Shovel and control device for shovel

Abstract

A control device for a shovel including a lower traveling body, an upper swivel body pivotably mounted on the lower traveling body, and an attachment attached to the upper swivel body. The control device for the shovel is configured to repeatedly calculate an excavation reactive force based on information related to an excavation operation performed by the attachment with respect to a constructing object at a work site, set a target value based on the excavation reactive force calculated during one or more excavation operations, each being the excavation operation, and support each excavation operation performed after the target value related to the excavation reactive force is set based on the target value related to the excavation reactive force.

What is claimed is: 
     
         1 . A control device for a shovel including a lower traveling body, an upper swivel body pivotably mounted on the lower traveling body, and an attachment attached to the upper swivel body, wherein
 the control device for the shovel is configured to
 repeatedly calculate an excavation reactive force based on information related to an excavation operation performed by the attachment with respect to a constructing object at a work site, 
 set a target value based on the excavation reactive force calculated during one or more excavation operations, each being the excavation operation, and 
 support each excavation operation performed after the target value related to the excavation reactive force is set based on the target value related to the excavation reactive force. 
   
     
     
         2 . The control device for the shovel according to  claim 1 , wherein
 the control device for the shovel is further configured to
 determine whether or not a predetermined excavation operation suitable for calculating the target value has been performed based on the information on the excavation operation performed by the attachment for the constructing object at the work site, and 
 set the target value based on the excavation reactive force calculated during the excavation operation determined to be the predetermined excavation operation. 
   
     
     
         3 . The control device for the shovel according to  claim 1 , wherein
 the control device for the shovel is further configured to notify an operator that a current excavation reactive force has reached the target value, in each excavation operation performed after the target value is set.   
     
     
         4 . The control device for the shovel according to  claim 1 , wherein
 the control device for the shovel is further configured to automatically operate a predetermined actuator upon a current excavation reactive force reaching the target value, in each excavation operation performed after the target value is set.   
     
     
         5 . The control device for the shovel according to  claim 1 , wherein
 in each excavation operation performed after the target value is set, the control device for the shovel is further configured to automatically operate a predetermined actuator such that a point set at a predetermined portion of the attachment moves linearly until a current excavation reactive force reaches the target value.   
     
     
         6 . A shovel, comprising:
 the control device for the shovel according to  claim 1 ;   the lower traveling body;   the upper swivel body pivotably mounted on the lower traveling body; and   the attachment attached to the upper swivel body.