CONSTRUCTION MACHINE

摘要

A construction machine is characterized by including: a track structure 10; a swing structure 20 provided on the track structure 10 in a swingable manner; swing motors 25,27 that drive and swing the swing structure; a boom 31 connected to the swing structure 20; a boom cylinder 32 that moves the boom 31 vertically; a swing operation system 72 that instructs a swing operation of the swing structure 20; a boom operation system 78 that instructs a vertical movement of the boom 31; a detector 74d that detects a bottom pressure of the boom cylinder 32; and a controller 80 that reduces swing speed of the swing structure 20 according to a signal from the detector 74d with respect to a reference swing speed according to a signal of the swing operation, while signals of the swing operation and a boom raising operation are being inputted. This ensures that a load acting on the boom can be felt on the basis of motion of a front work implement, and, on the other hand, the front work implement can be operated along a locus according to operation without being affected by the load on the boom.

主权项

1. A construction machine comprising:
a track structure; a swing structure provided on the track structure in a swingable manner; a swing motor that drives and swings the swing structure; a boom connected to the swing structure; a boom cylinder that moves the boom vertically; a swing operation system that instructs a swing operation of the swing structure; a boom operation system that instructs a vertical movement of the boom; a detector that detects a state quantity varying according to a load on the boom cylinder; and a controller that reduces a swing speed of the swing structure according to a signal from the detector with respect to a reference swing speed according to a signal of the swing operation, while signals of the swing operation by the swing operation system and a boom raising operation by the boom operation system are being inputted, wherein the controller includes: a boom speed reduction calculation section configured to calculate a boom speed reduction amount AR with respect to a reference boom raising speed Rs that is suited to an operation amount of the boom operation system on the basis of the signal from the detector; a swing speed reduction amount calculation section configured to calculate a swing speed reduction amount ΔS with respect to a reference swing speed Ss that is suited to an operation amount of the swing operation system on the basis of the operation amount of the swing operation system and the boom speed reduction amount ΔR; and a torque command calculation section configured to calculate and output a swing motor torque command for generating the swing speed reduction amount ΔS on the basis of swing torque of the swing motor and the swing speed reduction amount ΔS, and wherein the swing speed reduction amount calculation section calculates the swing speed reduction amount ΔS such that the relation of (Rs−ΔR)/(Ss−ΔS)=Rs/Ss is established.