| 摘要 |
PURPOSE:To excavate a slope without moving a running body as it is slewing, by a method wherein the slewing angle of a slewing body is inputted to a computer for the speed of the forward end of a bucket, and the slope is excavated and controlled to a previously set gradient as the gradient of a slope is corrected. CONSTITUTION:The slewing angle of a slewing body 1 of a hydraulic shovel is detected by a detector 16. An input device 100 consists of a boom speed instructing device 6, a slope slanted angle setter 10, an instructing device 12 for the speed of the forward end of a bucket, and an arm speed instructing device 8. A car body slanted angle phi0 is inputted from a detector 15 for the slanted angle of a car body to an arithmetic unit 14 and a swirl angle theta, a slanted angle phi of a slope, and a bucket forward end speed Vt are inputted thereto from the slewing angle detector 16 to compute right-angle speed components Vx and Vy of a bucket forward end P. Further, a boom angle beta, an arm angle alpha, and a bucket angle gamma, and the bucket forward end right-angled speed components Vx and Vy are inputted to an arithmetic unit to drive a desired boom and a desired arm. |
