Service device locus controller for service machine in arm system

Abstract

Abstract PURPOSE:To convey a bucket optionally along the face of slope, by a method wherein the conveying velocity in two directions on the face in parallel with the face of slope and the conveying velocity in the direction orthogonal to the face of slope are given to the bucket which is swung and interlocked. CONSTITUTION:The swing angle theta of a swing unit of an oil pressure shovel, the angle beta of tip of a boom 3 and the angle alpha of tip of an arm 4 are detected by each detector. And the conveying velocity Vh, Vr in the horizontal direction in prallel with the face of flope and in the arm direction and the conveying velocity Vn in the vertical direction against the face of slope, for conveying the working jig 5 such as a bucket or the like provided at the tip of the arm 4 along the face of slope, are given to a velocity indicating lever 10. And the angle phi of tilt of the face of slope is given to a controller by a setting device 12, and the bucket is controlled according to each detected value alpha, beta, theta and the set value phi and the indicated velocity Vh, Vr, Vn.

Inventors

• 👤 Kunio Kashiwagi
• 👤 柏木　邦雄

Bibliographic Details