TEACHING/PLAYBACK METHOD OF WORKING MACHINE.

摘要

The teaching/playback method of a working machine in accordance with the present invention is the method which is used for automating the operations of a hydraulic excavator and other construction equipment. The operations of a working machine actuator by an operator are stored and are played back in order to carry out automatically the same operation. Particularly, the present method makes it possible to carry out the same operation as the operation at the time of teaching even when a load condition to the working machine actuator at the time of teaching changes at the time of playback. To this end, a pump delivery quantity at the time of teaching and a feed flow rate to each working machine actuator are stored. When the pump delivery quantity changes due to the change of the load at the time of playback, an output control of an engine is conducted so that the pump delivery quantity is in conformity with the delivery quantity at the time of teaching. When the feed flow rate to the working machine actuator changes, a flow rate regulating valve disposed in its inflow circuit is controlled so that the pump delivery quantity is also in conformity with the flow rate at the time of teaching.