| 摘要 |
PURPOSE:To lessen deviations between excavating speeds in the horizontal direction at the beginning of excavation and excavating speeds in the vertical direction by setting up a target angular speed for arm or boom in such a way as not to exceed the maximum angular speed for arm or boom. CONSTITUTION:Setters 10 and 11 to set up maximum flow values QA and QB to be supplied to a boom angular speed detector 7, an arm angular speed detector 8, a bucket angular speed meter 9, an arm cylinder 5, and a boom cylinder 4 and a detector 15 for angular speeds of excavation are built in the body. They are connected to a controller 20 consisting of an input unit 12, an arithmetic unit 13 for target angular speeds of arm and boom, a drive signal output unit 15. The operations of the arm 2 and the boom 1 are controlled by the controller 20 so that target angular speed for arm or boom is less than the maximum value of angular speed for arm or boom. The degree of deviation from the excavating locus can thus be lessened. |
