| 摘要 |
PURPOSE:To improve the excavating speed by providing rotation angle detecting means, an excavating start point/end point teaching means, and an edge position calculating means and providing an excavating speed inputting means, a signal and edge position command calculating means and a flow calculating and control means for actuators. CONSTITUTION:Rotation angle detecting means 8a-8c of a boom 1, an arm 2 and a bucket 3, an edge position calculating means 9 of the bucket 3 based on teaching signals from them, and an excavating position start point/end point teaching means 10 are provided. Points on the linear line connecting the start point and the end point of the excavation face are calculated based on an excavating speed signal inputting means and the input signal from it and the bucket tip position signal from the edge position calculating means 9 and are outputted in sequence by a position command calculating means 11. A flow calculating and control means 15 controlling the flow of a fluid to actuators of the boom 1, arm 2 and bucket 3 is provided. The whole control can be simplified. |
