Work machine
When a machine-control ON/OFF switch is switched to the ON position, a controller outputs either a first control signal generated by an operation lever or a second control signal that operates a boom cylinder in accordance with a predetermined condition; when the ON/OFF switch is switched to the OFF position, the controller outputs the first control signal; when a control signal has been switched from one of the first control signal and the second control signal to the other control signal by the operation of the ON/OFF switch, the controller applies a rate limit to the control signal, and controls the boom cylinder on the basis of the control signal obtained after the limitation.
1. A work machine comprising:
a work implement;
a first hydraulic actuator that drives the work implement;
an operation device for controlling the first hydraulic actuator in accordance with an operation by an operator;
a machine-control ON/OFF switch that can select a switch position of either an ON position which enables machine control for the first hydraulic actuator or an OFF position which disables the machine control for the first hydraulic actuator; and
a controller that outputs a first control signal generated in accordance with the operation to the operation device by the operator when the switch is in the OFF position, and outputs a second control signal that controls the first actuator such that the work implement is kept on or above a target construction surface when the switch is in the ON position and when a distance between the work implement and the target construction surface is equal to or less than a predetermined value, wherein
the controller
when a control signal for controlling the first hydraulic actuator is switched from one of the first control signal and the second control signal to an other of the first control signal and the second control signal by a switching operation on the switch,
enacts a limitation limiting a time rate of change of the control signal to a predetermined change rate, and controls the first hydraulic actuator on a basis of the control signal after the limitation, and
controls an operation speed of the first hydraulic actuator so as to be a value lower than a maximum speed of the first hydraulic actuator during the switch being in the ON position.
2. The work machine according to claim 1 , wherein
the controller has data on the target construction surface with a target shape of a work target of the work implement,
the second control signal is a control signal for operating the first hydraulic actuator such that the work implement is positioned above the target construction surface while the operation device is being operated, and
in a case where a tip of the work implement approaches the target construction surface, the predetermined change rate is set such that the predetermined change rate increases as a distance between the tip of the work implement and the target construction surface decreases.
3. The work machine according to claim 1 , wherein
in a case where the operation device is not being operated, the controller does not perform the limitation with the predetermined change rate to the first and the second control signal for controlling the first hydraulic actuator when the switch is switched from the OFF position to the ON position or from the ON position to the OFF position.
4. The work machine according to claim 1 , wherein
the switch is provided at a grip section of the operation device.
5. The work machine according to claim 1 , further comprising a second hydraulic actuator that drives the work implement, wherein
the operation device can output a third control signal for the second hydraulic actuator in accordance with the operation by the operator,
the controller calculates a fourth control signal to operate the second hydraulic actuator in accordance with a predetermined condition while the operation device is being operated, and controls the second hydraulic actuator on a basis of either the third control signal or the fourth control signal when the third control signal is output from the operation device, and
the controller further controls the second hydraulic actuator on a basis of either the third control signal or the fourth control signal when the switch is switched to the ON position, and controls the second hydraulic actuator on a basis of the third control signal when the switch is switched to the OFF position.