Hitachi Construction Machinery Co., Ltd.

Hisami Nakano

Hiroaki Tanaka

Yusuke Suzuki

Hiroshi Sakamoto

Takaaki Chiba

Hidekazu Moriki

Akihiro Narazaki

Yuusuke Suzuki

Manabu Edamura

Teruki Igarashi

Masamichi Ito

A hydraulic excavator includes a traveling body, a slewing body, a working front having a boom, an arm, and a bucket, an operation amount detector, a posture detector, a load detector, a drive controller, and a drive unit. The drive controller calculates a target operation speed of the actuator based on the operation amount, the posture of the working front, and the target surface distance so that the bucket excavates along the construction target surface, and determines soil hardness of a place to be excavated based on a result detected by the load detector, corrects the target operation speed based on the soil hardness, and generates a motion command value. The drive controller determines a target jack-up speed when the hydraulic excavator jacks up based on the target surface distance, and corrects the target operation speed based on the determined target jack-up speed.

Hydraulic excavator

The present disclosure provides a work machine capable of providing operation assistance matching an operator's intent in consideration of a rotating motion. A control device includes a storage device and a central processing device. The storage device has stored therein construction target information for a work device and determination criteria information for the work content of the work device based on the amount of operation of a rotating device. The central processing device, based on the position and attitude of the work device detected by a sensor, the amount of operation of the rotating device detected by an operation amount detection device, and the determination criteria information stored in the storage device, determines the work content of the work device, calculates a correction value for the construction target information based on the determined work content, and controls a drive device based on the construction target information and the correction value.

Work machine including a boom, an arm and a bucket, and for performing work including finishing and rough excavation of a flat surface or an inclined surface of a construction target

A main controller generates a supplemented design face that passes through a junction or above the junction between a first design face and a second design face adjacent to each other, among a plurality of design faces, the supplemented design face having one end thereof positioned on the first design face and another end thereof positioned on the second design face, sets a curvature 1/R of the supplemented design face according to an arm operation amount of an operation lever device, and executes semi-automatic excavation control to control a boom cylinder with one of the faces included in the supplemented design face being set as the target face.

Work machine

Provided is a hydraulic excavator including a controller that can control a work device by utilizing an excavation work control for causing a claw tip of a bucket to move along a predetermined target surface and a leveling work control for causing the bucket to move along the target surface while maintaining the posture of the bucket with respect to the target surface, in which: the controller, based on posture data and size data on a work device and position data on the target surface, calculates an arm tip difference Dva that is the distance from the tip of an arm to the target surface; and the controller executes the leveling work control in a case of the calculated arm tip difference being equal to or less than a predetermined threshold dv, there being no input of a bucket operation to an operation lever, and there being an input of an arm operation to the operation lever, and otherwise executes the excavation work control.

A work machine includes a controller that executes a semi-automatic control to correct an operation amount indicated by an instruction given by operation devices. The controller is configured to make a compaction determination to determine whether or not a bottom surface of a bucket is being pressed against a ground; and to further correct an operation amount having been corrected by the semi-automatic control, such that a force that the bucket applies to the ground increases if the bottom surface of the bucket is determined as being pressed against the ground.

Compaction control of work machine

In a hydraulic excavator including a main controller that can execute area restriction control, the main controller is configured to calculate an operation velocity Vix of a front work device in a machine body coordinate system. The controller is further configured to calculate a movement velocity (dragging velocity) of a machine body in a gravity coordinate system and correct a direction of a calculated target velocity vector upward away from a construction target surface when generation of dragging is detected during execution of the area restriction control based on the calculated operation velocity of the front work device and the calculated movement velocity of the machine body.

An hydraulic excavator calculates an estimated excavation volume Va defined by a bucket claw tip position (first position) at an excavation start, a bucket claw tip position (second position) at an excavation end set in advance, a current landform, a first target surface, and a bucket width w. A second target surface is generated at a position superior to the first target surface when the estimated excavation volume Va exceeds a limit volume Vb; and the second target surface is generated at a position at which the excavation volume defined by the first position, the second position, the current landform, the second target surface, and the bucket width is closer to the limit volume Vb. The hydraulic actuators are controlled such that an operating range of a work implement is limited on the second target surface and to an area superior to the second target surface.

A work machine capable of assisting in an operator's operation to allow a work tool move along a design surface indicating a target shape of an object to be worked irrespectively of an angle of the design surface and a posture of a work implement is provided. A controller determines an excavation actuator in charge of an excavation action and determines an alignment actuator in charge of an alignment action for a work tool out of a plurality of actuators on the basis of the design surface set by a work execution target setting device and the posture of the work implement measured by a work implement posture/position measurement device, determines a target velocity of the excavation actuator on the basis of operation signals outputted from an operation device, and limits a target velocity of the alignment actuator in a direction in which the work tool approaches the design surface.

