| 摘要 |
<p>A control device which can be adapted to a power shovel which has a first boom and a second boom and of which the arm turns around the axis in the lengthwise direction thereof. In this device, attitude angles of the first boom, the second boom and the arm are detected, and the angle of the arm is determined relative to a horizontal plane based upon the above attitude angles. An arm cylinder is so controlled that the angle of the arm relative to the horizontal plane is maintained at a desired angle. The angle of rotation of the arm and a turning angle of an upper turning member around the axis in the lengthwise direction are detected, and a deviating angle of the blade direction of a bucket is determined relative to the initial direction of the blade based upon the above angle of rotation of the arm and the turning angle of the turning member. The angle of rotation of the arm is so controlled as to offset the deviating angle. Further, the turning speed of the upper turning member is detected, and the arm is rotated at this rotating speed in a direction opposite to that of the upper turning member. Moreover, attitude angles of the first boom and the second boom are detected, and a direction of moving of the coupling point between the second boom and the arm is specified on a coordinate surface that includes the first boom, the second boom and the arm. Based upon the attitude angles and the direction of moving, the first boom cylinder and the second boom cylinder are so controlled that the coupling point moves in the specified direction.</p> |
