Work machine
The work machine includes a stabilization control calculation unit that calculates and outputs a gradual stoppage command for making a drive actuator stop gradually and an operation speed limitation command for limiting an upper limit operation speed according to the status of stability of the work machine, a stoppage characteristic modification unit that corrects pilot pressure so as to make the drive actuator stop gradually when a stoppage operation is performed on a control lever, and an operation speed limitation unit that corrects the pilot pressure so as to limit the operation speed of the drive actuator.
1. A work machine comprising:
a track structure;
a swing structure mounted on top of the track structure to be swingable;
a front work implement attached to the swing structure to be freely pivotable in a vertical direction with respect to the swing structure and including a plurality of movable parts;
a drive actuator that drives the swing structure and a corresponding movable part of the front work implement;
a main pump for supplying hydraulic fluid for driving the drive actuator;
a CPU for calculating a drive command for driving the drive actuator;
a flow control valve for controlling an amount of hydraulic fluid supplied from the main pump to the drive actuator;
a proportional pressure reducing valve for controlling pilot hydraulic fluid for controlling the flow control valve based on an operation on a control lever;
an attitude detection unit for detecting an attitude of the work machine, the CPU configured to estimate a speed of the drive actuator, predict a behavior at the time of a sudden stop operation of the work machine based on the estimated speed and a detection result of the attitude detection unit, judge stability of the work machine based on the predicted behavior of the work machine, and calculate and output a gradual stoppage command for limiting deceleration of the drive actuator and making the drive actuator stop gradually, and an operation speed limitation command for limiting upper limit operation speed of the drive actuator based on judgment result;
a stoppage characteristic modification unit including a check valve and a solenoid proportional hydraulic fluid discharge control valve, configured for correcting pilot hydraulic fluid outputted from the proportional pressure reducing valve so as to limit the deceleration of the drive actuator and gradually stop the drive actuator based on the gradual stoppage command; and
an operation speed limitation unit for correcting the pressure of the pilot hydraulic fluid outputted from the proportional pressure reducing valve so as to limit the speed of the drive actuator based on the operation speed limitation command, wherein
the check valve and the solenoid proportional hydraulic fluid discharge control valve are arranged in parallel in a pilot hydraulic line connecting the proportional pressure reducing valve and the flow control valve,
the check valve allows a flow of the hydraulic fluid from the proportional pressure reducing valve to the flow control valve as a free flow while interrupting the flow of the hydraulic fluid from the flow control valve to the proportional pressure reducing valve, and
the solenoid proportional hydraulic fluid discharge control valve controls the flow of the hydraulic fluid from the flow control valve to the proportional pressure reducing valve according to a command signal from the calculation device.
2. The work machine according to claim 1 , wherein the solenoid proportional hydraulic fluid discharge control valve includes a solenoid proportional pressure holding valve that interrupts the flow of the hydraulic fluid when pilot pressure supplied to the flow control valve is lower than a hold pressure that is set by a command signal from the calculation device and allows the flow of the hydraulic fluid when the pilot pressure is higher than the hold pressure.
3. The work machine according to claim 1 , wherein:
the solenoid proportional hydraulic fluid discharge control valve includes a solenoid proportional flow control valve having a restrictor whose opening degree is variable by a command signal from the calculation device, and
the calculation device determines the opening degree of the restrictor of the solenoid proportional flow control valve based on the gradual stoppage command outputted from the operation limitation determination unit.