| 摘要 |
<p>The invention relates to a civil engineering loading machine (1) provided with a frame (5) and working equipment (2) which comprises at least one arm (3), an arm actuator (7) for rotatably displacing said arm (3) with respect to the frame (5), a working tool (15) hingeable with respect to the arm (3), a main cinematic chain (20, 21) forming together with the working tool (15) part and the arm (3) part a main deformable mechanism and a controllable tool actuator (27) for generating the deformation of the main deformable mechanism in such a way that the inclination angle (100) of the working tool (15) with respect to the arm (3) is provided. The inventive machine is characterised in that it also comprises a secondary cinematic chain (40, 41, 42, 43) forming together with the part of the arm (3), which is located in the area (4) of articulation thereof on the frame (5), a deformable reference mechanism (35) whose deformation directly corresponds to the inclination angle (100) of the working tool (15) with respect to the frame (5), an angle sensor (44) for measuring an angle (101) displaying the deformation of the reference mechanism (35) with respect to the frame (5) and a control device (45) which is connected to said sensor (44) and controls the feeding of the working tool actuator (27) and/or the arm actuator (7).</p> |
