Work machine
Target speeds of an arm cylinder and a boom cylinder are computed in response to a distance D between a bucket tip end and a target surface in such a manner that an operating range of a work device is limited on and above the target surface at a time of operating an operation device. A second flow control valve that supplies a hydraulic operating fluid from a second hydraulic pump to the boom cylinder is controlled on the basis of the target speed of the boom cylinder while a first flow control valve that supplies a hydraulic operating fluid from a first hydraulic pump to the arm cylinder and a third flow control valve that supplies the hydraulic operating fluid from the second hydraulic pump to the arm cylinder are controlled on the basis of the target speed of the arm cylinder.
1. A work machine comprising:
a multijoint work device having an arm and a boom;
a plurality of hydraulic actuators that includes an arm cylinder for driving the arm and a boom cylinder for driving the boom;
an operation device for operating the work device;
a first hydraulic pump and a second hydraulic pump driven by a prime mover;
a first flow control valve that controls a flow rate of a hydraulic operating fluid supplied from the first hydraulic pump to the arm cylinder;
a second flow control valve that controls a flow rate of a hydraulic operating fluid supplied from the second hydraulic pump to the boom cylinder;
a third flow control valve that controls a flow rate of the hydraulic operating fluid supplied from the second hydraulic pump to the arm cylinder; and
a control device that controls the first, second, and third flow control valves, wherein
the control device includes
a control point position computing section configured to compute position information regarding a predetermined control point of the work device from posture information regarding the work device,
a distance computing section configured to compute a distance between the control point and a predetermined target surface on a basis of the position information regarding the control point and position information regarding the predetermined target surface,
a target speed computing section configured to compute target speeds of the arm cylinder and the boom cylinder in response to the distance in such a manner that an operating range of the work device is limited on and above the target surface, and
a flow control valve control section configured:
to control the second flow control valve on a basis of the target speed of the boom cylinder while controlling the first flow control valve and the third flow control valve on a basis of the target speed of the arm cylinder in a case in which a first work mode for prioritizing operability of the work device is selected as a work mode of the work machine, and
to control the second flow control valve on the basis of the target speed of the boom cylinder while controlling the first flow control valve on the basis of the target speed of the arm cylinder in a case in which a second work mode for prioritizing controllability of the work device is selected as the work mode of the work machine.
2. The work machine according to claim 1 , wherein
the distance between the control point and the target surface is assumed as being positive when the control point is located above the target surface, and
the control device further includes a work mode selection section configured to select the first work mode when the distance is equal to or larger than a predetermined distance threshold, and to select the second work mode when the distance is smaller than the distance threshold.
3. The work machine according to claim 2 , wherein
the distance threshold is equal to or larger than 0.
4. The work machine according to claim 1 , wherein
the distance between the control point and the target surface is assumed as being positive when the control point is located above the target surface, and
the control device further include a work mode selection section configured to select the first work mode when the target speed of the arm cylinder is higher than a predetermined speed threshold or when the distance is equal to or larger than a predetermined distance threshold, and to select the second work mode when the target speed of the arm cylinder is lower than the speed threshold and the distance is smaller than the distance threshold.
5. The work machine according to claim 4 , wherein
the speed threshold is a speed of the arm cylinder corresponding to a maximum flow rate at which the hydraulic operating fluid capable of being supplied from the first hydraulic pump.
6. The work machine according to claim 1 , further comprising:
a third hydraulic pump driven by the prime mover; and
a fourth flow control valve that controls a flow rate of a hydraulic operating fluid supplied from the third hydraulic pump to the boom cylinder, wherein
the flow control valve control section controls the second flow control valve and the fourth flow control valve on the basis of the target speed of the boom cylinder while controlling the first flow control valve and the third flow control valve on the basis of the target speed of the arm cylinder in the case in which the first work mode is selected, and controls the fourth flow control valve on the basis of the target speed of the boom cylinder while controlling the first flow control valve on the basis of the target speed of the arm cylinder in the case in which the second work mode is selected.