WORK MACHINE
First Claim
1. A work machine comprising:
- a machine body;
a front work implement mounted to a front portion of the machine body in a vertically rotatable manner;
at least one cylinder configured to drive the front work implement;
an operation input device configured to instruct an operation of the cylinder; and
a drive control system configured to control driving of the cylinder in accordance with an instruction from the operation input device,the drive control system configured to decelerate the cylinder by correcting an operation velocity instructed by the operation input device to or below a preset allowable velocity when the cylinder approaches a stroke end,wherein the drive control system includesa stroke end distance calculation and evaluation section configured to determine whether or not it is possible for the cylinder to collide with the stroke end,a dynamic center of gravity position prediction section configured to predict a trajectory of the dynamic center of gravity position of the work machine from a time when a deceleration operation of the cylinder starts to a time when the cylinder stops, when it is determined by the stroke end distance calculation and evaluation section that it is possible for the cylinder to collide with the stroke end, andan allowable velocity changing section configured to change the allowable velocity in accordance with a minimum distance from the trajectory of the dynamic center of gravity position predicted by the dynamic center of gravity position prediction section to a tipping line of the work machine.
1 Assignment
0 Petitions
Accused Products
Abstract
Provided is a work machine that, within the limit of not harming dynamic stability, can perform work utilizing the impact generated when a cylinder driving a front work implement collides with a stroke end. A drive control system 34 includes: a stroke end distance calculation and evaluation section 34c that determines whether or not it is possible for cylinders 20A and 21A to collide with a stroke end; a dynamic center of gravity position prediction section 34d that, when the stroke end distance calculation and evaluation section determines that it is possible for the cylinders to collided on the stroke end, predicts a trajectory of the dynamic center of gravity position of a hydraulic excavator 1 from a time when a decelerating operation of the cylinder starts to a time when the cylinder stops; and an allowable velocity changing section 34f that changes the allowable velocity of the cylinder according to a minimum distance from the trajectory of the dynamic center of gravity position predicted by the dynamic center of gravity position prediction section to a tipping line of the hydraulic excavator.
4 Citations
3 Claims
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1. A work machine comprising:
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a machine body; a front work implement mounted to a front portion of the machine body in a vertically rotatable manner; at least one cylinder configured to drive the front work implement; an operation input device configured to instruct an operation of the cylinder; and a drive control system configured to control driving of the cylinder in accordance with an instruction from the operation input device, the drive control system configured to decelerate the cylinder by correcting an operation velocity instructed by the operation input device to or below a preset allowable velocity when the cylinder approaches a stroke end, wherein the drive control system includes a stroke end distance calculation and evaluation section configured to determine whether or not it is possible for the cylinder to collide with the stroke end, a dynamic center of gravity position prediction section configured to predict a trajectory of the dynamic center of gravity position of the work machine from a time when a deceleration operation of the cylinder starts to a time when the cylinder stops, when it is determined by the stroke end distance calculation and evaluation section that it is possible for the cylinder to collide with the stroke end, and an allowable velocity changing section configured to change the allowable velocity in accordance with a minimum distance from the trajectory of the dynamic center of gravity position predicted by the dynamic center of gravity position prediction section to a tipping line of the work machine. - View Dependent Claims (2, 3)
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Specification