阅读说明：本技术 挖土机、信息处理装置 (Shovel and information processing device ) 是由 田上大翔 于 2020-03-03 设计创作，主要内容包括：提供一种在挖土机中能够适当地调节备用附属装置和其他被驱动要件同时被操作的复合操作时的液压泵的流量的技术。本发明的一实施方式所涉及的挖土机具备：下部行走体(1)；上部回转体(3),回转自如地安装于下部行走体(1)；动臂(4),安装于上部回转体(3)；斗杆(5),安装于动臂(4)的前端；备用附属装置(例如,破碎器(90)、破碎机(92)),安装于斗杆(5)的前端；主泵(14),向备用附属装置及其他液压致动器(例如,动臂缸(7)或斗杆缸(8))供给工作油；及控制器(30),控制器(30)进行与备用附属装置和其他液压致动器同时被操作的复合操作时的主泵(14)的流量相关的设定。(Provided is a technique for appropriately adjusting the flow rate of a hydraulic pump in a shovel during a combined operation in which a backup attachment and other driven elements are simultaneously operated. An excavator according to an embodiment of the present invention includes: a lower traveling body (1); an upper revolving body (3) rotatably mounted on the lower traveling body (1); a boom (4) attached to the upper slewing body (3); a bucket rod (5) mounted at the front end of the movable arm (4); a backup attachment (e.g., a breaker (90) or a breaker (92)) mounted to the front end of the arm (5); a main pump (14) that supplies hydraulic oil to the auxiliary attachment and other hydraulic actuators (for example, the boom cylinder (7) or the arm cylinder (8)); and a controller (30), wherein the controller (30) performs setting related to the flow rate of the main pump (14) during combined operation in which the auxiliary attachment and the other hydraulic actuators are simultaneously operated.)

1. A shovel is provided with:

a lower traveling body;

an upper revolving structure rotatably mounted on the lower traveling structure;

a boom attached to the upper slewing body;

a bucket rod mounted at the front end of the movable arm;

the standby auxiliary device is arranged at the front end of the bucket rod;

a hydraulic pump that supplies hydraulic oil to the auxiliary attachment and the other hydraulic actuators; and

a control device for controlling the operation of the motor,

the control device makes a setting regarding a flow rate of the hydraulic pump in a combined operation in which the auxiliary attachment and the other hydraulic actuator are simultaneously operated.

2. The shovel of claim 1,

the control device performs setting relating to the flow rate of the hydraulic pump when the backup attachment is operated alone and when the backup attachment is operated in combination.

3. The shovel of claim 2,

the control device makes a setting regarding the flow rate of the hydraulic pump so that the flow rate of the hydraulic pump in the combined operation can be larger than the flow rate of the hydraulic pump in the single operation.

4. The shovel of claim 3,

the control device performs setting relating to a flow rate of the hydraulic pump so that the flow rate of the hydraulic pump during the combined operation can be larger than the flow rate of the hydraulic pump during the single operation when the auxiliary attachment is of a double-acting type, and performs setting relating to the hydraulic pump so that the flow rate of the hydraulic pump during the combined operation does not increase with respect to the flow rate of the hydraulic pump during the single operation when the auxiliary attachment is of a single-acting type.

5. The shovel of claim 3,

the control device sets a flow rate of the hydraulic pump at the time of the combined operation to an additional amount of the flow rate of the hydraulic pump at the time of the single operation.

6. The shovel according to claim 3, further comprising:

a display device that displays the setting content related to the flow rate of the hydraulic pump set by the control device,

when the flow rate of the hydraulic pump at the time of the combined operation is set to be larger than the flow rate of the hydraulic pump at the time of the single operation, the display device displays a display emphasizing the setting.

7. The shovel of claim 6,

the display device displays a setting content of the flow rate of the hydraulic pump in the single operation and a setting content of the flow rate of the hydraulic pump in the combined operation so as to be able to be compared with each other.

8. The shovel of claim 6,

the display device displays the setting content of the flow rate of the hydraulic pump at the time of the combined operation at a flow rate that is an added amount of the flow rate of the hydraulic pump at the time of the single operation.

9. The shovel of claim 8,

the display means displays a multi-level bar graph representing the flow rate of the added amount,

the proportions of the flow rates allocated to the various levels of the bar graph are different.

10. The shovel of claim 1,

the control device performs setting relating to the flow rate of the hydraulic pump at the time of the combined operation for each type of the backup attachment.

11. An information processing apparatus includes:

a communication unit that communicates with a shovel, the shovel including: a lower traveling body; an upper revolving structure rotatably mounted on the lower traveling structure; a boom attached to the upper slewing body; a bucket rod mounted at the front end of the movable arm; the standby auxiliary device is arranged at the front end of the bucket rod; and a hydraulic pump that supplies working oil to the auxiliary attachment and the other hydraulic actuators; and

a setting portion that performs setting relating to a flow rate of the hydraulic pump in a combined operation in which the auxiliary attachment and the other hydraulic actuator are simultaneously operated,

the communication unit transmits the content set by the setting unit to the shovel.

Technical Field

The present invention relates to excavators and the like.

Background

A technique is known in which the flow rate of a hydraulic pump when a backup attachment such as a breaker is operated is appropriately adjusted (see patent document 1).

Documents of the prior art

Patent document

Patent document 1: japanese patent laid-open publication No. 2016-173031

Disclosure of Invention

Problems to be solved by the invention

However, patent document 1 does not mention a case where the auxiliary attachment and other driven elements such as a boom and an arm are simultaneously operated to perform a combined operation. Therefore, for example, if the flow rate of the hydraulic pump is increased to cope with the combined operation, the flow rate of the hydraulic oil supplied to the terminal fitting becomes excessively large, and there is a possibility that a problem such as breakage occurs.

In view of the above-described problems, it is an object of the present invention to provide a technique for appropriately adjusting a flow rate of a hydraulic pump in a combined operation in which a spare attachment and another driven element are simultaneously operated in a shovel.

Means for solving the problems

In order to achieve the above object, according to one embodiment of the present invention, there is provided a shovel including:

a lower traveling body;

an upper revolving structure rotatably mounted on the lower traveling structure;

a boom attached to the upper slewing body;

a bucket rod mounted at the front end of the movable arm;

the standby auxiliary device is arranged at the front end of the bucket rod;

a hydraulic pump that supplies hydraulic oil to the auxiliary attachment and the other hydraulic actuators; and

a control device for controlling the operation of the motor,

the control device makes a setting regarding a flow rate of the hydraulic pump in a combined operation in which the auxiliary attachment and the other hydraulic actuator are simultaneously operated.

In another embodiment of the present invention, there is provided an information processing apparatus including:

a communication unit that communicates with a shovel, the shovel including: a lower traveling body; an upper revolving structure rotatably mounted on the lower traveling structure; a boom attached to the upper slewing body; a bucket rod mounted at the front end of the movable arm; the standby auxiliary device is arranged at the front end of the bucket rod; and a hydraulic pump for supplying working oil to the auxiliary attachment and other hydraulic actuators; and

a setting portion that performs setting relating to a flow rate of the hydraulic pump in a combined operation in which the auxiliary attachment and the other hydraulic actuator are simultaneously operated,

the communication unit transmits the content set by the setting unit to the shovel.

Effects of the invention

According to the above-described embodiment, it is possible to provide a technique that can appropriately adjust the flow rate of the hydraulic pump in the combined operation in which the auxiliary attachment and the other driven elements are simultaneously operated in the excavator.

Drawings

Fig. 1A is a diagram showing an example of a shovel according to an embodiment.

Fig. 1B is a diagram showing another example of the shovel according to the embodiment.

Fig. 1C is a diagram showing another example of the shovel according to the embodiment.

Fig. 2A is a diagram showing an example of a structure of a shovel according to an embodiment.

Fig. 2B is a diagram showing another example of the structure of the shovel according to the embodiment.

Fig. 3A is a diagram showing an example 1 of the standby flow rate setting screen.

Fig. 3B is a diagram showing an example 1 of the standby flow rate setting screen.

Fig. 3C is a diagram showing an example 1 of the standby flow rate setting screen.

Fig. 4A is a diagram showing an example 2 of the standby flow rate setting screen.

Fig. 4B is a diagram showing an example 2 of the standby flow rate setting screen.

