| 摘要 |
PURPOSE:To eliminate a limited following delay of an oil-pressure shovel by a method in which when excavating speeds exceeds a set allowable range at the startup automatic straightforward excavation on the basis of a set excavation angle, the rising of the excavating speed is once stopped and then the excavating speed is gradually raised to a set excavation speed. CONSTITUTION:The turning angles of a boom, an arm, and a bucket are detected by detectors 21, 22, and 23, and the operating amounts of the operating levers 11, 12, and 13 for the boom, arm, and bucket are detected by detectors 24, 25, and 26. A set value for excavation angle is put in an excavating angle setter 27, and the pressure of the boom cylinder is detected by a detector 28. These detected values are put in an arithmetical unit 31, and automatic excavation is made on the basis of a set angle for excavation by operation of a switch 30. At the startup of automatic straightforward excavation, excavating speeds are gradually raised to a given speed, and when control error is within an allowable range during the period, the rise of the speeds is once stopped. Following delay due to inertia, pipe expansion, oil compression, etc., can thus be eliminated. |
