JPH08199508A - Wheel shift controller for slope execution device - Google Patents

Abstract

PURPOSE: To conduct slope execution such as uniform accurate rolling by detemining the quantity of a wheel shifted on the basis of the relationship of the type of a road surface and the travel distance of a slope execution device at a time when a car travels on a specified route on a specified slope without directly detecting the type of the road surface such as the undulations of a surface to be executed. CONSTITUTION: The quantity of shifting corresponding to a travel distance stored in a data floppy 13 is retrieved on the basis of an actual travel distance arithmetically operated by a control circuit in a personal computer 11, and left and right cylinder devices 6A, 6C are feedback-controlled so that the actual quantity of shifting detected by a sliding position sensor 10 reaches the retrieved quantity of shifting. Consequently, left and right iron wheels 3A, 3C are controlled in the quantity of shifting corresponding to the type of a road surface such as the undulations of a slope at a time when a slope combined roller 1 is made to travel on a specified route on the specified slope, and angles to the road surface of the iron wheels 3A, 3C are followed up to the shape of the road surface. Accordingly, slope execution such as uniform accurate rolling is conducted.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a slope working apparatus such as rolling compaction or cutting of a tilted surface formed by inclining an automobile running test site, etc., and particularly controlling a shift amount of wheels of the slope working apparatus. Regarding the device.

[0002]

2. Description of the Related Art For example, in a slope construction device for performing rolling compaction, cutting, etc. of an inclined surface formed by inclining an automobile running test site, a plurality of wheels (for example, iron wheels) are provided in parallel on a vehicle body. The wheels are connected by links so that the wheels located on the left and right sides incline to the opposite sides, respectively, and automatically follow up even if the curvature of the curved portion of the slope changes.

Further, conventionally, an automatic shift mechanism for automatically shifting wheels located on the left and right corresponding to various slope forms such as undulation of slope is provided by a shift device such as a cylinder device, and the wheels located on the left and right are The angle with respect to the road surface is made to follow the shape of the road surface so that the slope construction such as uniform and accurate rolling can be performed. As this automatic shift mechanism, for example, a contact type (ski type) sensor using a grade controller conventionally used in an asphalt finisher or the like is used to detect pavement undulations, and a shift device is selected according to the detected undulations. There is something to control.

Further, instead of the above grade controller, for example, a non-contact type sensor such as an ultrasonic sensor is used,
There is one that controls the shift device by detecting the undulation of the pavement surface.

[0005]

However, each of the conventional automatic shift mechanisms described above has the following problems. In other words, a contact type sensor that detects undulations on the pavement surface is a contact type sensor, so if mixed material adheres to the sensor, troublesome maintenance such as removal of the mixture material is required. It is necessary to perform maintenance frequently, and maintenance and management are troublesome, and the contact type sensor easily hits an obstacle and is damaged.

Although a non-contact type sensor for detecting the undulation of the pavement surface does not have the problem as in the case of using the contact type sensor, it is easily affected by various external factors and is inferior in accuracy, and the left and right sides are not affected. Since it is necessary to attach a sensor to the inside of the link of the wheel, malfunctions are likely to occur. Therefore, in view of the above conventional problems, the present invention does not directly detect the road surface morphology such as undulations on the construction surface, and the road surface morphology and the travel distance of the slope construction device when traveling on a predetermined route on a predetermined slope. It is an object of the present invention to solve the problems of the control method for directly detecting the road surface morphology such as the undulation of the construction surface by adopting a control method for determining what kind of shift amount to set based on the relationship of

[0007]

For this reason, in the invention described in claim 1, a plurality of wheels are provided in parallel on the vehicle body, and each wheel is provided with a link so that the wheels positioned on the left and right sides incline to opposite sides. In the connected slope construction device, the shift device for shifting the wheels in the vertical direction via the links is provided at the outer end of each link that connects the left and right wheels to another wheel, while the slope construction device is installed. A shift amount storage means that stores the shift amount corresponding to the road surface form when traveling on a predetermined slope on a predetermined slope by the travel distance of the slope construction device, and the travel distance for detecting the actual travel distance of the slope construction device A detecting means, a shift amount searching means for searching a shift amount corresponding to the traveling distance stored in the storage means based on the actual traveling distance detected by the traveling distance detecting means; Shift amount detecting means for detecting an actual shift amount of the shift device, and the shift device is fed back so that the actual shift amount detected by the shift amount detecting means becomes the shift amount searched by the shift amount searching means. And a control means for controlling.

According to a second aspect of the present invention, the traveling distance detecting means detects the number of rotations of the wheels, and determines the traveling distance from the number of rotations, which is one of wheels arranged in a plurality of rows. An iron piece fixedly attached to the inner peripheral surface, a proximity sensor arranged in the rotational movement area of the iron piece, for detecting how many times the wheel has rotated by detecting the iron piece, and the number of rotations detected by the proximity sensor And a mileage calculating means for calculating a mileage.

