| 摘要 |
PURPOSE:To always keep a bucket at a given of relief angle, by a method wherein the operating direction of the claw tip of an excavating part, such as bucket, and the given angle of the bucket are determined, and based on a deviation between a given angle and an actual bucket angle, the bucket is held at a given angle. CONSTITUTION:Angles theta1, theta2 and theta3 of a boom 2, an arm 3, and a bucket 4 are detected, and based on such detecting signals theta1, theta2 and theta3 and a fixed value, positions X and Y of a current claw tip are determined by a computing controller 16. From difference between preceding read-in and current boom angles, arm angles, and bucket angles, the speed of the bucket and the vector of the claw tip are determined, and a given angle alpha1 and an angle of relief alpha2 of the bucket are determined. An electromagnetic valve 12 for bucket is controlled so that a deviation between a set bucket angle of relief alpha2 and an actual bucket angle of relief alpha2 is controlled to zero valve. This permits the bucket to be held at an efficient angle. |
