on the display device 42 in relation to the current amount of operation of the control unit 26A.

[0032] Once the current spool displacement is determined, the current opening area is calculated using the correspondence between spool displacement and opening area shown in Figure 3B. Furthermore, the graph showing the correspondence between spool displacement and opening area displayed on the display device 42 is displayed in a way that allows recognition of the position corresponding to the current spool displacement and opening area. For example, a mark 46, such as a circle, is displayed at the position corresponding to the current spool displacement and opening area. The position of mark 45 reflects the current operation amount of the control element 26A.

[0033] When the amount of operation of the operator 26A changes, the control device 40 moves mark 45 along a graph showing the correspondence between pilot pressure and spool displacement. Furthermore, the control device 40 moves mark 46 along a graph showing the correspondence between spool displacement and opening area.

[0034] Next, we will describe the excellent effects of this embodiment. The operator can easily determine the current position of the control element 26A on the graph showing the correspondence between pilot pressure and spool displacement, and the graph showing the correspondence between spool displacement and opening area, from the image displayed on the display device 42 (Figure 4).

[0035] For example, when the operator 26A is first operated, the pilot pressure gradually increases, and the point at which the spool begins to displace can be easily determined. Furthermore, after the spool begins to displace, the point at which the opening area rises can be easily determined. When the amount of operation of the operator 26A is further increased, the point at which the ratio of the increase in opening area to the increase in spool displacement becomes large can be easily determined.

[0036] The operator can recognize the correlation between the amount of manipulation of the control element 26A and the operating status of the spool valve. As a result, they can quickly grasp the knack of operation.

[0037] Next, various modifications of this embodiment will be described. In this embodiment, as shown in Figure 4, the correspondence between spool displacement and opening area, and the correspondence between spool displacement and pilot pressure are displayed in relation to the operating amount of the operator 26A. However, it is also possible to display only one of these correspondences.

[0038] In this embodiment, an example of driving the boom 14 (Figure 1) of the shovel has been described, but this embodiment can also be applied when driving other drive elements, such as the arm 15, bucket 16, lower travel body 11, and upper slewing body 13. For example, when driving the arm 15, the relationship between the pilot pressure, spool displacement, and opening area of ​​the arm control valve 27B (Figure 2) should be displayed on the display device 42. The same applies when driving the bucket 16, lower travel body 11, and upper slewing body 13.

[0039] In this embodiment, the spool displacement is used as the physical quantity corresponding to the opening area, but other physical quantities that depend on the operating amount may also be used. Examples of other physical quantities that depend on the operating amount include pilot pressure and the tilt angle of the operator 26A.

[0040] Furthermore, in this embodiment, the spool displacement is determined from the pilot pressure using the correspondence shown in Figure 3A, but the spool displacement may be determined by other methods. For example, a displacement sensor for measuring the spool displacement may be attached to each of the multiple spool valves of the control valve 27, and the spool displacement may be determined from the measurement values ​​of the displacement sensors.

[0041] It would be preferable to allow the display device 42 to temporarily disable the function that displays the correspondence between spool displacement and opening area, and the correspondence between spool displacement and pilot pressure, in relation to the operating amount of the operator 26A. For example, it would be preferable to allow the operator to display a menu screen on the display device 42 and turn various functions on and off from the menu screen. When a skilled operator is operating the shovel 10, it would be preferable to temporarily disable this function. This display function may be merely a nuisance to a skilled operator and may not provide useful information for operation. In such cases, by turning off this display function, the skilled operator can operate the shovel 10 without being bothered by unnecessary displays.

[0042] In this embodiment, a shovel is used as an example of a working machine, but this embodiment can also be applied to the hydraulic systems of other working machines equipped with hydraulic actuators.

[0043] Next, with reference to Figure 5, a working machine according to another modification of this embodiment will be described. Figure 5 shows an example of an image displayed on the display device 42 by the control device 40 of the work machine according to this modified example. In the embodiment shown in Figure 4, for one spool valve, the correspondence between the spool displacement and the opening area, and the correspondence between the spool displacement and the pilot pressure are displayed in relation to the amount of operation of the operator 26A. However, in the operation of the shovel 10, the driving and slewing movements of the boom 14, arm 15, and bucket 16 are sometimes performed simultaneously.

[0044] In the embodiment shown in Figure 5, the correspondence between spool displacement and opening area, and the correspondence between spool displacement and pilot pressure, for the four spool valves—boom control valve 27A, arm control valve 27B, bucket control valve 27C, and slewing control valve 27F—is displayed in relation to the operating amount of the operator 26A. This allows the operator to simultaneously know the current operating status and the operating status of the boom control valve 27A, arm control valve 27B, bucket control valve 27C, and slewing control valve 27F, in relation to each other, when simultaneously driving and slewing the boom 14, arm 15, and bucket 16.

