| 摘要 |
PURPOSE:To permit excavating operations to be performed without mastery by a method in which the moving locus of the cutting edge of a bucket which is stored in such a way as to bring forth a full-scale excavation condition of small excavation resistances is read out to control the cutting edge. CONSTITUTION:On the basis of signals showing the angles of each position and inclining angle of a power shovel, read out from sensors 11-13 and an inclinometer 37, the lengths of the present boom cylinder 6, arm cylinder 5, and a bucket cylinder 4 are detected to judge whether they match with a present locus or not by CPU 8. If they do not match, the flow rate of pressure oil of each cylinder which is necessary for moving them to a calculated position after about 0.1sec of the cutting edge is calculated, and the cylinder to send pressure oil to the oil-pressure circuit is expanded or contracted. When oil- pressure meters 34, 35, and 36 exceed a preset oil pressure, correction is made to reduce the resistance by information of a memory 9. Efficient operations can thus be made possible. |
