Job tool locus control unit null of arm type job

摘要

PURPOSE: To raise the efficiency of operation for slope by a method in which an arithmetic controller to control operations is set, and on the basis of detection or commands of slope angles, arm slewing angles, tilting angles, and moving speeds, an operator is moved along slope. ;CONSTITUTION: The tip D of a bucket 5 is manually operated, a slope angle setting dial 12 is set up to the angle of slope to be excavated, and a control command signal C is sent out from a speed commander 11. Also, speed signals VH and VT corresponding to the operating amount of a speed command lever 10 are sent out. In a speed arithmetic unit 18, speed signals are input, and slewing angles θ and slope angle signals ϕ from slewing angle meter are input to calculate speed components. In an angular velosity arithmetic unit 19, speed component Vθ, boom angle β, and arm angle α are input, and the target value FJθ of slewing angle is output. In an angular velosity arithmetic unit 20, the target values FJβ, and FJα of the angle speeds of boom and arm are calculated and sent out. By integrators 21, 22, and 23, integrated values are compared with actual angles θ, β and α detected by angle meters 14 16, and 17. When there is a deviation between them, the actions of the slewing part 2, the boom 3, and the arm 4 are corrected.;COPYRIGHT: (C)1993,JPO&Japio