Fig. 4C is a diagram showing an example 2 of the standby flow rate setting screen.

Fig. 5 is a diagram showing an example of a shovel management system.

Detailed Description

Hereinafter, embodiments will be described with reference to the drawings.

[ brief description of the excavator ]

First, an outline of the shovel 100 according to the present embodiment will be described with reference to fig. 1 (fig. 1A to 1C).

Fig. 1A to 1C are diagrams showing an example, another example, and another example of the shovel 100 according to the present embodiment.

The shovel 100 according to the present embodiment includes: a lower traveling body 1; an upper revolving structure 3 rotatably mounted on the lower traveling structure 1 via a revolving mechanism 2; a boom 4, an arm 5, and a terminal attachment as attachments (working devices); and a cockpit 10.

The lower traveling body 1 includes, for example, a pair of left and right crawler belts, and the excavator 100 travels (self-travels) by hydraulically driving the crawler belts by the traveling hydraulic motor 1L and the traveling hydraulic motor 1R (see fig. 2).

The upper slewing body 3 is driven by a slewing hydraulic motor 2A (see fig. 2) to slew with respect to the lower traveling body 1.

A boom 4 is pivotally attached (mounted) to the front center of the upper revolving structure 3 so as to be tiltable, an arm 5 is pivotally attached (mounted) to the front end of the boom 4 so as to be vertically pivotable, and a terminal attachment is pivotally attached (mounted) to the front end of the arm 5 so as to be vertically pivotable. The postures (rotation axes) of the boom 4, the arm 5, and the end attachment are hydraulically driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9, which are hydraulic actuators.

The terminal attachment is attached to the arm 5 so as to be replaceable as appropriate according to the operation content of the shovel 100.

For example, as shown in fig. 1A, a bucket 6 as a terminal attachment is attached to the front end of the arm 5. As shown in fig. 1B and 1C, a spare attachment serving as a terminal attachment may be attached to the tip of the arm 5 instead of the bucket 6. For example, as shown in fig. 1B, a breaker 90 (an example of a backup attachment) is attached to the tip of the arm 5. As shown in fig. 1C, a crusher 92 (an example of a spare attachment) is attached to the tip of the arm 5. Further, a backup attachment (e.g., a tilting rotator) may be attached to the front end of the arm 5 so as to be interposed between the arm 5 and the terminal attachment.

In addition, the spare attachment incorporates a hydraulic actuator for driving itself. Therefore, in the following description, the backup attachment is used as a hydraulic actuator when another hydraulic actuator (for example, the boom cylinder 7 or the like) is a comparison target, and is used as a driven element when another driven element (for example, the boom 4 or the like) is a comparison target.

The cabin 10 is a cabin on which an operator or the like rides, and is mounted on the front left side of the upper revolving structure 3.

The shovel 100 operates driven elements such as the lower traveling structure 1 (left and right crawler belts), the upper revolving structure 3, the boom 4, the arm 5, and the bucket 6 according to an operation of an operator riding on the cab 10.

The shovel 100 may be configured to be operated by an operator on the cab 10 or may be configured to be operated remotely (remote) from outside the shovel 100. In the case where the excavator 100 is remotely operated, the interior of the cab 10 may be unmanned. The following description is made on the premise that the operation by the operator includes at least one of the operation by the operator of the cab 10 with respect to the operation device 26 and the remote operation by an external operator.

The remote operation includes, for example, a mode of operating the shovel 100 by an operation input related to an actuator of the shovel 100 performed in a predetermined external device. The predetermined external device is, for example, a management device 200 described later. At this time, the shovel 100 may transmit image information (captured image) output from an imaging device that captures the periphery of the upper revolving structure 3 to an external device, for example, and display the image information on a display device provided in the external device (hereinafter, "display device for remote operation"). Various information images (information screens) displayed on a display device 50 described later in the cab 10 of the shovel 100 may be displayed on a remote operation display device of an external device in the same manner. Thus, the operator of the external device can remotely operate the shovel 100 while confirming the display content such as the captured image or the information screen that displays the state of the periphery of the shovel 100, for example, displayed on the remote operation display device. The shovel 100 can drive the driven elements such as the lower traveling structure 1 (left and right crawler belts), the upper revolving structure 3, the boom 4, the arm 5, and the bucket 6 by actuating the actuator in response to a remote operation signal indicating the content of the remote operation received from the external device.

The remote operation may include, for example, a mode of operating the shovel 100 by voice input, gesture input, or the like performed from the outside with respect to the shovel 100 by a person (for example, an operator) around the shovel 100. Specifically, the shovel 100 recognizes a sound generated by a surrounding operator or the like, a gesture performed by an operator or the like, and the like, by a sound input device (for example, a microphone) or a gesture input device (for example, an imaging device) or the like mounted on the shovel 100. The shovel 100 can drive the driven elements such as the lower traveling structure 1 (left and right crawler belts), the upper revolving structure 3, the boom 4, the arm 5, and the bucket 6 by operating the actuator according to the contents of the recognized sound, gesture, and the like.

Moreover, the shovel 100 may automatically operate the actuator without depending on the operation content of the operator. This realizes a function (so-called "automatic operation function" or "machine control function") in which the shovel 100 automatically operates at least a part of driven elements such as the lower traveling structure 1 (left and right crawler tracks), the upper revolving structure 3, the boom 4, the arm 5, and the bucket 6.

The automatic operation function may include: a function of automatically operating the driven elements (hydraulic actuators) other than the driven elements (hydraulic actuators) to be operated (so-called "semi-automatic operation function") in response to an operation of the operation device 26 by an operator or a remote operation. The automatic operation function may include: a function of automatically operating at least a part of the plurality of driven elements (hydraulic actuators) without an operation or remote operation of the operator with respect to the operation device 26 (so-called "full-automatic operation function"). In the excavator 100, the interior of the cab 10 may be in an unmanned state when the full-automatic running function is enabled. The semi-automatic operation function or the full-automatic operation function may include: the operation content of the driven element (hydraulic actuator) to be automatically operated is automatically determined according to a predetermined rule. The semi-automatic operation function or the full-automatic operation function may include: the shovel 100 autonomously makes various determinations, and autonomously determines a mode of operation content of a driven element (hydraulic actuator) to be automatically operated (so-called "autonomous operation function") based on the determination result.

[ Structure of excavator ]

Next, the structure of the shovel 100 will be described with reference to fig. 2 (fig. 2A and 2B) in addition to fig. 1A to 1C.

Fig. 2A and 2B are views showing an example and another example of the structure of the shovel 100 according to the present embodiment, respectively. Specifically, fig. 2A is a diagram showing the structure of the shovel 100 when the crusher 90 is attached, and fig. 2B is a diagram showing the structure of the shovel 100 when the crusher 92 is attached.

In the figure, a mechanical power line is indicated by a double line, a high-pressure hydraulic line is indicated by a solid line, a pilot line is indicated by a broken line, and an electric drive/control line is indicated by a dotted line. In addition, in the structure of the shovel 100 when the bucket 6 is attached, the breaker 90 and the breaker 92 in fig. 2A and 2B are omitted, and the output oil passage of the control valve 177 is only closed, so that the illustration thereof is omitted.

Hydraulic drive system for excavator

The hydraulic drive system of the excavator 100 according to the present embodiment includes hydraulic actuators for hydraulically driving driven elements such as the lower traveling structure 1, the upper revolving structure 3, the boom 4, the arm 5, the posture (rotation axis) of the end attachment, and the spare attachments (the crusher 90 and the crusher 92). The hydraulic actuator includes a hydraulic mechanism portion in which a travel hydraulic motor 1L, a travel hydraulic motor 1R, a turning hydraulic motor 2A, a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, and a spare attachment are built. The hydraulic drive system of the shovel 100 according to the present embodiment includes an engine 11, a main pump 14L, a main pump 14R, and a control valve 17.

The engine 11 is a main power source in the hydraulic drive system, and is mounted, for example, on the rear portion of the upper slewing body 3. Specifically, engine 11 is rotated at a predetermined target rotation speed under the control of controller 30, and drives main pump 14L, main pump 14R, and pilot pump 15. The engine 11 is, for example, a diesel engine using diesel oil as fuel.