[0045] Next, a working machine according to yet another modification of this embodiment will be described with reference to Figure 6. Figure 6 is a diagram showing an example of an image displayed on the display device 42 by the control device 40 of the working machine according to this modification. In this modification, the actuator speed (for example, the speed of the rod of a hydraulic cylinder such as the boom cylinder 17, and the rotational speed of a hydraulic motor such as the slewing hydraulic motor 12R) is displayed numerically in the graph showing the correspondence between the spool displacement and the opening area. The display position of the actuator speed moves along with the movement of the mark 46.

[0046] The actuator speed can be determined by calculating the time change in the extension and retraction length of the hydraulic cylinder. Alternatively, the actuator speed can also be calculated from the flow rate of the hydraulic fluid flowing through the boom control valve 27A, etc. The flow rate of the hydraulic fluid can be calculated from the difference between the pressure at the inlet and outlet of the hydraulic fluid in the boom control valve 27A, etc., and the opening area.

[0047] In this modified example, the operator can easily determine the actuator speed directly related to the movement of the boom 14, etc. Furthermore, when the amount of control of the operator 26A is further increased by the movement of the mark 46, the operator can easily determine the point at which the ratio of the increase in actuator speed to the increase in spool displacement becomes large.

[0048] Next, a working machine according to yet another modification of this embodiment will be described with reference to Figure 7. Figure 7 is a diagram showing an example of an image displayed on the display device 42 by the control device 40 of the working machine according to this modification. In this modification, instead of a graph showing the correspondence between spool displacement and opening area, a graph showing the correspondence between spool displacement and actuator speed is displayed. Marks 47, such as circles, are displayed on this graph at positions corresponding to the current spool displacement and actuator speed.

[0049] In this modified example, the operator can more intuitively grasp the actuator speed.

[0050] The actuator speed is a physical quantity that depends on the aperture area. Thus, instead of the size of the aperture area, a physical quantity that depends on the aperture area may be used as one axis of the graph displayed on the display device 42.

[0051] Next, we will describe a working machine according to another embodiment with reference to Figure 8. We will omit the explanation of components common to the working machines described with reference to Figures 1 to 4 below.

[0052] Figure 8 is a block diagram showing the drive system of the shovel 10 according to this embodiment. In the embodiment shown in Figure 2, the primary pilot pressure generated by the pilot pump 25 is converted to secondary pilot pressure by the operating device 26 and supplied to multiple spool valves of the control valve 27. In contrast, in the embodiment shown in Figure 8, the hydraulic control valve 35 converts the primary pilot pressure generated by the pilot pump 25 to secondary pilot pressure and supplies it to multiple spool valves of the control valve 27. An electromagnetic proportional valve is used as the hydraulic control valve 35.

[0053] The amount of operation of the control element 26A of the operating device 26 is converted into an electrical signal by the operating pressure sensor 39 and input to the control device 40. The control device 40 controls the hydraulic control valve 35 based on the electrical signal obtained from the operating pressure sensor 39. In this way, the control device 40 controls the hydraulic control valve 35, which generates secondary pilot pressure that is supplied to the multiple spool valves of the control valve 27.

[0054] Next, we will describe the excellent effects of this embodiment. In this embodiment as well, similar to the embodiment described with reference to Figures 1 to 4, the operator can quickly grasp the knack of operation. Furthermore, in the embodiment shown in Figure 8, it is also possible to remotely operate the shovel 10 using a remote control device similar to the operating device 26. In this case, it is sufficient to transmit an electrical signal indicating the amount of operation from the remote control device to the control device 40.

[0055] Next, a work machine support system according to another embodiment will be described with reference to Figure 9. Figure 9 is a schematic diagram of the work machine support system according to this embodiment. The work machine support system according to this embodiment includes an external support device 50 in addition to the work machine, such as a shovel 10, as described in the embodiment with reference to Figures 1 to 4. As the external device 50, for example, a tablet terminal, a laptop computer, a desktop computer, etc. can be used.

[0056] The shovel 10 is equipped with a communication device 43 for communicating with an external device 50. The external device 50 and the shovel 10 can communicate data with each other. This data communication may utilize a short-range wireless communication method such as Wi-Fi, or a public communication network such as the Internet.

