Hydraulic excavator
A hydraulic excavator includes a controller ( 40 ) that executes region limiting control to forcibly raise a boom ( 8 ) in such a manner that a position of a tip end of a bucket ( 10 ) is kept on a target excavation surface and within a region above the target excavation surface if an operation device ( 45 b, 46 a ) issues an action direction to an arm ( 9 ) or the bucket. The controller determines which is selected as a control mode over a raising speed of the boom at a time of executing region limiting control, a first mode or a second mode specified by a raising speed lower than a raising speed of the first mode if the tip end of the bucket is located below the target excavation surface, and controls the raising speed of the boom based on a result of determination.
1. A hydraulic excavator comprising:
a travel structure;
a swing structure swingably attached onto the travel structure;
a multijoint work implement that is attached to the swing structure and that includes a boom, an arm, and a bucket;
an operation lever that outputs an action direction to each of the travel structure, the swing structure, the boom, the arm, and the bucket in response to an operator's operation; and
a controller receiving the output action direction from the operation lever and having a processor coupled to a memory storing instructions that when executed by the processor configure the controller to execute region limiting control to forcibly raise the boom in such a manner that a position of a tip end of the work implement is kept on a target excavation surface and within a region above the target excavation surface when the operation lever issues the action direction to the arm or the bucket,
wherein the controller is configured to:
select a first mode and a second mode as a control mode of a raising speed of the boom at a time of executing the region limiting control, a boom raising speed during the second mode is set lower than a boom raising speed during the first mode,
select the first mode when the tip end of the work implement is located below the target excavation surface and when an amount of the tip end of the work implement that penetrates below the target excavation surface is lower than a predetermined value, and
select the second mode when the tip end of the work implement is located below the target excavation surface and when the amount of the tip end of the work implement that penetrates below the target excavation surface is equal to or higher than the predetermined value.
2. The hydraulic excavator according to claim 1 , wherein
the controller is further configured to:
select the second mode when the amount of the tip end of the work implement that penetrates below the target excavation surface is equal to or higher than the predetermined value,
suspend the region limiting control when the amount of the tip end of the work implement that penetrates below the target excavation surface is lower than the predetermined value and a machine body tilt angle of the hydraulic excavator is equal to or greater than a predetermined angle, and
select the first mode when the amount of the tip end of the work implement that penetrates below the target excavation surface is lower than the predetermined value and the machine body tilt angle is less than the predetermined angle.
3. The hydraulic excavator according to claim 1 , further comprising
a monitor that informs an operator of selection of the second mode when the second mode is selected.
4. A hydraulic excavator comprising:
a travel structure;
a swing structure swingably attached onto the travel structure;
a multijoint work implement that is attached to the swing structure and that includes a boom, an arm, and a bucket;
an operation lever that outputs an action direction to each of the travel structure, the swing structure, the boom, the arm, and the bucket in response to an operator's operation; and
a controller receiving the output action direction from the operation lever and having a processor coupled to a memory storing instructions that when executed by the processor configure the controller to execute region limiting control to forcibly raise the boom in such a manner that a position of a tip end of the work implement is kept on a target excavation surface and within a region above the target excavation surface when the operation lever issues the action direction to the arm or the bucket,
wherein the controller is configured to:
select a first mode and a second mode as a control mode of a raising speed of the boom at a time of executing the region limiting control, a boom raising speed during the second mode is set lower than a boom raising speed during the first mode,
select the second mode and control the raising speed of the boom during the region limiting control based on the second mode, regardless of an amount of the tip end of the work implement that penetrates below the target excavation surface, when the tip end of the work implement moves from above to below the target excavation surface by the output action direction to the travel structure or the swing structure from the operation lever, and,
select the first mode and control the raising speed of the boom during the region limiting control based on the first mode when the action direction to the travel structure or the swing structure from the operation lever is not present and when the tip end of the work implement moves below the target excavation surface.