The main pump 14L and the main pump 14R are mounted on the rear portion of the upper slewing body 3, for example, in the same manner as the engine 11, and supply hydraulic oil to the control valve 17 through a high-pressure hydraulic line. As described above, main pump 14L and main pump 14R are driven by engine 11. The main pump 14L and the main pump 14R are, for example, variable displacement hydraulic pumps, and the stroke length of the pistons is adjusted by adjusting the angle (tilt angle) of a swash plate by the regulators 13L and 13R under the control of the controller 30, thereby controlling the discharge flow rate (discharge pressure).

The control valve 17 is, for example, a hydraulic control device as follows: mounted on the central portion of upper revolving unit 3, hydraulic drive system is controlled in accordance with an operation or remote operation performed by an operator or the like with respect to operation device 26. Control valve 17 is connected to main pump 14L and main pump 14R via a high-pressure hydraulic line, and selectively supplies the hydraulic oil supplied from main pump 14L and main pump 14R to the respective hydraulic actuators in accordance with the state of operation or remote operation of operation device 26. Specifically, the control valve 17 includes: and control valves 171, 172, 173, 174, 175L, 175R, 176L, 176R, and 177 that control the flow rate and the flow direction of hydraulic oil supplied from the main pump 14L and the main pump 14R to the respective hydraulic actuators. The control valve 17 includes a neutral shutoff valve 178 of the center bypass oil passage C1R.

The hydraulic drive system of the excavator 100 circulates the hydraulic oil from the main pump 14L and the main pump 14R driven by the engine 11 to the hydraulic oil tank through the center bypass oil passage C1L, the center bypass oil passage C1R, the parallel oil passage C2L, and the parallel oil passage C2R, respectively.

The center bypass oil passage C1L passes through the control valves 177, 171, 173, 175L, and 176L disposed in the control valve 17 in order from the main pump 14L to reach the hydraulic oil tank.

The center bypass oil passage C1R passes through the control valves 172, 174, 175R, and 176R disposed in the control valve 17 and the neutral shutoff valve 178 in this order from the main pump 14R to reach the hydraulic oil tank. In the present example, the control valve 172, the control valve 174, the control valve 175R, and the control valve 176R always keep the center bypass oil passage C1R in a communicating state. Therefore, as long as the neutral shutoff valve 178 is in the open state, the center bypass oil passage C1R is in the communicating state.

The control valve 171 is a spool valve as follows: the hydraulic oil discharged from the main pump 14L is supplied to the traveling hydraulic motor 1L, and the hydraulic oil discharged from the traveling hydraulic motor 1L is discharged to a hydraulic oil tank.

The control valve 172 is a spool valve as follows: the hydraulic oil discharged from the main pump 14R is supplied to the traveling hydraulic motor 1R, and the hydraulic oil discharged from the traveling hydraulic motor 1R is discharged to a hydraulic oil tank.

The control valve 173 is a spool valve as follows: the hydraulic oil discharged from the main pump 14L is supplied to the hydraulic swing motor 2A, and the hydraulic oil discharged from the hydraulic swing motor 2A is discharged to a hydraulic oil tank.

Control valve 174 is a spool valve as follows: the hydraulic oil discharged from the main pump 14R is supplied to the bucket cylinder 9, and the hydraulic oil in the bucket cylinder 9 is discharged to the hydraulic oil tank.

Control valves 175L and 175R are spool valves as follows: the hydraulic oil discharged from the main pump 14L and the main pump 14R is supplied to the boom cylinder 7, and the hydraulic oil in the boom cylinder 7 is discharged to a hydraulic oil tank.

The control valves 176L and 176R supply the hydraulic oil discharged from the main pump 14L and the main pump 14R to the arm cylinder 8, and discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank.

The control valve 177 is a spool valve that supplies the hydraulic oil discharged from the main pump 14L to the auxiliary machinery.

For example, as shown in fig. 2A, the breaker 90 is of a single-acting type, and the working oil flows in only one direction. Therefore, the control valve 177 uses the spool position at the center where the supply of the working oil to the breaker 90 is stopped, and the spool position on the left side where the supply of the working oil to the breaker 90 is stopped.

Also, for example, as shown in fig. 2B, the crusher is of a double-acting type, and the working oil flows in both directions. Therefore, the control valve 177 supplies the hydraulic oil discharged from the main pump 14L to the auxiliary equipment and discharges the hydraulic oil in the auxiliary equipment to the hydraulic oil tank. That is, the control valve 177 uses the spool position at the center where the supply of the working oil to the breaker 92 is stopped, the spool position on the left side where the working oil is supplied to the breaker 92 in the 1 st direction, and the spool position on the right side where the working oil is supplied to the breaker 92 in the 2 nd direction opposite to the 1 st direction.

The control valves 171, 172, 173, 174, 175L, 175R, 176L, and 176R adjust the flow rates of the hydraulic oil supplied to and discharged from the hydraulic actuators or switch the flow directions thereof, respectively, in accordance with the pilot pressures acting on the pilot ports.

The neutral shutoff valve 178 is provided downstream of the control valve 176R of the center bypass oil passage C1R and upstream of a negative control throttle (hereinafter, "negative control throttle") 18R, which will be described later. The neutral shutoff valve 178 is a Normally open valve (Normally open valve) that is Normally open, and is closed in response to a control command from the controller 30. The neutral shutoff valve 178 is closed under the control of the controller 30, and thereby can block the center bypass oil passage C1R on the downstream side of the control valve 176R.

The parallel oil passage C2L supplies the hydraulic oil of the main pump 14L to the control valves 171, 173, 175L, 176L in parallel with the center bypass oil passage C1L. Specifically, the parallel oil passage C2L branches off from the center bypass oil passage C1L on the upstream side of the control valve 171, and is configured to be able to supply the hydraulic oil of the main pump 14L in parallel with the control valves 171, 173, 175L, and 176R, respectively. Thus, when the flow of the hydraulic oil passing through the center bypass oil passage C1L is restricted or blocked by any one of the control valves 171, 173, and 175L, the parallel oil passage C2L can supply the hydraulic oil to the control valve further downstream.

The parallel oil passage C2R supplies the hydraulic oil of the main pump 14R to the control valves 172, 174, 175R, 176R in parallel with the center bypass oil passage C1R. Specifically, the parallel oil passage C2R is branched from the center bypass oil passage C1R on the upstream side of the control valve 172, and is configured to be able to supply the hydraulic oil of the main pump 14R in parallel with the control valves 172, 174, 175R, and 176R, respectively. Thus, when the flow of the hydraulic oil passing through the center bypass oil passage C1R is restricted or blocked by any one of the control valves 172, 174, and 175R, the parallel oil passage C2R can supply the hydraulic oil to the control valve further downstream.

The bypass passage C3 connects the oil passage portion between the control valve 176R of the center bypass passage C1R and the neutral shutoff valve 178 with the oil passage portion upstream of the control valve 177 of the center bypass passage C1L. A check valve is provided in the bypass oil passage C3, and the bypass oil passage C3 allows the working oil to flow only from the center bypass oil passage C1R to the center bypass oil passage C1L. Thus, by closing the neutral shutoff valve 178, the bypass passage C3 can merge the hydraulic oil in the center bypass passage C1R, that is, the hydraulic oil in the main pump 14R, with the hydraulic oil in the center bypass passage C1L upstream of the control valve 177. Therefore, the auxiliary equipment can receive the supply of hydraulic oil from both the main pump 14L and the main pump 14R through the control valve 177 under the control of the controller 30.

< operating System of excavator >

The operation system of the shovel 100 according to the present embodiment includes the pilot pump 15 and the operation device 26.

The pilot pump 15 is mounted on the rear portion of the upper slewing body 3, for example, in the same manner as the engine 11, and supplies a pilot pressure to the operation device 26 via a pilot conduit 25. The pilot pump 15 is, for example, a fixed displacement hydraulic pump, and is driven by the engine 11 as described above.