To provide a work machine that can maintain the construction precision of semi-automatic control irrespective of excavation depths and differences in soil nature. A controller acquires soil-nature information on the basis of an operation command given to a work implement, a bucket-claw-tip position outputted from a bucket-position measuring device, and a drive load of the work implement outputted from a load measuring device; generates a soil-nature map on the basis of the bucket-claw-tip position, and the soil-nature information; calculates an estimated load that is an estimate of an excavation load on the basis of the soil-nature map and a bucket-claw-tip target position; and corrects the operation command in accordance with the estimated load.

A controller mounted in a work machine limits a velocity at which a work device approaches a design surface to be equal to or lower than a predetermined limiting velocity in such a manner that the work machine is located above the design surface when an operation device is operated. The controller determines whether a work phase of the work device is compaction work on the basis of a posture of a bucket with respect to the design surface in a case in which the operation device instructs the work device to approach the design surface, and sets the limiting velocity when determining that the work phase of the work device is the compaction work to be higher than the limiting velocity when determining that the work phase of the work device is other than the compaction work.

Provided are a work point position computing section configured to compute the relative position of a work point set on a bucket with respect to an upper swing structure on the basis of posture information, a target surface setting section configured to set a target surface as a target of excavation work on the basis of design surface information, a primary operation determining section configured to determine which of operations of a boom and an arm is a primary operation as a main operation when the work point is moved along the target surface, and a recommended operation computing section configured to compute a recommended operation amount and a recommended operation direction of a secondary operation as another operation different from the primary operation in the operations of the boom and the arm according to an operation amount and an operation direction of the primary operation.

Construction machine

A controller () of the hydraulic excavator () includes a signal separation section () that separates each of target speed signals for a plurality of front members () into a low frequency component and a high frequency component, a high fluctuation target speed calculation section () that allocates the separated high frequency components preferentially to a front member having a relatively small inertial load to calculate high fluctuation target speeds individually for the plurality of front members, a high fluctuation target actuator speed calculation section () that calculates high fluctuation target speeds individually for the plurality of actuators from the high fluctuation target speeds for the plurality of front members, a low fluctuation target actuator speed calculation section () that calculates low fluctuation target speeds individually for the plurality of actuators from the low frequency components separated by the signal separation section, and an actuator controller () that controls the plurality of actuators individually based on values obtained by adding the high fluctuation target speeds and the low fluctuation target speeds.

In a work machine including a controller () configured to calculate respective target velocities of a hydraulic cylinder () for moving a plurality of work point candidates (and) set to a work device along an optionally set target surface () on the basis of positional data of the target surface, posture data of the work device (), and operation data of an operation lever (), and control the velocity of the hydraulic cylinder () according to one of a plurality of the calculated target velocities, the controller calculates a candidate point velocity (VTab or VTba) occurring in a case where each of the plurality of work point candidates is moved at the corresponding target velocity (VTa or VTb) and occurring at a remaining work point candidate, selects a velocity at which an entry into the target surface is least likely from among the plurality of candidate point velocities, and controls the hydraulic cylinder according to the target velocity of the work point candidate associated with the selected candidate point velocity.

Work machine with semi-automatic excavation and shaping

A work machine includes a controller () that performs an area restriction control for controlling at least one hydraulic cylinder () of a plurality of hydraulic cylinders () in such a manner that a work device () is located on or on an upper side of an optionally set target surface () during operation of an operation lever (). In the work machine, if a jack-up angle (&#x3c6;) as an inclination angle of a machine body (A) relative to a ground is larger than a preset target value (&#x3c6;t), the controller, in performing the area restriction control, corrects the control of the at least one hydraulic cylinder () in such a manner that the jack-up angle approaches the target value. The target value is set such as to vary according to posture of an arm ().

Work machine with jacked-up state control

Provided is a work machine with which an operator can easily perform semi-automatic excavating shaping work at an intended excavation velocity. An information processing device calculates a target velocity of a work point at a predetermined position on a work implement on the basis of each of operation signals of operation devices, calculates a distance between the work point and a target surface on the basis of posture information of driven members and position information of the target surface, corrects a velocity component of the target velocity, the velocity component being perpendicular to the target surface, according to the distance such that the work point does not penetrate the target surface, and performs, before calculating the target velocity, weighting on each of the operation signals of the operation devices according to contribution to a velocity component of the work point, the velocity component being parallel to the target surface, on the basis of the posture information of the driven members and the position information of the target surface.

Growing community of inventors

Tsuchiura, Japan

Hisami Nakano