[0009]

According to the present invention, the shift amount corresponding to the stored travel distance is searched based on the calculated actual travel distance, and the detected actual shift amount is the searched shift amount. The left and right shift devices are feedback-controlled so that Therefore, the left and right wheels are controlled to a shift amount corresponding to a road surface form when traveling on a predetermined route on a predetermined slope on a slope construction device, for example, slope undulation, etc.
The angles of the wheels located on the left and right sides with respect to the road surface follow the road surface shape, and uniform and accurate rolling surface construction such as rolling compaction is performed.

In the invention according to claim 2, for example, when the iron pieces are provided at four places, each time the iron piece is detected by the proximity sensor, π · r / 2 (the iron ring circumference between the adjacent iron pieces is measured). ) Is added or subtracted to calculate the travel distance of the slope construction device based on the number of wheel rotations.

[0011]

Embodiments of the present invention will be described below with reference to the drawings. First, the configuration of a slope combined roller 1 as a slope construction device for constructing a slope will be described with reference to FIGS. 1 and 3. A plurality of iron wheels 3A, 3B, 3C as wheels are provided in parallel (three rows) on the front part of the vehicle body 2 of the slope combined roller 1. Each iron wheel 3A, 3B, 3
C is connected by links 5A, 5B, 5C so that the left and right iron wheels 3A, 3C are inclined to the opposite sides, respectively, and is configured to automatically follow even if the curvature of the curved portion of the slope changes. There is.

A plurality of tire rollers 4 serving as steering wheels are provided in parallel at the rear portion of the vehicle body 2. Each tire roller 4 swings on a support member (not shown) provided on the vehicle body 2. It is supported by an oscillating shaft (not shown) which is movably supported.
At the outer ends of the left and right links 5A and 5C that connect the left and right iron wheels 3A and 3C to the other iron wheel 3B,
Cylinder devices 6A and 6C are provided as shift devices for vertically shifting A and 3C via links 5A and 5C, respectively.

In this case, the body 6a of each cylinder device 6A, 6C is fixed to the vehicle body 2 side, and each cylinder device 6A, 6C is fixed.
The C operating rod 6b is connected to the outer ends of the left and right links 5A and 5C, respectively. Therefore, when the cylinder devices 6A and 6C are contracted, the outer ends of the links 5A and 5C are lifted upward, and the links 5A and 5C are inclined so that the outer ends of the links 5A and 5C are in a high position. , 3C incline in the same direction, and when the cylinder devices 6A, 6C are extended,
The outer ends of the links 5A and 5C are pushed downward, the links 5A and 5C are tilted so that the outer ends of the links 5A and 5C are in a lower position, and the iron wheels 3A and 3C are tilted in the same direction.

Of the iron wheels 3A, 3B, 3C arranged in three rows, the iron wheel 3B in the central portion does not shift.
Here, a mechanism that controls the cylinder devices 6A and 6C to control the shift amounts of the left and right iron wheels 3A and 3C according to the road surface form (for example, pavement undulation) will be described.

That is, a shift amount storage means for storing a shift amount corresponding to a road surface configuration when the slope combined roller 1 travels on a predetermined slope on a predetermined route by allocating the shift amount according to the traveling distance of the slope combined roller 1, and slope combined. On the basis of the traveling distance detecting means for detecting the actual traveling distance of the roller 1 and the actual traveling distance detected by the traveling distance detecting means, a shift amount corresponding to the traveling distance stored in the storage means is searched. Shift amount search means,
Shift amount detecting means for detecting an actual shift amount of the shift device, and the cylinder device 6A so that the actual shift amount detected by the shift amount detecting means becomes the shift amount searched by the shift amount searching means. , 6C by feedback control.

The traveling distance detecting means detects the number of rotations of the iron wheel and determines the traveling distance from the number of rotations. In this case, as shown in FIG. 2, the iron wheels 3 arranged in three rows
The iron piece 7 is fixedly attached by welding or the like to the inner peripheral surface of the iron ring 3B in the central portion, which is a fixed wheel that does not shift among A, 3B, and 3C, and the proximity sensor 8 arranged in the rotational movement region of the iron piece 7 is used to 7 is provided to determine the number of rotations of the iron wheel 3B, and a traveling distance calculation means for calculating the traveling distance from the number of rotations detected by the proximity sensor 8 is provided.

Then, for example, as shown in FIG.
In the case where the iron wheels 3B are provided at different locations, each time the proximity sensor 8 senses each iron piece 7, a numerical value of π · r / 2 (iron ring circumference between adjacent iron pieces) is added or subtracted to obtain the iron ring 3B. The traveling distance of the slope combined roller 1 is calculated based on the number of rotations. It should be noted that the larger the number of iron pieces 7, the smaller the error in the calculated traveling distance.

For example, when the diameter of the iron wheel 3B is 1350 mm, the numerical value of π · r is 2120 m for the two iron pieces 7.
In m, it is added or subtracted in units of 2120 mm, and for four iron pieces 7, the value of π · r / 2 is 1060 mm and 10
It is added or subtracted in units of 60 mm. As the shift amount detecting means, one end is connected to the outer end of each of the left and right links 5A and 5C, and the other end of the gauge rod 9 extends vertically upward. Locking part 9
A configuration in which the slide position sensor 10 provided in contact with A is used for detection is adopted.