The operation device 26 is an operation input mechanism provided near an operator's seat of the cab 10, for example, for an operator or the like to operate driven elements (the lower traveling structure 1, the upper revolving structure 3, the boom 4, the arm 5, a posture (rotation axis) of the end attachment, the auxiliary attachment, and the like). In other words, the operation device 26 is an operation input mechanism for performing an operation of driving the hydraulic actuators (i.e., the traveling hydraulic motor 1L, the traveling hydraulic motor 1R, the turning hydraulic motor 2A, the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, the auxiliary attachment, and the like) of the driven elements. The operation device 26 includes, for example, 4 joystick devices for operating the respective postures (rotation axes) of the upper slewing body 3 (slewing hydraulic motor 2A), the boom 4 (boom cylinder 7), the arm 5 (arm cylinder 8), and the end attachment (bucket cylinder 9). The operating device 26 includes, for example, 2 joystick devices or pedal devices for operating (a rotation shaft of) each of the left and right crawler belts (the traveling hydraulic motor 1L and the traveling hydraulic motor 1R) of the lower traveling body 1. The operating device 26 includes, for example, a lever device or a pedal device for operating the auxiliary attachment.

As shown in fig. 2A and 2B, the operation device 26 is of a hydraulic pilot type that outputs hydraulic oil having a pilot pressure corresponding to the operation content, for example. The operating device 26 is connected to the control valve 17 via a pilot line. As a result, a pilot pressure corresponding to the operation state of a driven element (i.e., a hydraulic actuator that drives the driven element) in the operation device 26 is input to the control valve 17. Specifically, pilot pressures on the secondary sides of 2 joystick devices or pedal devices that operate the left crawler belt (traveling hydraulic motor 1L) and the right crawler belt (traveling hydraulic motor 1R) act on pilot ports of the control valve 171 and the control valve 172, respectively. Then, a pilot pressure on the secondary side of the lever device that operates the upper slewing body 3 (slewing hydraulic motor 2A) acts on a pilot port of the control valve 173. Then, a pilot pressure on the secondary side of the lever device that operates the boom 4 (boom cylinder 7) acts on pilot ports of the control valve 175L and the control valve 175R. Further, a pilot pressure on the secondary side of the lever device that operates the arm 5 (arm cylinder 8) acts on the pilot ports of the control valves 176L and 176R. Then, a pilot pressure on the secondary side of the lever device that operates the posture (bucket cylinder 9) of the end attachment acts on the pilot port of the control valve 174. Then, a pilot pressure on the secondary side, such as a lever device or a pedal device that operates the auxiliary attachment, is applied to a pilot port of the control valve 177. Therefore, the control valve 17 can drive the respective hydraulic actuators in accordance with the operation state in the operation device 26.

The operation device 26 may be, for example, an electrical type that outputs an electrical signal (hereinafter, referred to as an "operation signal") according to the operation content. At this time, an operation signal from the operation device 26 is input to the controller 30, and the controller 30 controls each control valve in the control valve 17 based on the input operation signal, thereby realizing operations of various hydraulic actuators according to the operation content with respect to the operation device 26. For example, the control valve within control valve 17 may be an electromagnetic solenoid type spool valve that is actuated by commands from controller 30. For example, a hydraulic control valve (hereinafter, "control valve for operation") that operates in accordance with a control command from the controller 30 may be disposed between the pilot pump 15 and the pilot port of each control valve. At this time, when a manual operation using the electric operation device 26 is performed, the controller 30 can control the operation control valves by a control command corresponding to the operation amount (for example, a joystick operation amount) to increase or decrease the pilot pressure, thereby operating the control valves in accordance with the operation content of the operation device 26.

Control system of excavator

The control system of the shovel 100 according to the present embodiment includes: the controller 30, the regulator 13L, the regulator 13R, the negative control restrictor 18L, the negative control restrictor 18R, the negative control pressure sensor 19L, the negative control pressure sensor 19R, the discharge pressure sensor 28, the operation pressure sensor 29, the display device 50, and the input device 52.

The controller 30 performs various controls related to the shovel 100. The functions of the controller 30 may be implemented by any hardware or any combination of hardware and software. For example, the controller 30 is mainly configured by a computer including a processor such as a CPU (Central Processing Unit), a Memory device such as a RAM (Random Access Memory), a nonvolatile auxiliary Memory device such as a ROM (Read Only Memory), and various input/output interface devices. The controller 30 realizes various functions by executing various programs installed on the auxiliary storage device on the CPU, for example.

For example, the controller 30 sets a target rotation speed based on an operation mode or the like set in advance by an operation of an operator or the like, and performs drive control for rotating the engine 11 constantly, either directly or via a dedicated controller for the engine 11.

For example, the controller 30 controls the regulators 13L and 13R, and adjusts the tilt angles of the swash plates of the main pumps 14L and 14R to control the discharge amounts (flow rates) of the main pumps 14L and 14R.

Specifically, the controller 30 may control the regulators 13L and 13R to adjust the discharge rates of the main pumps 14L and 14R so that the flow rates of the main pumps 14L and 14R become equal to or lower than the preset maximum flow rates of the main pumps 14L and 14R.

The controller 30 may control the regulators 13L and 13R and control the discharge amounts of the main pump 14L and the main pump 14R based on the discharge pressures of the main pump 14L and the main pump 14R detected by the discharge pressure sensor 28L and the discharge pressure sensor 28R. For example, the controller 30 may reduce the discharge amount by adjusting the swash plate tilt angle of the main pump 14L by the regulator 13L in accordance with an increase in the discharge pressure of the main pump 14L. The same applies to the regulator 13R. Thus, the controller 30 can control the total horsepower of the main pump 14L and the main pump 14R such that the suction horsepower of the main pump 14L and the main pump 14R, which is expressed by the product of the discharge pressure and the discharge amount, does not exceed the output horsepower of the engine 11.

The controller 30 may control the regulators 13L and 13R based on detection signals corresponding to control pressures (hereinafter, "negative control pressures") generated by the negative control restrictors 18L and 18R, which are input from the negative control pressure sensor 19L and 19R, and adjust the discharge rates of the main pump 14L and the main pump 14R. For example, the controller 30 performs control as follows: the discharge amounts of the main pump 14L and the main pump 14R are reduced as the negative control pressure is increased, and the discharge amounts of the main pump 14L and the main pump 14R are increased as the negative control pressure is decreased. At this time, as described above, the controller 30 controls the regulators 13L and 13R to regulate the discharge rates of the main pumps 14L and 14R so that the flow rates of the main pumps 14L and 14R become equal to or less than the preset maximum flow rates of the main pumps 14L and 14R.

In a standby state (state shown in fig. 2A and 2B) in which none of the hydraulic actuators in the shovel 100 is operated, the hydraulic oil discharged from the main pump 14L and the main pump 14R passes through the center bypass oil passage C1L and the center bypass oil passage C1R, and reaches the negative control throttle 18L and the negative control throttle 18R. The flow of the hydraulic oil discharged from the main pump 14L and the main pump 14R increases the negative control pressure generated upstream of the negative control throttle 18L and the negative control throttle 18R. As a result, the controller 30 reduces the discharge rates of the main pump 14L and the main pump 14R to the allowable minimum discharge rate, and suppresses the pressure loss (suction loss) when the discharged hydraulic oil passes through the center bypass oil passage C1L and the center bypass oil passage C1R.

On the other hand, when any of the hydraulic actuators is operated, the hydraulic oil discharged from the main pump 14L and the main pump 14R flows into the hydraulic actuator to be operated via the control valve corresponding to the hydraulic actuator to be operated. The flow of the hydraulic oil discharged from the main pump 14L and the main pump 14R decreases or disappears the amount of hydraulic oil reaching the negative control choke 18L and the negative control choke 18R, and the negative control pressure generated upstream of the negative control choke 18L and the negative control choke 18R is decreased. As a result, the controller 30 can increase the discharge amounts of the main pump 14L and the main pump 14R, circulate sufficient hydraulic oil in the hydraulic actuator to be operated, and reliably drive the hydraulic actuator to be operated.

In this way, the controller 30 can suppress wasteful energy consumption of the main pump 14L and the main pump 14R including pumping loss generated in the center bypass oil passage C1L and the center bypass oil passage C1R by the hydraulic oil discharged from the main pump 14L and the main pump 14R in the standby state of the hydraulic drive system. When the hydraulic actuator is operated, the controller 30 can supply a necessary and sufficient amount of hydraulic oil from the main pump 14L and the main pump 14R to the hydraulic actuator to be operated.

