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
• 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.