Control device for excavator

Abstract

A control device for an excavator is provided, wherein the excavator includes a lower traveling body; an upper slewing body slewably mounted on the lower traveling body; and an attachment attached to the upper slewing body, the attachment including a boom, an arm, and an end attachment. The control device includes circuitry configured to operate the arm in response to a command value so as to move a predetermined work part of the end attachment while aligning the predetermined work part with a target surface, and to operate at least one of the boom or the end attachment in accordance with the operation of the arm, wherein the circuitry controls the operation of at least one of the arm or the boom such that a moving speed of a control target along the target surface becomes a predetermined speed, the control target being a predetermined part of the attachment.

What is claimed is: 
     
         1 . A control device for an excavator, the excavator including a lower traveling body; an upper slewing body slewably mounted on the lower traveling body; and an attachment attached to the upper slewing body, the attachment including a boom, an arm, and an end attachment, the control device comprising:
 circuitry configured to operate the arm in response to a command value so as to move a predetermined work part of the end attachment while aligning the predetermined work part with a target surface, and to operate at least one of the boom or the end attachment in accordance with the operation of the arm,   wherein the circuitry controls the operation of at least one of the arm or the boom such that a moving speed of a control target along the target surface becomes a predetermined speed, the control target being a predetermined part of the attachment, and   wherein in a case where the target surface includes a steep slope portion, and a gentle slope portion or a horizontal surface portion, and provided that an operation amount of an arm operation lever is same for both portions, the circuitry operates the arm such that a moving speed of the control target when moving the predetermined work part while aligning the predetermined work part with the gentle slope portion or the horizontal surface portion is same as a moving speed of the control target when moving the predetermined work part while aligning the predetermined work part with the steep slope portion.   
     
     
         2 . The control device for an excavator according to  claim 1 , wherein the control target is the predetermined work part of the end attachment or an arm top pin. 
     
     
         3 . The control device for an excavator according to  claim 1 , wherein the excavator further includes:
 a main pump mounted in the upper slewing body;   a pilot pump mounted in the upper slewing body;   an arm cylinder control valve provided in a hydraulic fluid line connecting an arm cylinder and the main pump; and   an arm solenoid valve provided in a pilot line connecting a pilot port of the arm cylinder control valve and the pilot pump,   wherein the circuitry restricts an operation speed of the arm by adjusting a value of a control command output to the arm solenoid valve to adjust a pilot pressure acting on the pilot port of the arm cylinder control valve.   
     
     
         4 . The control device for an excavator according to  claim 1 , wherein the moving speed of the control target along the target surface changes in accordance with the operation amount of the arm operation lever. 
     
     
         5 . The control device for an excavator according to  claim 1 , wherein the predetermined work part includes:
 a first work part that is aligned with the gentle slope portion or the horizontal surface portion, and   a second work part that is aligned with the steep slope portion.   
     
     
         6 . A control device for an excavator, the excavator including a lower traveling body; an upper slewing body slewably mounted on the lower traveling body; and an attachment attached to the upper slewing body, the attachment including a boom, an arm, and an end attachment, the control device comprising:
 circuitry configured to operate a controller element in response to a command value so as to move a predetermined work part of the end attachment while aligning the predetermined work part with a target surface, and to operate one or a plurality of responder elements in accordance with the operation of the controller element,   wherein the circuitry restricts the operation of at least one of the controller element or the responder elements such that a moving speed of a control target along the target surface becomes a predetermined speed, the control target being a predetermined part of the attachment, and   wherein in a case where the target surface includes a steep slope portion, and a gentle slope portion or a horizontal surface portion, and provided that an operation amount of an arm operation lever is same for both portions, the circuitry operates the controller element such that a moving speed of the control target when moving the predetermined work part while aligning the predetermined work part with the gentle slope portion or the horizontal surface portion is same as a moving speed of the control target when moving the predetermined work part while aligning the predetermined work part with the steep slope portion.   
     
     
         7 . A control device for an excavator, the excavator including a lower traveling body; an upper slewing body slewably mounted on the lower traveling body; and an attachment attached to the upper slewing body, the attachment including a boom, an arm, and an end attachment, the control device comprising:
 circuitry configured to operate the arm such that a moving speed of a predetermined work part of the end attachment is substantially same when a surface with which the predetermined work part is to be aligned changes between a substantially horizontal surface portion and a steep slope portion having an angle in a height direction relative to the substantially horizontal surface portion while moving the predetermined work part along a target surface, and also operate at least one of the boom or the end attachment in accordance with the operation of the arm.   
     
     
         8 . The control device for an excavator according to  claim 7 , wherein in response to reception of an operation on the attachment, the circuitry operates the arm such that the moving speed of the predetermined work part corresponds to an operation amount of the received operation while moving the predetermined work part along the target surface, and also operates at least one of the boom or the end attachment in accordance with the operation of the arm. 
     
     
         9 . The control device for an excavator according to  claim 8 , wherein in response to reception of an operation on the arm, the circuitry performs control to reduce an angular velocity of at least one of the arm or the boom such that the moving speed of the predetermined work part is substantially same when the surface with which the predetermined work part is to be aligned changes between the substantially horizontal surface portion and the steep slope portion while moving the predetermined work part along the target surface. 
     
     
         10 . The control device for an excavator according to  claim 9 , wherein the circuitry, after moving the predetermined work part while aligning the predetermined work part with the substantially horizontal surface portion, performs control to reduce the angular velocity of the arm when moving the predetermined work part while aligning the predetermined work part with the steep slope portion.