[0057] The control device 40 of the shovel 10 transmits information defining the correspondence between spool displacement and opening area, and the correspondence between spool displacement and pilot pressure, to the external device 50. The external device 50 stores these correspondences for each model of shovel 10. Furthermore, the control device 40 of the shovel 10 periodically transmits information indicating the amount of operation of the operator 26A to the external device 50. Based on this information received from the shovel 10, the external device 50 displays the correspondence between spool displacement and opening area, and the correspondence between spool displacement and pilot pressure, on a display screen in association with the amount of operation of the operator 26A (Figure 2).

[0058] The external device 50 further records the history of the operation amount of the operator 26A. Based on the information defining the history of the operation amount, the correspondence between the spool displacement amount and the opening area, and the correspondence between the spool displacement amount and the pilot pressure, the external device 50 has a function to redisplay the correspondence between the spool displacement amount and the opening area, and the correspondence between the spool displacement amount and the pilot pressure on the display screen in association with the operation amount of the operator 26A (Figure 2).

[0059] Next, we will describe the excellent effects of this embodiment. An experienced operator can evaluate the skill of the operator operating the shovel 10 by looking at the information displayed on the screen. For example, if the operator crosses the point where the rate of increase of the opening area changes (the point where the spool displacement is D1) more times than necessary, the operator's skill will be evaluated as low.

[0060] The embodiments described above are illustrative, and it goes without saying that partial substitution or combination of the configurations shown in different embodiments is possible. Similar effects and benefits from similar configurations in multiple embodiments will not be mentioned sequentially for each embodiment. Furthermore, the present invention is not limited to the embodiments described above. For example, it will be obvious to those skilled in the art that various modifications, improvements, and combinations are possible. [Explanation of symbols]

[0061] 10 Shovels 11 Lower running body 11L Left-hand drive hydraulic motor 11R Right-hand drive hydraulic motor 12. Swivel mechanism 12A Swivel Hydraulic Motor 13 Upper rotating body 14 Boom 15 Arms 16 buckets 17 Boom Cylinder 18 Arm Cylinder 19 Bucket Cylinder 21 Engine 24 Main pump 25 Pilot pump 26 Operating device 26A Controller 27 Control valve 27A Boom Control Valve 27B Arm control valve 27C Bucket control valve 27D Left travel motor control valve 27E Right-hand travel motor control valve 27F Swivel Hydraulic Motor Control Valve 28A~28F Displacement Sensor 35 Hydraulic control valve 38 Discharge pressure sensor 39 Operating pressure sensor 40 Control device 42 Display device 43 Communication equipment 45. A mark displayed at the position corresponding to the current pilot pressure and spool displacement. 46. ​​A mark displayed at the position corresponding to the current spool displacement and opening area. 47. A mark displayed at the position corresponding to the current spool displacement and actuator speed. 50 External device

Claims

1. The control device operated by the operator, Hydraulic actuators and A spool valve that changes the flow rate of hydraulic fluid supplied to the hydraulic actuator, Display device and Control device and Equipped with, The spool of the spool valve is displaced according to the amount of operation of the operator, and the opening area of ​​the path through which the hydraulic fluid passes changes according to the amount of spool displacement. The spool valve has the characteristic that the ratio of the increase in the opening area to the increase in the spool displacement is not constant. The control device is a work machine that displays on a display device the correspondence between a physical quantity that depends on the amount of operation of the operator and a physical quantity that depends on the opening area, in relation to the current amount of operation of the operator.

2. The relationship between the physical quantity dependent on the amount of operation of the control and the physical quantity dependent on the opening area is represented by a graph where one of the horizontal and vertical axes represents the physical quantity dependent on the amount of operation of the control, and the other represents the physical quantity dependent on the opening area. The work machine according to claim 1, which displays on the graph the position corresponding to the current amount of operation of the control element in a recognizable manner.

3. The working machine according to claim 1 or 2, wherein the physical quantity that depends on the amount of operation of the operator is the spool displacement.

4. The working machine according to claim 1 or 2, wherein the physical quantity dependent on the opening area is the size of the opening area or the speed of the rod of the hydraulic actuator.

5. The spool is displaced by a pilot pressure that changes according to the amount of operation of the operator. The working machine according to claim 1 or 2, wherein the control device further displays the relationship between the pilot pressure and the spool displacement amount on the display device in relation to the current operating amount of the operator.

6. A working machine according to claim 1 or 2, The aforementioned work machine communicates with an external device including a display screen. Equipped with, The aforementioned work machine transmits to the external device information defining the correspondence between a physical quantity dependent on the amount of operation of the operator and a physical quantity dependent on the opening area, and information indicating the current amount of operation of the operator. The external device is a work machine support system that displays on the display screen the correspondence between a physical quantity that depends on the amount of operation of the operator and a physical quantity that depends on the opening area, in relation to the current amount of operation of the operator.

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