Working unit control apparatus of excavating and loading machine

A working unit control apparatus of an excavating and loading machine comprising:

• a boom cylinder controlling a lift of a boom;
• a boom control valve controlling extension and compression of the boom cylinder;
• a boom lever instructing an extension and compression speed of the boom cylinder;
• a boom lever operating amount detector detecting an operating amount of the boom lever;
• a bucket cylinder controlling a tilt of the bucket;
• a bucket control valve controlling an extension and compression of the bucket cylinder;
• a bucket lever instructing an extension and compression speed of the bucket cylinder;
• a bucket lever operating amount detector detecting an operating amount of the bucket lever;
• and
• a controller outputting a boom control command value to the boom control valve on the basis of the boom lever operating amount input from the boom lever operating amount detector, and outputting a bucket control command value to the bucket control valve on the basis of the bucket lever operating amount input from the bucket lever operating amount detector,
• wherein said working unit control apparatus is additionally provided with an engine rotational speed detector detecting an engine rotational speed, and
• wherein said controller has automatic excavation control means setting and outputting an automatic excavation command value to each of the control valves on the basis of any one of a manual command and a judgement of a load judging portion judging whether or not the vehicle is under excavation, and said automatic excavation control means outputs a boom control command value which becomes smaller as the engine rotational speed becomes larger at a time of operating the boom to the boom control valve.

A working unit control apparatus of an excavating and loading machine comprising:

• a boom cylinder controlling a lift of a boom;
• a boom control valve controlling extension and compression of the boom cylinder;
• a boom lever instructing an extension and compression speed of the boom cylinder;
• a boom lever operating amount detector detecting an operating amount of the boom lever;
• a bucket cylinder controlling a tilt of the bucket;
• a bucket control valve controlling an extension and compression of the bucket cylinder;
• a bucket lever instructing an extension and compression speed of the bucket cylinder;
• a bucket lever operating amount detector detecting an operating amount of the bucket lever;
• and
• a controller outputting a boom control command value to the boom control valve on the basis of the boom lever operating amount input from the boom lever operating amount detector, and outputting a bucket control command value to the bucket control valve on the basis of the bucket lever operating amount input from the bucket lever operating amount detector,
• wherein said working unit control apparatus is additionally provided with an engine rotational speed detector detecting an engine rotational speed, and
• said controller has automatic excavation control means setting and outputting an automatic excavation command value to each of the control valves on the basis of any one of a manual command and a judgement of a load judging portion judging whether or not the vehicle is under excavation, and said automatic excavation control means outputs a control command value which is based on any one of the engine rotational speed and the boom lever operating amount to the bucket control valve.

A working unit control apparatus of an excavating and loading machine comprising:

• a boom cylinder controlling a lift of a boom;
• a boom control valve controlling extension and compression of the boom cylinder;
• a boom lever instructing an extension and compression speed of the boom cylinder;
• a boom lever operating amount detector detecting an operating amount of the boom lever;
• a bucket cylinder controlling a tilt of the bucket;
• a bucket control valve controlling an extension and compression of the bucket cylinder;
• a bucket lever instructing an extension and compression speed of the bucket cylinder;
• a bucket lever operating amount detector detecting an operating amount of the bucket lever;
• and
• a controller outputting a boom control command value to the boom control valve on the basis of the boom lever operating amount input from the boom lever operating amount detector, and outputting a bucket control command value to the bucket control valve on the basis of the bucket lever operating amount input from the bucket lever operating amount detector,
• wherein said controller has automatic excavation control means setting and outputting an automatic excavation command value to each of the control valves on the basis of any one of a manual command and a judgement of a load judging portion judging whether or not the vehicle is under excavation, and said automatic excavation control means outputs a bucket control command value to the bucket control valve without relation to an operation or a stop of the boom cylinder.

A working unit control apparatus of an excavating and loading machine comprising:

• a boom cylinder controlling a lift of a boom;
• a boom control valve controlling extension and compression of the boom cylinder:
• a boom lever instructing an extension and compression speed of the boom cylinder;
• a boom lever operating amount detector detecting an operating amount of the boom lever;
• a bucket cylinder controlling a tilt of the bucket;
• a bucket control valve controlling an extension and compression of the bucket cylinder;
• a bucket lever instructing an extension and compression speed of the bucket cylinder;
• a bucket lever operating amount detector detecting an operating amount of the bucket lever;
• and
• a controller outputting a boom control command value to the boom control valve on the basis of the boom lever operating amount input from the boom lever operating amount detector, and outputting a bucket control command value to the bucket control valve on the basis of the bucket lever operating amount input from the bucket lever operating amount detector,
• wherein said working unit control apparatus is additionally provided with a mode selecting button setting a mode for outputting the bucket control command value in a continuous manner or a pulse manner, a mode selecting signal output from the mode selecting button is input to the controller, and
• said controller has automatic excavation control means setting and outputting an automatic excavation command value to each of the control valves on the basis of a manual command and a judgement of a load judging portion judging whether or not the vehicle is under excavation, and said automatic excavation control means is structured such as to switch the output mode on the basis of the mode selecting signal.

A working unit control apparatus of an excavating and loading machine comprising:

• a boom cylinder controlling a lift of a boom;
• a boom control valve controlling extension and compression of the boom cylinder;
• a boom lever instructing an extension and compression speed of the boom cylinder;
• a boom lever operating amount detector detecting an operating amount of the boom lever;
• a bucket cylinder controlling a tilt of the bucket;
• a bucket control valve controlling an extension and compression of the bucket cylinder;
• a bucket lever instructing an extension and compression speed of the bucket cylinder;
• a bucket lever operating amount detector detecting an operating amount of the bucket lever;
• and
• a controller outputting a boom control command value to the boom control valve on the basis of the boom lever operating amount input from the boom lever operating amount detector, and outputting a bucket control command value to the bucket control valve on the basis of the bucket lever operating amount input from the bucket lever operating amount detector,
• wherein said working unit control apparatus has excavating state detecting means detecting an excavating state of a vehicle,
• wherein said controller has a load judging portion judging on the basis of a detecting amount input from the excavating state detecting means whether or not the vehicle is under excavation, an operating amount change judging portion judging that the boom lever operating amount changed at a zero amount from a predetermined operating amount, and automatic excavation control means setting and outputting an automatic excavation command value to each of the control valves on the basis of the judgement of said load judging portion and said operating amount change judging portion, and
• wherein the automatic excavation control means outputs the automatic excavation command value to each of the control valves when said load judging portion judges that the vehicle is under excavation and said operating amount change judging portion judges that the boom lever operating amount changes from a predetermined operating amount to a zero amount.