Shovel and method of controlling shovel
View Patent ↗A shovel that performs excavation in accordance with an arm excavation operation including an arm closing operation includes an excavation operation detection part, a position detection part, a maximum allowable pressure calculation part, and an arm cylinder pressure control part. The excavation operation detection part detects that the arm excavation operation has been performed. The position detection part detects the position of the shovel. The maximum allowable pressure calculation part calculates the pressure of the expansion-side oil chamber of an arm cylinder corresponding to an excavation reaction force at a time when the shovel is dragged by the excavation reaction force as a maximum allowable pressure, based on the position of the shovel. The arm cylinder pressure control part controls the pressure of the expansion-side oil chamber not to exceed the maximum allowable pressure when the arm excavation operation is performed.
1. A shovel that performs excavation in accordance with an arm excavation operation that includes an arm closing operation, the shovel comprising:
an excavation operation detection part configured to detect that the arm excavation operation has been performed;
a position detection part configured to detect a position of the shovel;
a maximum allowable pressure calculation part configured to calculate a pressure of an expansion-side oil chamber of an arm cylinder corresponding to an excavation reaction force at a time when the shovel is dragged by the excavation reaction force as a maximum allowable pressure, based on the position of the shovel; and
an arm cylinder pressure control part configured to control the pressure of the expansion-side oil chamber of the arm cylinder not to exceed the maximum allowable pressure when the arm excavation operation is performed.
2. The shovel as claimed in claim 1 , wherein the arm cylinder pressure control part is configured to reduce a flow rate of hydraulic oil flowing into the expansion-side oil chamber of the arm cylinder, in response to the pressure of the expansion-side oil chamber of the arm cylinder reaching a predetermined pressure that is less than or equal to the maximum allowable pressure.
3. The shovel as claimed in claim 1 , wherein the position detection part is configured to detect an angle of a boom relative to an upper-part turning body, an angle of an arm relative to the boom, and an angle of a bucket relative to the arm.
4. A method of controlling a shovel that performs excavation in accordance with an arm excavation operation that includes an arm closing operation, the method comprising;
detecting that the arm excavation operation has been performed;
detecting a position of the shovel;
calculating a pressure of an expansion-side oil chamber of an arm cylinder corresponding to an excavation reaction force at a time when the shovel is dragged by the excavation reaction force as a maximum allowable pressure, based on the position of the shovel; and
controlling the pressure of the expansion-side oil chamber of the arm cylinder not to exceed the maximum allowable pressure when the arm excavation operation is performed.