Shovel and method of controlling shovel

摘要

A shovel that performs excavation in accordance with a complex excavation operation including an arm or bucket closing operation and a boom raising operation includes an excavation operation detection part, a position detection part, a maximum allowable pressure calculation part, and a boom cylinder pressure control part. The excavation operation detection part detects that the complex 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 contraction-side oil chamber of a boom cylinder corresponding to an excavation reaction force at a time when the shovel is lifted by the excavation reaction force as a maximum allowable pressure, based on the position of the shovel. The boom cylinder pressure control part controls the pressure of the contraction-side oil chamber not to exceed the maximum allowable pressure when the complex excavation operation is performed.

主权项

1. A shovel comprising:
an excavation operation detection part configured to detect a complex excavation operation of the shovel, the complex excavation operation including a boom raising operation, and an arm closing operation or a bucket closing operation; a position detection part configured to detect a position of the shovel; a maximum allowable pressure calculation part configured to calculate, during the detected complex excavation operation, a maximum allowable pressure of a contraction-side oil chamber of a boom cylinder based on the position of the shovel detected during the detected complex excavation operation, the maximum allowable pressure being a pressure of the contraction-side oil chamber of the boom cylinder corresponding to an excavation reaction force at a time when the shovel is lifted by the excavation reaction force; and a boom cylinder pressure control part configured to control the pressure of the contraction-side oil chamber of the boom cylinder not to exceed the maximum allowable pressure during the detected complex excavation operation.