CONTROL ON HORIZONTAL AND VERTICAL MOVEMENT OF MOVING PART

PURPOSE:To simplify the operation of an operating lever by a method in which a handle and a bucket are moved horizontally in backward and forward directions and vertically in the straight direction, where they are moved circumferentially around machine in the horizontal and vertical directions. CONSTITUTION:Analog signals such as voltage and current which are input from an operating lever 9 are converted into digital values of moving speeds through A/D converter 10 and put in an arithmetic unit 11. Signals from an angle sensor 16 attached to joints are converted into digital values by A/D converter 17 and put in the unit 11. In the unit 11, speed signals in vertical and back and forth directions which are input from the lever 9 are processed by using a trigonometric function calculation method to obtain signals decomposed into turning angle components for each joint. The signals are given to a servo amplifier 12 and a boom 15 is moved through a control solenoid valve 13 and an oil-pressure cylinder 14.