| 摘要 |
PURPOSE:To permit linear excavation the an oil-pressure shovel by matching the angle of excavating face with a set value by a method in which a body detector is provided to the rotator of an oil-pressure shovel, and on the basis of the inclined angle of the body, a set value for the excavating angle is corrected. CONSTITUTION:A linear excavation speed Vt and a set value phi for the slope of an excavating face are put in a bucket top speed arithmetic block 16 from the speed input lever 20 and excavating face slope setting dial 21 of an input unit 10. A body inclination signal phi0 from a body inclination detector 8 is put in the block 16 to calculate speed components VX and VY of the bucket tip. The speed components VX and VY, a bucket speed command value r', and relative angle signals alpha, beta, gamma are put in an angle and angular velocity arithmetic block 17 to obtain flow rate command signals of oil-pressure cylinders C1, C2, and C3. |