Further, for example, when the operation device 26 is an electric type, the controller 30 controls the operation proportional valve to realize the operation of the hydraulic actuator according to the operation content of the operation device 26 as described above.

Also, for example, the controller 30 uses a proportional valve for operation to realize remote operation of the shovel 100. Specifically, the controller 30 may output a control command corresponding to the content of the remote operation specified by the remote operation signal received from the external device to the operation proportional valve. The operation proportional valve outputs a pilot pressure corresponding to a control command from the controller 30 using the hydraulic oil supplied from the pilot pump 15, and the pilot pressure is applied to a pilot port of a corresponding control valve in the control valve 17. Thus, the content of the remote operation is reflected in the operation of the control valve 17, and the operation of various operation elements (driven elements) along the content of the remote operation is realized by the hydraulic actuator.

Also, for example, the controller 30 implements an automatic operation function of the shovel 100 using a proportional valve for operation. Specifically, the controller 30 may output a control instruction corresponding to an operation instruction regarding the automatic running function to the operation proportional valve. The operation command may be generated by the controller 30 or may be generated by another control device that performs control related to the automatic operation function. The operation proportional valve outputs a pilot pressure corresponding to a control command from the controller 30 using the hydraulic oil supplied from the pilot pump 15, and the pilot pressure is applied to a pilot port of a corresponding control valve in the control valve 17. Thus, the contents of the operation command related to the automatic operation function are reflected in the operation of the control valve 17, and the operation of various operation elements (driven elements) based on the automatic operation function is realized by the hydraulic actuator.

The controller 30 (an example of a control device) performs setting relating to the discharge rate (flow rate) of the main pump 14 when the backup attachment is operated, in accordance with the operation of the user. At this time, the operation of the backup attachment includes a single operation in which only the backup attachment is operated, and a combined operation in which the backup attachment and other hydraulic actuators (e.g., the boom cylinder 7, etc.) are simultaneously operated. The controller 30 includes, for example, a setting screen display processing unit 301 and a setting unit 302, and is a functional unit realized by executing 1 or more programs installed in the auxiliary storage device on a CPU. The controller 30 also uses the setting storage unit 303. The setting storage unit 303 is realized by, for example, an auxiliary storage device in the controller 30, an external storage device capable of communicating with the controller 30, or the like.

In addition, a part of the functions of the controller 30 may be implemented by other controllers. That is, the functions of the controller 30 may be implemented in a distributed manner by a plurality of controllers.

The regulators 13L and 13R regulate the discharge amounts of the main pump 14L and the main pump 14R by adjusting the tilt angles of the swash plates of the main pump 14L and the main pump 14R, respectively, under the control of the controller 30.

The negative control choke 18L and the negative control choke 18R are provided between the hydraulic oil tank and each of the control valve 176L and the neutral shutoff valve 178 located at the most downstream position of the center bypass oil passage C1L and the center bypass oil passage C1R. Accordingly, the flow of the hydraulic oil discharged from the main pump 14L and the main pump 14R is restricted by the negative control choke 18L and the negative control choke 18R, and the negative control pressure is generated in the negative control choke 18L and the negative control choke 18R.

The negative control pressure sensor 19L and the negative control pressure sensor 19R detect the negative control pressure, and a detection signal corresponding to the detected negative control pressure is input to the controller 30.

The discharge pressure sensors 28L and 28R detect the discharge pressures of the main pump 14L and the main pump 14R, respectively, and detection signals corresponding to the detected discharge pressures are input to the controller 30.

The operation pressure sensor 29 detects a pilot pressure on the secondary side of the operation device 26, that is, a pilot pressure corresponding to an operation state (for example, an operation amount, an operation direction, and the like) of each driven element (hydraulic actuator) in the operation device 26. A detection signal of the operation pressure sensor 29 based on the pilot pressure corresponding to the operation state of the lower traveling body 1, the upper slewing body 3, the boom 4, the arm 5, (the posture of) the end attachment, the auxiliary attachment, and the like in the operation device 26 is input to the controller 30.

In the case where the operation device 26 is an electric type, the operation pressure sensor 29 is omitted. This is because the controller 30 can grasp the operation state of the operation device 26 based on the content of the operation signal output from the operation device 26.

The display device 50 is provided at a position (for example, a right front pillar portion in the cabin 10) where an operator or the like near an operator's seat in the cabin 10 can easily see, and displays various information images under the control of the controller 30. The display device 50 may be a liquid crystal display or an organic EL (Electro Luminescence) display, for example, or may be a touch panel type which also serves as an operation unit.

The input device 52 is provided in a range that can be reached by a hand of an operator or the like seated in the cab 10, and receives various inputs from the operator or the like. The input device 52 includes, for example, an operation input device that receives an operation input from an operator or the like. The operation input device includes: a touch panel attached to a display of the display device 50, a touch panel provided separately from the display of the display device 50, a knob switch provided at a tip end of a joystick portion of a joystick device included in the operation device 26, a button switch, a joystick, a switch key, and the like provided around the display device 50 or arranged at a position relatively distant from the display device 50. The input device 52 includes, for example, a voice input device that receives voice input from an operator or the like. The sound input device includes, for example, a microphone. The input device 52 includes, for example, a gesture input device that receives a gesture input from an operator or the like. The gesture input device includes, for example, an imaging device capable of imaging a state based on a gesture of an operator or the like in the cab 10. A signal corresponding to the input content with respect to the input device 52 is input to the controller 30.

The setting screen display processing unit 301 displays an operation screen (hereinafter, "backup flow rate setting screen") for setting (hereinafter, "backup flow rate setting") a discharge rate of the main pump 14 when an operator or the like operates the backup attachment on the display device 50. The details of the standby flow rate setting screen will be described later (see fig. 3A to 3C and fig. 4A to 4C).

The setting unit 302 performs the backup flow rate setting in accordance with an input of an operator or the like on the backup flow rate setting screen via the input device 52. The setting unit 302 registers the setting contents in the setting storage unit 303. The backup flow rate setting will be described in detail later (see fig. 3A to 3C and fig. 4A to 4C).

The setting storage unit 303 stores the setting contents of the backup flow rate setting. Thus, the controller 30 can control the discharge rate of the main pump 14 when the auxiliary attachment is operated in accordance with the setting contents by reading the setting contents of the auxiliary flow rate setting from the setting storage unit 303 and referring to the setting contents.

[ detailed description of backup flow setting ]

Next, a specific example of the setting of the backup flow rate will be described with reference to fig. 3 (fig. 3A to 3C) and fig. 4 (fig. 4A to 4C).

< example 1 of setting backup flow >

Fig. 3A to 3C are views showing example 1 (standby flow rate setting screens 310 to 330) of the standby flow rate setting screen displayed on the display device 50. Specifically, fig. 3A is a diagram showing a backup flow rate setting screen 310 for setting a backup flow rate for a single-acting backup attachment (e.g., the breaker 90). Fig. 3B and 3C are diagrams showing a backup flow rate setting screen 320 and a backup flow rate setting screen 330 for setting a backup flow rate in relation to a double-action backup attachment (for example, the crusher 92).

As shown in fig. 3A to 3C, the backup flow rate setting screens 310 to 330 include a flag 311 of an object (bucket 6, single-acting backup attachment, and double-acting backup attachment) to which the backup flow rate setting is switched.

The tag 311 includes tags 311A-311C.

Tab 311A is selected when setting the flow rate of main pump 14 with respect to bucket 6.

The tab 311B is selected when the backup flow rate setting of the single-acting backup attachment is performed.

The tab 311C is selected when performing the backup flow setting of the backup attachment of the dual function type.

As shown in fig. 3A, in the backup flow rate setting screen 310, the tab 311B is selected.

The tag 311B includes a tag 312 for switching the type of the single-acting backup attachment to be set for the backup flow rate. The tag 312 includes 5 tags 312A to 312E for setting the backup traffic for each of the 5 kinds of single-acting backup attachments, and in this example, the tag 312A is selected. Thus, the user can set the backup flow rate in a different manner for each of the plurality of types of single-acting backup attachment on the backup flow rate setting screen 310. Hereinafter, the content of the screen when each of the tabs 312A to 312E is selected is substantially the same, and therefore the tab 312A will be described.

In the tab 312A, the setting contents of the single-action type backup attachment are displayed. Specifically, the items 313 to 316 are displayed on the tab 312A.

