| 摘要 |
PURPOSE:To exactly control excavating operations by providing a potentiometer for each turning fulcrum, an arithmetic circuit for sum of turning angles, a comparator circuit for the output of the arithmetic circuit and reference signal for the blade angle of bucket, a sensor for the blade, and a signaler for starting excavation. CONSTITUTION:Signals showing turning angles alpha, beta, and gamma of a boom 1, an arm 2, and a bucket 3 from potentiometers 9-11 are added to an adder 20 for calculation and a reference value E for the blade angle phi of a bucket is set up at 180 deg.-phi. In the comparator 21, the value E is compared with the output alpha+beta+gamma of the adder 20, and an arm cylinder 5 is controlled according to the increase or decrease of the turning angle alpha of the boom 1 in such a way as to equalize the value E with the output alpha+beta+gamma. The blade angle is matched with a desired value phi and the matching output from the comparator 21 is added to AND circuit 26. The ground contact of the blade of the bucket 3 is detected by a sensor 27. The blade angle phi of the bucket 3 can thus be exactly controlled. |
