| 摘要 |
PURPOSE:To prevent dropping of earth during movement, by a method wherein, when either a boom or an arm is controlled and height from the reference surface of a bucket exceeds a given value a bucket angular speed signal, determined from a boom, an arm, and a bucket angle, is outputted. CONSTITUTION:The angle alpha of a boom 2, the angle beta of an arm 3 and the angle gamma of a bucket are respectively detected, and a deviation DELTAgamma between a bucket absolute angle theta=alpha+beta+gamma and a desired absolute angle theta0 is determined. Further, a difference (bucket angular speed) between the differentiation value of the addition value of the boom angle alpha and the arm angle beta and the deviation DELTAgamma is determined. Meanwhile, from the boom angle alpha, the arm angle beta, and the bucket angle gamma, a height (h) from a reference value G.L of a bucket 4 is determined. Only when the height (h) exceeds a set height and at least either of boom and control levers 13 and 14 is controlled, an instruction signal T is outputted from a control instruction device 33 to input a bucket angular speed to a bucket controller 28. |
