| CPC E02F 3/435 (2013.01) [E02F 9/26 (2013.01); B60Y 2200/412 (2013.01); E02F 9/2004 (2013.01); E02F 9/2025 (2013.01)] | 4 Claims |
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1. A work machine comprising:
a multijoint work implement that has a work tool and a plurality of work members;
a plurality of actuators that drive the work implement;
an operation device for operating the work implement;
a controller that controls the work implement to be actuated in response to operation signals outputted from the operation device;
a work execution target setting device for setting a design surface indicating a target shape of an object to be worked; and
a work implement posture/position measurement device that measures a posture of the work implement and a position of the work tool,
the controller determining target velocities of the plurality of actuators on a basis of the operation signals outputted from the operation device, and correcting the target velocities on a basis of the design surface set by the work execution target setting device and the position of the work tool measured by the work implement posture/position measurement device, wherein
the work tool is a bucket,
the plurality of work members include a boom and an arm,
the plurality of actuators include a boom cylinder that drives the boom and an arm cylinder that drives the arm, and
the controller is configured to
determine the arm cylinder as an excavation actuator in charge of an excavation action and determine the boom cylinder as an alignment actuator in charge of an alignment action for the bucket in a case in which a design surface angle that is an angle of the design surface with respect to a horizontal surface is equal to or smaller than a predetermined angle threshold set between 0 degree and 90 degrees, or in a case in which an excavation angle that is an angle of a line connecting a rotation fulcrum of the arm to a claw tip of the bucket, with respect to the design surface is smaller than 90 degrees,
determine the boom cylinder as the excavation actuator and determine the arm cylinder as the alignment actuator in a case in which the design surface angle is greater than the predetermined angle threshold and the excavation angle is equal to or greater than 90 degrees,
determine a target velocity of the excavation actuator on the basis of the operation signals outputted from the operation device, and
limit a target velocity of the alignment actuator in a direction in which the work tool approaches the design surface.
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