| 摘要 |
PURPOSE:To easily set, release, and reset a bucket angle, by providing a control means which holds an angle to the earth of a bucket at a specified value, a means which holds a bucket control angle by hands, and a means which gives preference to manual control of a bucket control lever. CONSTITUTION:A boom angle alpha, an arm angle beta, and a bucket angle gamma are added by an adder 8, an addition value (x) is inputted to a detector 10, and the result is compared with a desired value x0 to output it. Outputs from first - fourth gain generators 13, 14, 16, and 18 are added to an adder 19. The result is inputted to a servo system 23 through a switch circuit 20, control is effected to that a bucket cylinder 7 meets a formula of x0-x=0 to decide an angle theta to the earth of a bucket 6. This gives preference to manual control, and enables an angle at a point of time when control of the bucket is completed to be held till a point of time when following control is started by means of a control means. |
