| 摘要 |
PURPOSE:To easily obtain straight excavation locus of a desired slope by giving a correcting speed toward the vertical direction of slope to be excavated by manual operations during the automatic straight excavation period. CONSTITUTION:When no command signals are sent out of a control commander 11, a bucket is controlled by manual operations by means of a boom-operating lever 5 or an arm-operating lever 7. A slope inclined angle setting dial 9 is set to the gradient of the slope to be excavated, and when a command signal is sent out of the commander 11, switches 12 and 13 are switched. At the same time, an angular speed arithmetic unit 19 starts calculation of angular speeds and the boom and the arm are controlled. When the boom-operating lever 5 is operated during the excavation of the slope, a correcting speed vertical to the slope, corresponding to the operation amount, is put in a bucket tip speed arithmetic unit 17 through a correcting speed commander 14, and on the basis of correcting speed command values obtained from the results, the moving locus of the tip of the bucket is corrected. |