Item 313 shows the name of the single-acting standby attachment ("WORK TOOL"). In this example, a TILT ROTATOR ("TILT ROTATOR") is set. A user such as an operator or a mechanic (hereinafter, simply referred to as "user") can designate an item 313 through the input device 52 and arbitrarily set a name. Therefore, the user can specify the desired type of spare attachment (single-acting type) from among the plurality of types of single-acting type spare attachments set (registered) in the tags 312A to 312E by confirming the name.

Item 314 shows the MODEL ("MODEL No.") of the single-acting, spare accessory device. In this example, it is set to "ABC-123". The user can arbitrarily set the model of the single-acting backup attachment by specifying the item 314 through the input device 52. Therefore, the user can specify the desired type of spare attachment (single-acting type) from among the plurality of types of single-acting type spare attachments set (registered) in the tags 312A to 312E by confirming the model number.

Item 315 shows the setting content of the discharge pressure of the main pump 14, specifically, the maximum discharge pressure ("MAX pres") when the single-acting auxiliary equipment is operated (specifically, when it is operated alone or when it is operated in a combined manner). In this example, "20.0 MPa" is set. The user can specify the item 315 via the input device 52, and set the maximum discharge pressure when operating the single-acting auxiliary device, specifically, when operating the single-acting auxiliary device alone or when operating the auxiliary device in a combined manner, within a predetermined range.

Item 316 shows the setting contents relating to the discharge flow rate ("PUMPFLOW") of the main pump 14 when the single-acting auxiliary equipment is operated (specifically, when it is operated alone or when it is operated in a combined manner). In this example, the maximum flow rate of the main pump 14 when the single-acting backup attachment is operated is set to "200L/min" (200 liters at a divided speed). The user can specify the item 316 via the input device 52, and set the discharge amount (maximum flow rate) when operating the single-acting auxiliary equipment, specifically, when operating alone or in combination, within a predetermined range (for example, a predetermined range of discharge amounts that can be supplied only by the main pump 14L).

In this manner, in the present example, the setting unit 302 performs setting relating to the discharge rate of the main pump 14 at the time of the single-acting type backup attachment single operation or the time of the combined operation, in accordance with the operation performed by the user via the input device 52 on the backup flow rate setting screen 310. Therefore, even during the combined operation of the auxiliary equipment, the discharge rate (flow rate) of the main pump 14 can be appropriately adjusted according to the setting content. Therefore, for example, it is possible to suppress a situation in which the flow rate of the backup attachment is excessive at the time of a combined operation of the backup attachment and other hydraulic actuators.

As shown in fig. 3B and 3C, the tab 311C is selected on the backup flow rate setting screen 320 and the backup flow rate setting screen 330.

The label 311C includes a label 322 for switching the type of the dual-function backup attachment to be set for the backup flow rate. The tags 322 include 5 tags 322A-322E for backup traffic setting for each of the 5 dual-acting backup attachments, in this example, tag 322A is selected. Thus, the user can set the backup flow rate in a different manner for each of the backup attachments of the plurality of double-action types on the backup flow rate setting screen 320 and the backup flow rate setting screen 330. Hereinafter, the contents of the screens when the tags 322A to 322E are selected are substantially the same, and therefore the tag 322A will be described.

The contents of the settings of the dual-action, backup attachment are displayed in the label 322A. Specifically, the items 323 to 327 are displayed on the label 322A.

Item 323 shows the name of a double-acting standby attachment ("WORK TOOL"). In this example, a GRAPPLE ("GRAPPLE") is set. The user can designate an item 323 and arbitrarily set a name through the input device 52. Therefore, the user can specify the desired type of backup accessory device from among the plurality of types of backup accessory devices of the dual function type set (registered) in the tags 322A to 322E by confirming the name.

Item 324 shows the MODEL of the dual-action, standby accessory ("MODEL No."). In this example, it is set to "ABC-123". The user can arbitrarily set the model of the dual-action, backup attachment by specifying item 324 through input device 52. Therefore, the user can specify the desired type of backup accessory (dual-function type) from among the plurality of types of backup accessories set (registered) in the tags 322A to 322E by confirming the model.

Item 325 shows the setting content of the discharge pressure of the main pump 14, specifically, the maximum discharge pressure ("MAX pres") when the double-acting backup attachment is operated (specifically, when it is operated alone or when it is operated in a combined manner). In this example, "20.0 MPa" (20 MPa). The user can specify the item 325 through the input device 52, and set the maximum discharge pressure when operating the double-acting backup attachment, specifically, when operating alone or when operating in a combined manner, within a predetermined range.

Item 326 shows the setting contents relating to the discharge rate ("PUMP FLOW") of the main PUMP 14 when the double-acting backup attachment is operated alone. In this example, the maximum flow rate of the main pump 14 at the time of the individual operation as the backup attachment of the double-acting type is set to "200L/min" (200 liters at a divided speed). The user can specify the item 326 via the input device 52, and set the discharge amount (maximum flow amount) at the time of the single operation of the double-acting backup attachment within a predetermined range (for example, a predetermined range of the discharge amount that can be supplied only by the main pump 14L).

Item 327 shows the setting contents relating to the discharge rate of the main pump 14 at the time of the combined operation of the double-acting backup attachment. Specifically, item 327 displays the setting contents regarding the flow rate ("add flow LEVEL AT MULTI-FUNCTION") of the added amount with respect to the setting contents of item 326 (the discharge amount of the main pump 14 when operated alone) AT the time of the combined operation of the double-acting backup attachment.

For example, as shown in fig. 3B, on the backup flow rate setting screen 320, the flow rate of the amount added to the discharge rate of the main pump 14 during the single operation is set to none ("OFF"). In this case, the setting contents regarding the discharge rate of the main pump 14 during the combined operation of the double-acting backup attachment are the same as those of the item 326. The user designates the item 327 through the input device 52 and selects "OFF". This makes it possible to make the setting contents relating to the discharge rate of the main pump 14 during the combined operation of the double-acting backup attachment the same as the setting contents relating to the discharge rate of the main pump 14 during the single operation.

ON the other hand, for example, as shown in fig. 3C, ON the backup flow rate setting screen 330, the flow rate of the added amount with respect to the discharge rate of the main pump 14 at the time of the single operation is set to be present ("ON"), and the setting content of the flow rate of the added amount is displayed in a multi-level bar graph. In this example, bar graphs of 2 levels out of a maximum of 5 levels are displayed. In this case, the ratio of the flow rates distributed to the respective stages may be different. For example, the first level 1 may be relatively small, and the flow rate allocated may be increased as the level increases, or the other way around. The user designates item 327 through input device 52, selects "ON", and sets the rating of the bar graph corresponding to the amount of flow added. Thus, the discharge rate of the main pump 14 during the combined operation of the double-acting backup attachment can be set to be greater than the discharge rate of the main pump 14 during the single operation.

In addition, ON the standby flow rate setting screen 330, the contents of setting the flow rate of the added amount to the discharge amount of the main pump 14 during the single operation to "ON" are highlighted. This makes it easy for the user to recognize that the discharge rate of the main pump 14 during the combined operation of the double-acting auxiliary device is set to be much greater than that during the single operation. Therefore, the user can easily recognize the erroneous operation, and for example, it is possible to suppress a situation in which the flow rate of the backup attachment becomes excessively large due to the setting of the flow rate of the additional amount by the erroneous operation.

In this manner, in the present example, the setting unit 302 performs setting relating to the discharge rate of the main pump 14 during the single operation or the combined operation of the double-acting type backup attachment, based on the input performed by the user via the input device 52 on the backup flow rate setting screen 320 or the backup flow rate setting screen 330. Setting unit 302 sets the flow rate of main pump 14 based on the input from the user via input device 52 on backup flow rate setting screen 320 and backup flow rate setting screen 330 so that the flow rate of main pump 14 during the combined operation can be larger than the flow rate of main pump 14 during the single operation. Thus, even during the combined operation of the auxiliary equipment, the discharge rate (flow rate) of the main pump 14 can be appropriately adjusted according to the setting. Therefore, for example, it is possible to suppress a situation in which the flow rate of the backup attachment is excessive at the time of a combined operation of the backup attachment and other hydraulic actuators. Also, the flow rate shortage of the double-acting backup attachment at the time of the compound operation can be suppressed.

