Patent ID: 6101437
Filing Date: 2000-08-08
Classification: E02F

Abstract:
An operation control system for a 3-articulation type excavator, said operation control system being installed in a 3-articulation type excavator (1) comprising an excavator body (13), a first arm (3) rotatably attached to said excavator body, a second arm (4) rotatably attached to said first arm, a third arm (5) rotatably attached to said second arm, a digging bucket (6) rotatably attached to said third arm, and a hydraulic drive circuit (60) including a first arm cylinder (7) for driving said first arm, a second arm cylinder (8) for driving said second arm, a third arm cylinder (9) for driving said third arm, and a bucket cylinder (10) for driving said digging bucket, said operation control system comprising first arm operating means (11) including a first control lever (11a) for commanding a speed of said first arm (3) depending on operation of said first control lever (11a), and third arm operating means (12) including a second control lever (12a) for commanding a speed of said third arm (5) depending on operation of said second control lever (12a), said first arm cylinder (7) and said third arm cylinder (9) of said hydraulic drive circuit (60) being driven in accordance with respective operation signals from said first arm operating means (11) and said third arm operating means (12), wherein:said operation control system further comprises second arm commanding means (32, 33, 40, 41, 42, 50, 51) for producing a speed command value (X2) for said second arm (4) that is calculated from a first value resulted by multiplying a speed command value (X1) indicated by the operation signal from said first arm operating means (11) by a first arm assistive gain (K1) and a second value resulted by multiplying a speed command value (X3) indicated by the operation signal from said third arm operating means (12) by a third arm assistive gain (K3), and output means (36, 37) for converting the speed command value (X2) for said second arm (4) into a signal, said second arm cylinder (8) of said hydraulic drive circuit (60) being driven in accordance with the signal from said output means.