In the driver's cab of the slope combined roller 1,
A personal computer 11 and a control I / O box 12 connected to the personal computer 11 are mounted. Signals output from the proximity sensor 8 and the slide position sensor 10 are input to the control I / O box 12, and control signals of the left and right cylinder devices 6A and 6C are output from the control I / O box 12. It

Here, the shift amount storage means is constituted by a data floppy 13 set in the personal computer 11. That is, the data floppy disk 13 stores a road surface configuration when the slope combined roller 1 travels on a predetermined slope on a predetermined route, for example, a shift amount corresponding to slope ups and downs according to the travel distance of the slope combined roller 1. The entered data has been entered.

The control circuit provided in the personal computer 11 is equipped with the function as the mileage calculation means, the function as the shift amount search means, and the function as the control means by software. . In such a configuration, the shift amount corresponding to the traveling distance stored in the data floppy 13 is searched based on the actual traveling distance calculated by the control circuit in the personal computer 11, and the actual shift distance detected by the slide position sensor 10 is searched. The left and right cylinder devices 6 are arranged so that the shift amount becomes the retrieved shift amount.
Feedback control is performed on A and 6C.

Therefore, the left and right iron wheels 3A, 3C are controlled to a shift amount corresponding to a road surface shape, for example, slope undulation when the slope combined roller 1 travels on a predetermined slope on a predetermined route, and the left and right iron wheels 3A and 3C are controlled. The angles of 3A and 3C with respect to the road surface follow the shape of the road surface, and slope construction such as uniform and accurate rolling is performed. Further, according to such a configuration, since the contact type sensor does not detect the undulation of the pavement surface, the mixture material does not adhere to the sensor, maintenance and management are not troublesome, and the sensor hits an obstacle and is damaged. There is no fear.

Further, the proximity sensor 8 is advantageous in that it is not easily affected by various external factors, is excellent in accuracy, and is unlikely to malfunction. In the above embodiment, the slope combined roller 1 is described as an example of the slope construction device, but the present invention can be applied to other rolling devices.

[0024]

As described above, according to the first aspect of the present invention, the left and right wheels correspond to the road surface configuration when the slope construction device travels on a predetermined slope along a predetermined route, for example, slope undulation. The angle of the wheels located on the left and right with respect to the road surface is controlled according to the road surface shape, and uniform and accurate slope work such as rolling can be performed.

According to the second aspect of the present invention, since the contact type sensor does not detect the undulation of the pavement surface, the mixture material does not adhere to the sensor, maintenance and management are not troublesome, and the sensor fails. The applied proximity sensor is advantageous in that it is less likely to be hit by an object and damaged, is less likely to be affected by various external factors, is highly accurate, and is unlikely to malfunction.

[Brief description of drawings]

FIG. 1 is a schematic view showing an embodiment of the invention described in claims 1 and 2.

FIG. 2 is a side view showing the mounting positions of the iron piece and the proximity sensor in the traveling distance detecting means.

FIG. 3 is a side view of the slope combined roller according to the embodiment.

[Explanation of symbols]

 1 Slope combined roller 2 Car body 3A, 3B, 3C Iron wheel 5A, 5B, 5C Link 6A, 6C Cylinder device 7 Iron piece 8 Proximity sensor 9 Gauge bar 10 Slide position sensor 11 Personal computer 12 Control I / O box 13 Data floppy

Claims (2)

[Claims] 1. A slope construction apparatus in which a plurality of wheels are provided in parallel on a vehicle body, and each wheel is connected by a link so that the wheels located on the left and right sides incline to the opposite sides, respectively. At the outer end of each link that is connected to the wheel of the vehicle, a shift device that shifts the wheel vertically through the link is provided, while the slope construction device corresponds to the road surface form when traveling on a predetermined route on a predetermined slope. Shift amount storage means for allocating and storing the shift amount according to the travel distance of the slope construction device, the travel distance detection means for detecting the actual travel distance of the slope construction device, and the actual distance detected by the travel distance detection means. A shift amount search means for searching a shift amount corresponding to the travel distance stored in the storage means based on the travel distance, and a shift amount detection device for detecting an actual shift amount of the shift device. Means and control means for feedback-controlling the shift device such that the actual shift amount detected by the shift amount detecting means becomes the shift amount searched by the shift amount searching means. Wheel shift control device for slope construction device. 2. The traveling distance detecting means detects the number of rotations of a wheel, and determines the traveling distance from the number of rotations. The traveling distance detecting means is fixedly attached to any one of the inner peripheral surfaces of the wheels arranged in a plurality of rows. And a proximity sensor that is arranged in the rotational movement area of the iron piece and detects the number of times the wheel has rotated by detecting the iron piece, and calculates the travel distance from the number of rotations detected by the proximity sensor. The wheel shift control device for a slope construction device according to claim 1, further comprising: a traveling distance calculation means.