| 摘要 |
PURPOSE:To optionally alter the position of the cutting edge of a bucket even during the automatic operation period by a method in which detected values on the operation amount of a manual operating lever are put in the arithmetic unit of a linear excavation controller and added to speed command value during the automatic operation period. CONSTITUTION:On the basis of tangent speed signal Vt from the speed input pedal 19 of an input unit 9 and excavation angle signal phi from an angle setter 20, the speed components vx and vy at the tip of a bucket 4 are calculated in a bucket tip speed arithmetic block 15. Also, in an angle and angular velocity arithmetic block 16, on the basis of relative angle signals beta, alpha, and gamma of boom 2 and vx and vy, relative angular velocity signals betar, alphar, and gammar are calculated, and on the basis of these, the flow rate of pressure oil to cylinders C1-C3 is regulated by flow rate controllers 17 and 18, and the cutting edge of the bucket 4 is moved on the straight line W. When operating levers 21-23 are operated then, the manual command values alpha'M, beta'M, and gamma'M are put in the block 16, relative angular velocity signals betar, alphar, and gammar are corrected, and the bucket 4 can thus be moved to a desired direction. |