< example 2 of setting backup flow >

Fig. 4A to 4C are views showing examples 2 (standby flow rate setting screens 410 to 430) of the standby flow rate setting screen displayed on the display device 50. Specifically, fig. 4A is a diagram showing a backup flow rate setting screen 410 for setting a backup flow rate for a single-acting backup attachment (e.g., the breaker 90). Fig. 4B and 4C are diagrams showing a backup flow rate setting screen 420 and a backup flow rate setting screen 430 for setting a backup flow rate for a double-action backup attachment (for example, the crusher 92).

As shown in fig. 4A to 4C, the backup flow rate setting screens 410 to 430 include tabs 411 for switching the targets of the backup flow rate setting (bucket 6, single-acting backup attachment, and double-acting backup attachment).

The tag 411 includes tags 411A to 411C.

The tag 411 is the same as the tag 311 of fig. 3A to 3C, and the tags 411A to 411C are the same as the tags 311A to 311C of fig. 3A to 3C, and therefore, the description thereof is omitted.

As shown in fig. 4A, in the backup flow rate setting screen 410, the tab 411B is selected.

The tag 411B includes a tag 412 for switching the type of the single-acting backup attachment to be set for the backup flow rate. The tags 412 include 5 tags 412A-412E for backup flow setting for each of the 5 single-acting backup attachments, 412E being selected in this example.

The tag 412 is the same as the tag 312 in fig. 3A, and the tags 412A to 412E are the same as the tags 312A to 312E in fig. 3A to 3C, and therefore, description thereof is omitted.

The setting contents of the single-action auxiliary device are displayed on the tab 412E. Specifically, items 413 to 416, item 418, and item 419 are displayed on the tab 412E.

Items 413 to 416 are the same as items 313 to 316 in FIG. 3A, and therefore, the description thereof is omitted.

Item 418 visually displays the setting contents relating to the discharge rate of the main pump 14 when the single-acting backup attachment is operated alone. Item 418 includes meter 418A and excavator image 418B.

The meter 418A displays the setting contents of the discharge amount (maximum flow rate) of the main pump 14, that is, the setting contents of the item 416, when the single-action auxiliary equipment is operated alone, using a multi-stage bar graph. In this example, 5 levels out of the maximum 10 levels are set. In this case, the ratio of the flow rate distributed to each stage may be different from that in fig. 3C. The same applies to the meter 419A, the meter 428A, and the meter 429A.

The shovel image 418B mimics the shovel 100. Only the portion of the shovel image 418B corresponding to the auxiliary attachment (specifically, the breaker 90) is highlighted and shown as being operated alone.

Item 419 intuitively displays the setting contents relating to the discharge rate of the main pump 14 at the time of the combined operation of the single-acting backup attachment. Items 419 include a meter 419A, a shovel image 419B.

The meter 419A displays the setting contents of the discharge rate (maximum flow rate) of the main pump 14, that is, the setting contents of the item 416, in a multi-stage bar chart during the combined operation of the single-action auxiliary equipment. In this example, 5 levels out of the maximum 10 levels are set.

The shovel image 419B is identical to the shovel image 418B and mimics the shovel 100. The entire shovel image 419B including the portion corresponding to the spare attachment (crusher 90) is highlighted and displayed as the composite operation time.

As shown in fig. 4B and 4C, the tab 411C is selected on the backup flow rate setting screen 420 and the backup flow rate setting screen 430.

The tag 411C includes a tag 422 for switching the type of the dual-function backup attachment to be set for the backup flow rate. The tag 422 includes 5 tags 422A-422E for backup flow setting for each of the 5 dual-acting backup attachments, in this example, the tag 422E is selected.

The label 422 is the same as the label 322 of fig. 3B and 3C, and the labels 422A to 422E are the same as the labels 322A to 322E of fig. 3B and 3C, and therefore, the description thereof is omitted.

The contents of the settings of the dual-action, backup attachment are shown in label 422E. Specifically, items 423 to 429 are displayed on the label 422E.

Items 423 to 426 are the same as items 323 to 326 in fig. 3B and 3C, and therefore, the description thereof is omitted.

Item 427 shows the setting contents related to the discharge rate of the main pump 14 at the time of the combined operation of the double-acting backup attachment. Specifically, item 427 displays the setting contents regarding the flow rate ("add flow WITH COMBINED operation") of the added amount WITH respect to the setting contents of item 426 (the discharge amount of the main pump 14 when operated alone) at the time of the COMBINED operation of the double-acting backup attachment.

For example, as shown in fig. 4B, on the backup flow rate setting screen 420, the flow rate of the amount added to the discharge rate of the main pump 14 during the single operation is set to none ("OFF"). In this case, the setting contents regarding the discharge rate of the main pump 14 during the combined operation of the double-acting backup attachment are the same as the setting contents of the item 426. The user designates the item 427 and selects "OFF" via the input device 52. This makes it possible to make the setting contents relating to the discharge rate of the main pump 14 during the combined operation of the double-acting backup attachment the same as the setting contents relating to the discharge rate of the main pump 14 during the single operation.

ON the other hand, as shown in fig. 4C, for example, ON the backup flow rate setting screen 430, the flow rate of the additional amount with respect to the discharge rate of the main pump 14 during the single operation is set to be present ("ON"), and the setting content of the flow rate of the additional amount is displayed as a numerical value. In this example, the speed is set to "50L/min" (divided by 50 liters). The user specifies the item 327 through the input device 52, selects "ON", and inputs the numerical value of the flow rate of the added amount. Thus, the discharge rate of the main pump 14 during the combined operation of the double-acting backup attachment can be set to be greater than the discharge rate of the main pump 14 during the single operation.

Item 428 visually displays the setting contents relating to the discharge rate of the main pump 14 when the single-acting backup attachment is operated alone. Items 428 include meters 428A, excavator images 428B.

The meter 428A displays the setting contents of the discharge rate (maximum flow rate) of the main pump 14, that is, the setting contents of the item 426, in a multi-level bar chart when the single-action auxiliary equipment is operated alone. In this example, 5 levels out of the maximum 10 levels are set.

Shovel image 428B is the same as shovel image 418B of fig. 4A, and therefore, description thereof is omitted.

Item 429 visually displays the setting contents relating to the discharge rate of the main pump 14 at the time of the combined operation of the double-acting backup attachment. Item 429 includes a meter 429A, an excavator image 429B.

The meter 429A displays the setting contents of the discharge rate (maximum flow rate) of the main pump 14, that is, the setting contents of the item 427, in a multi-stage bar chart during the combined operation of the double-acting backup attachment.

For example, as shown in fig. 4B, on the standby flow rate setting screen 420, 5 levels out of the maximum 10 levels, that is, the same contents as those of the meter 428A corresponding to the single operation are set.

On the other hand, for example, as shown in fig. 4C, on the standby flow rate setting screen 430, 7 levels out of the maximum 10 levels, that is, 2 levels higher than the meter 428A corresponding to the single operation, are set.

The shovel image 429B is the same as the shovel image 419B of fig. 4A, and therefore, description thereof is omitted.

As shown in fig. 4C, the label 422E of the backup flow rate setting screen 430 includes an item 431.

Item 431 shows information ON the attention calling when the flow rate of the added amount to the discharge rate of the main pump 14 in the single operation is set to "ON" in item 427. In this example, the display indicates "setting of an excessive additional flow rate, and there is a possibility that the accessory device may be damaged". Thus, the controller 30 can suppress the excessive additional flow rate set by the user such as the operator through the item 431. Therefore, it is possible to suppress the occurrence of a situation such as damage to the accessory device due to setting of an excessive additional flow rate.

In this way, in the present example, the display device 50 displays the setting content of the flow rate of the main pump 14 during the single operation of the auxiliary attachment and the setting content of the flow rate of the main pump 14 during the combined operation of the auxiliary attachment in a comparable manner under the control of the setting screen display processing portion 301. This makes it possible to easily grasp the setting contents.

[ overview of shovel management System ]

Next, an outline of a shovel support system SYS including the shovel 100 will be described with reference to fig. 5.

Fig. 5 is a diagram illustrating an example of a shovel management system SYS including the shovel 100 according to the present embodiment.

