Method and apparatus for controlling angles of working machine

An apparatus for controlling angles of a working machine of a front-end loader including a boom (3) attached to the front portion of a vehicle body to be ascendable and descendable, a bucket (4) attached to the front end portion of said boom (3) to be vertically rotatable, a boom controlling valve (13) and a bucket controlling valve (14) respectively controlling ascending and descending movements of said boom (3) and tilting and dumping, movements of said bucket (4) based on operating signals from a boom operating lever (30) and a bucket operating lever (32), said apparatus comprising:

• an automatic excavation starting button (34) for instructing the start of automatic excavation by means of said boom (3) and said bucket (4);
• a boom angle detecting means (40) for detecting an ascent angle of said boom (3);
• a bucket angle detecting means (41) for detecting a tilt angle of said bucket (4);
• an electromagnetic proportional control valve (20) for inputting each control signal of said boom (3) and said bucket (4), and controlling said boom controlling valve (13) and said bucket controlling valve (14);
• and
• a controller (25) which starts an automatic excavation mode when inputting a start signal from said automatic excavation starting button (34),
• while outputting a control signal to cause said boom (3) to ascend at a predetermined speed to said electromagnetic proportional control valve (20),
• inputs the respective signals from said boom angle detecting means (40) and said bucket angle detecting means (41) to perform predetermined computation, and based on the previously stored automatic excavation mode, outputs a control signal to tilt said bucket (4) at a predetermined angle in response to the ascending boom angle to said electromagnetic proportional control valve (20).

An apparatus for controlling angles of a working machine of a front-end loader including a boom (3) attached to the front portion of a vehicle body to be ascendable and descendable, a bucket (4) attached to the front end portion of said boom (3) to be vertically rotatable, a boom controlling valve (13) and a bucket controlling valve (14) respectively controlling ascending and descending movements of said boom (3) and tilting and dumping movements of said bucket (4) based on operating signals from a boom operating lever (30) and a bucket operating lever (32), said apparatus comprising:

• an automatic excavation starting button (34) for instructing the start of automatic excavation by means of said boom (3) and said bucket (4);
• a boom angle detecting means (40) for detecting an ascent angle of said boom (3);
• a bucket angle detecting means (41) for detecting a tilt angle of said bucket (4);
• an electromagnetic proportional control valve (20) for inputting each control signal of said boom (3) and said bucket (4), and controlling said boom controlling valve (13) and said bucket controlling valve (14);
• and
• a controller (25) which starts an automatic excavation mode when inputting a start signal from said automatic excavation starting button (34),
• while outputting a control signal to cause said boom (3) to ascend in accordance with the signal from said boom operating lever (30) to said electromagnetic proportional control valve (20),
• inputs the respective signals from said boom angle detecting means (40) and said bucket angle detecting means (41) to perform predetermined computation, and based on the previously stored automatic excavation mode, outputs a control signal to tilt said bucket (4) at a predetermined angle in response to the ascending, boom angle to said electromagnetic proportional control valve (20).

An apparatus for controlling angles of a working machine of a front-end loader including a boom (3) attached to the front portion of a vehicle body to be ascendable and descendable, a bucket (4) attached to the front end portion of said boom (3) to be vertically rotatable, a boom controlling valve (13) and a bucket controlling valve (14) respectively controlling ascending and descending movements of said boom (3) and tilting and dumping movements of said bucket (4) based on operating signals from a boom operating lever (30) and a bucket operating lever (32), said apparatus comprising:

• an automatic excavation starting button (34) for instructing the start of automatic excavation by means of said boom (3) and said bucket (4);
• a boom angle detecting, means (40) for detecting an ascent angle of said boom (3);
• an electromagnetic proportional control valve (20) for inputting each control signal of said boom (3) and said bucket (4), and controlling said boom controlling valve (13) and said bucket controlling valve (14);
• and
• a controller (25) which starts an automatic excavation mode when inputting a start signal from said automatic excavation starting button (34),
• while outputting a control signal to cause said boom (3) to ascend in accordance with the signal from said boom operating lever (30) to said electromagnetic proportional control valve (20),
• inputs the signal from said boom angle detecting means (40) to perform predetermined computation, and based on the previously stored automatic excavation mode, outputs a control signal to tilt said bucket (4) for a predetermined period of time in response to the ascending boom angle to said electromagnetic proportional control valve (20).