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Control device for a power shovel
| Details |
Inventors: Jindai, Hideo; Bando, Keiji; Yoshida, Masakazu; Yamada, Hideki;
Assignee: Kabushiki Kaisha Komatsu Seisakusho (Tokyo, JP)
Primary Examiner: Spar; Robert J.
Assistant Examiner: Underwood; Donald W.
Attorney, Agent or Firm: Spensley Horn Jubas & Lubitz
A control device for a power shovel having a first boom, a second boom and an arm rotatable around the longitudinal axis of the arm, detects the angle of the arm with respect to the horizontal plane based on the posture angles of the first and second booms and the arm, and controls the arm cylinder such that the angle of the arm with respect to the horizontal plane is held to a reference angle. Further, the control device detects a deviation angle between the current direction and the initial directions and controls the revolution angle of the arm so as to make the deviation angle zero. Furthermore, the control device designates a moving direction of the connection point between the second boom and the arm along a plane including the first boom, the second boom and the arm, and controls cylinders for the booms such that their connection point may be moved in the moving direction thus designated. |
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DETAILED DESCRIPTION What is claimed is: 1.
A control device for use in a power shovel having an upper revolving superstructure, a first boom having a base end pivotably connected to said upper revolving superstructure, and a fore end, a second boom having a base end pivotably connected to said fore end of the first boom, and a fore end and an arm comprising a base portion pivotably connected said fore end of the second boom, and a rotatable portion rotatable around the longitudinal axis thereof, comprising: angle detecting means for detecting the respective posture angles of said first boom with respect to a horizontal plane, said second boom with respect to said first boom and said arm with respect to said second boom; posture angle calculating means for calculating a posture angle of said arm with respect to said horizontal plane based on output of said angle detecting means; reference angle setting means for setting a reference posture angle of said arm with respect to said horizontal plane; and arm cylinder control means for controlling an arm cylinder so as to bring the posture angle of said arm to said reference posture angle.
2.
A control device for a power shovel as set forth in claim 1, further comprising a switch for setting an automatic mode, said arm cylinder being controlled when and only when said switch sets the automatic mode.
3.
A control device for a power shovel as set forth in claim 2, wherein said switch is mounted to a grip portion of an operation lever.
4.
A control device for use in a power shovel having an upper revolving structure, a first boom having a base end pivotably connected to said upper revolving superstructure, and a fore end, a second boom having a base end pivotably connected to said fore end of the first boom, and a fore end, an arm comprising a base portion pivotably connected to said fore end of the second boom, and a rotatable portion rotatable around the longitudinal axis thereof and a bucket pivotably connected to said rotatable portion of the arm, comprising: revolution angle detecting means for detecting revolution angle of said arm around said longitudinal axis thereof; rotation angle detecting means for detecting the rotation angle of said upper revolving superstructure; calculating means for calculating deviation angle
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