| 摘要 |
PURPOSE:To perform automatic excavation of a given amount of soil all the time by alternately and automatically performing the titling operation of bucket and rising operation of boom in such a way that horizontal excavation resistance is reciprocatingly moved between a set upper value and a set lower value. CONSTITUTION:As regards horizontal excavation resistance, a first set value Rhm, an upper limit set value Rhu, and a lower limit set value Rhd are set, and a loading machine is run. In this case, in a controller, the horizontal component Rh and vertical component Rv of excavation resistance to be applied to a bucket 1 are calculated. When the horizontal component Rh becomes greater than the first set value Rhm, the tilting operation of the bucket 1 and the upward turning operation of the boom 3 are alternately switched in a controlled manner so that the horizontal component Rh reciprocatingly moves between the upper limit set value Rhu and the lower limit set value Rhd.
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