| 摘要 |
PURPOSE: To perform high efficient digging while fixed quantity digging can be high accurately maintained, by avoiding an influence of disturbance due to collapsing a load, changing material water, changing a charging rate to a bucket, or the like. CONSTITUTION: Drive torque of a rotary drive mechanism of driving a bucket of a bucket elevator is detected by a torque sensor 46, to process this detection value average, and a digging amount corresponding to changing torque is calculated by a torque/digging amount converting circuit 51, to calculate, based on a deviation between this digging amount and a preset transport amount, a speed correction control amount by a PID adjuster 53. On the other hand, based on a detection value of an ultrasonic distance sensor 47, surface shape of a removed object is detected, to calculate a speed correction valueΔV in accordance with a digging length by a speed correction circuit 56, so as to correct by these correction amounts a reference transverse feed speed VF calculated to be based on a preset cargo handling amount, digging sectional area and material virtual specific gravity in a reference transverse feed arithmetic circuit 55.
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