| 摘要 |
PURPOSE:To enhance the efficiency of excavation by providing a command output unit by which to automatically control the attitude of a bucket on the basis of excavating angles detected and a driver means in parallel with a master-slave method. CONSTITUTION:Output signals of revolution meters 1-6 attached to a bucket are added through A/D converters 71-76 to an arithmetic processing circuit 80. In the circuit 80, automatic control is made such that the processing resistance of the bucket is not increased on the basis of the input signal. For this reason, signals to indicate the direction and flow rate of pressure oil flowing in the bucket cylinder 63 are added through a relay switch 24 and D/A converter 90 to a control amplifier 25. Pressure oil to extend and contract the cylinder 63 through an oil-pressure circuit is supplied by the signals to control the slewing action of the bucket. Since only the position of the bucket is indicated in the master-slave method and desired excavation is permitted by keeping the attitude of the bucket suitably, control on the working machine can be highly simplified. |