As shown in fig. 5, the shovel support system SYS includes a shovel 100 and a support device 200.

The shovel 100 is communicably connected to the management device 200 via a communication line CN.

The support device 200 (an example of an information processing device) is communicably connected to the shovel 100 via the communication line CN, and supports the operation of the shovel 100. Specifically, the support apparatus 200 may perform various settings related to the shovel 100, and perform processing for reflecting the contents of the settings on the shovel 100 via the communication line CN. The communication line CN may comprise, for example, a Wide Area Network (WAN). The wide area network may include, for example, a mobile communication network in which a base station is a terminal. Also, the wide area network may include, for example, a satellite communication network using a communication satellite. Also, the wide area network may include, for example, the internet. The communication line CN may include a Local Network (LAN), for example. The area network may be wired or wireless. The area network includes, for example, a short-distance wireless communication line such as WiFi or bluetooth (registered trademark).

The support apparatus 200 may be, for example, a management apparatus (cloud server) of a management center provided outside the work site of the shovel 100. The support apparatus 200 may be, for example, an edge server installed at a temporary office in the work site of the shovel 100 or at a site (e.g., an office site or a base station) relatively close to the work site of the shovel 100. The support apparatus 200 may be, for example, a stationary terminal apparatus (e.g., a desktop computer terminal) such as a temporary office installed at the work site of the shovel 100. The support device 200 may be, for example, a portable terminal (e.g., a smartphone, a tablet terminal, a notebook-size computer terminal, etc.) held by an operator, a supervisor at a work site of the shovel 100, or the like.

[ Structure of shovel management System ]

Next, a configuration of the shovel management system SYS will be described with reference to fig. 5.

As shown in fig. 5, the shovel 100 includes a communication device T1.

The communication device T1 communicates with the support apparatus 200 and the like via the communication line CN. Thereby, the shovel 100 can receive various signals from the management device 200.

The structure of the shovel 100 is the same as that in fig. 2A and 2B described above, except that the communication device T1 is added.

As shown in fig. 5, the support apparatus 200 includes a control apparatus 210, a communication apparatus 220, a display apparatus 230, and an input apparatus 240.

The control device 210 (an example of the setting unit) performs control related to the management device 200. The functions of the control device 210 may be implemented by any hardware, or any combination of hardware and software. The control device 210 is configured mainly by a computer including a memory device such as a CPU or a RAM, an auxiliary storage device such as a ROM, and an interface device for input and output with the outside, for example.

The communication device 220 (an example of a communication unit) communicates with the shovel 100 and the like via the communication line CN. The communication device 220 may communicate directly with the shovel 100 via the communication line CN, or may communicate with a predetermined relay device via the communication line CN and communicate with the shovel 100 via the relay device. When the support apparatus 200 is a stationary terminal apparatus, a portable terminal, or the like, the relay apparatus may be a server apparatus (management apparatus) that manages the shovel 100.

The display device 230 displays an information image for the user of the support apparatus 200 under the control of the control device 210.

The input device 240 receives various inputs from the user of the support apparatus 200, and a signal corresponding to the input is input to the control device 210. The input device 240 includes, for example, an operation input device that accepts an operation input from a user. The operation input device includes, for example, a touch panel attached to the display device 230, a touch panel provided separately from the display device 230, a keyboard, a mouse, and the like. Also, the input device 240 may include, for example, a voice input device or a gesture input device that accepts voice input or gesture input from a user.

[ backup flow setting based on excavator management System ]

Next, with reference to fig. 5, the backup flow rate setting by the shovel management system SYS will be described.

The shovel management system SYS may be configured such that the backup flow rate setting can be performed by the support device 200 communicably connected to the shovel 100.

The display device 230 provided in the support apparatus 200 may display a standby flow rate setting screen similar to that shown in fig. 3A to 3C or fig. 4A to 4C under the control of the control device 210. The control device 210 (an example of the setting unit) of the support apparatus 200 can set the backup flow rate in accordance with the input content of the user on the backup flow rate setting screen via the input device 240. Then, the control device 210 transmits a signal (hereinafter, "backup flow rate setting request signal") requesting backup flow rate setting including the input content (setting content) to the shovel 100 via the communication device 220 (an example of a communication unit). Thus, the shovel 100 (setting unit 302) can set the backup flow rate based on the backup flow rate setting request signal received from the support apparatus 200 by the communication device T1. Therefore, a user such as an operator of the shovel 100, a supervisor of a work site, or a manager of a management center can set the spare flow rate of the shovel 100 from the outside of the shovel 100. Therefore, the convenience of the user can be improved.

[ Change of form ] and

the embodiments have been described above in detail, but the present invention is not limited to the specific embodiments, and various modifications and changes can be made within the scope of the gist described in the claims.

For example, in the above-described embodiment, the controller 30 performs the setting relating to the discharge rate of the main pump 14 when the auxiliary equipment is operated, but the setting relating to an arbitrary discharge rate (flow rate characteristic) of the main pump 14 may be performed in the same manner. The controller 30 may perform setting of the horsepower related to the upper limit in the total horsepower control, setting of the maximum flow rate in a specific operation or the like, for example, in accordance with a predetermined input by an operator via the input device 52. Similarly, the support apparatus 200 (control apparatus 210) can make a setting regarding an arbitrary discharge rate (flow rate characteristic) of the main pump 14 based on a predetermined input received by the input apparatus 240, and can transmit a signal including the setting content to the shovel 100 via the communication apparatus 220.

In the embodiment and the modification examples described above, the controller 30 performs setting relating to the discharge rate of the main pump 14, but may perform setting (adjustment) of any parameter relating to the operation of the main pump 14 in the same manner. Similarly, the support apparatus 200 (the control apparatus 210) can set an arbitrary parameter related to the operation of the main pump 14 based on a predetermined input received by the input apparatus 240, and can transmit a signal including the setting content to the shovel 100 via the communication apparatus 220.

Further, in the above-described embodiment and the modification example, the controller 30 sets the parameters related to the operation of the main pump 14, but may set (adjust) the parameters related to the equipment of the shovel 100 other than the main pump 14. The controller 30 can perform setting (adjustment) of parameters (for example, an operation speed, an operation acceleration, and the like) related to the operation of the driven element (i.e., the corresponding actuator), for example. The controller 30 may set (adjust) a control parameter related to the engine 11 or the electric motor that drives the main pump 14, a control parameter related to the power supply that supplies electric power to the electric motor, and the like, for example. Similarly, the support apparatus 200 (the control apparatus 210) may set (adjust) parameters relating to the equipment of the shovel 100 other than the main pump 14 based on predetermined inputs received by the input apparatus 240, and may transmit a signal including the setting contents to the shovel 100 via the communication apparatus 220.

In the above-described embodiment and the modified examples, the excavator 100 is configured to hydraulically drive all of various driven elements such as the lower traveling structure 1, the upper revolving structure 3, the boom 4, the arm 5, and the bucket 6, but may be configured to be electrically driven in part. That is, the structure and the like disclosed in the above embodiments can be applied to a hybrid shovel, an electric shovel, and the like.

Finally, the present application claims priority based on japanese patent application No. 2019-069473, filed on 30/3/2019, which is incorporated by reference in its entirety.

Description of the symbols

1-lower traveling body (driven element), 1L-traveling hydraulic motor (hydraulic actuator), 1R-traveling hydraulic motor (hydraulic actuator), 2-swing mechanism, 2A-swing hydraulic motor (hydraulic actuator), 3-upper revolving body (driven element), 4-boom (driven element), 5-arm (driven element), 6-bucket, 7-boom cylinder (hydraulic actuator), 8-arm cylinder (hydraulic actuator), 9-bucket cylinder (hydraulic actuator), 10-cabin, 11-engine, 13L, 13R-regulator, 14L, 14R-main pump, 15-pilot pump, 17-control valve, 18L, 18R-negative control restrictor, 19L, 19R-negative control pressure sensor, 26-operating device, 28L, 28R-discharge pressure sensor, 29-operating pressure sensor, 30-controller (control device), 50-display device, 52-input device, 90-crusher (driven requirement, backup attachment), 92-crusher (driven requirement, backup attachment), 100-excavator, 171, 172, 173, 174, 175L, 175R, 176L, 176R, 177-control valve, 178-neutral stop valve.