JPS58137012A - Levelling controller - Google Patents

Abstract

PURPOSE:To improve the accuracy of finished plane remarkably, by linking a working tool and a laser photodetector with a shaft split with a pendulum joint. CONSTITUTION:A blade 1 and a laser photodetector 2 are linked with a shaft split with a pendulum joint 14. Then, the amount of reduction DELTAl of level of the laser photodetector caused by the pitching of a bulldozer is reduced, the blade tip level of the blade 1 is made stable and the accuracy of the finished plane is improved remarkably.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to the #4 welfare leveling control device. More specifically, the present invention relates to a leveling control device for controlling the leveling of working implements of various Maki construction machines such as bulldozer blades.

For example, when performing accurate leveling control of a working tool in a construction machine such as a bulldozer, a laser receiver 2 is attached to the blade 1 as shown in Figure 1, and a laser projector 3 is attached to the blade 1.
The level of the laser receiver is made to follow the level of the laser beam 4 by using the laser beam 4 emitted from the laser beam 4 as a reference element.

This type of leveling control device is constructed as shown in FIG. In addition to the additional points as target value 6,
The actuator accepts a deviation of 10 between this target value 6 and the current blade L value 9 detected by the potentiometer 8.
The hydraulic cylinder is driven to

In addition, the differential H path applies speed feedback of the blade l.

By the way, at large construction sites, one laser projector is usually used to provide a reference plane to multiple construction machines.In the case of construction machines working in low-lying areas or on the seabed, a laser receiver is used as shown in Figure 3. The shirt H3 that connects the blade 2 to the blade 1 is lengthened and used.

It is well known that construction sites where bulldozers are installed are light on flat surfaces, and bulldozers tend to pitch (tilt back and forth) every time they go over undulations on the road surface. When pitching occurs in the bulldozer, the shaft 13
Since the blade also tilts back and forth, even if the level of the cutting edge of the blade 1 is constant, the level at the center point of the laser receiver will decrease. For example, as shown in Fig. 4, if the length from the cutting edge of the blade 1 to the center of the laser receiver 2 is L and the pitching angle is 0, then if the cutting edge level is constant, the level line at the center point of the laser receiver 2 ( This results in a decrease of Δl shown by equation-1).

Δj=L(1-a#) (Formula-1) As a result, the leveling control device performs an INK operation to lift the blade 1 by Δ1 shown by (Formula-1) each time pitching of pitching angle - occurs, and therefore the finishing This results in undulations on the plane.

It is clear that this Δl increases as the shaft opening becomes longer. For example, if L is 5 (m) and # is 5 degrees, the value of ΔI will be approximately 19 (■). If leveling control is performed on the order of several If this is done, the undulations that occur in the finishing plane will exceed the allowable range.

It is an object of the present invention to provide a leveling control device that can improve the finishing plane by more than ***, which was created in view of the 1kjJ shape.

That is, according to the present invention, by connecting the blade 1 and the laser receiver 2 with a shaft divided by a pendulum joint, j is reduced to the amount of decrease in the level of the laser receiver caused by pitching of the bulldozer, Improved finish accuracy.

Further, according to the present invention, a sensor for detecting the refraction angle of the Benjeram joint caused by pitching of the bulldozer is provided near the Benjeram joint, and the level of the laser receiver is determined based on the refraction angle of the Benjeram joint. The amount of decrease Δl is calculated, and the target value is corrected based on this amount of decrease Δl, thereby improving finishing accuracy.

An embodiment of the present invention will be described in detail below with reference to the drawings.

FIG. 5 shows an example of the Benjeram joint 14 interposed in the middle of the shirt 13. The Benjeram joint 14 consists of: Main ball 141 @ Swing ball 142 Axis 143 A shaft B is composed of a weight 144, and a main ball 141 and a swinging ball.

That is, the other end (lower l111) of the main ball 141 is fixed to the upper end of the blade l, and the main ball 14
1 moves up and down when the blade 1 moves up and down, and when the pull doze pitches at a pitching angle of -, it tilts by an angle of -.

On the other hand, the swing ball 142 is swingably supported at the upper end of the main ball by a shaft 143, and its lower end Ktj
A laser receiver 2 is fixed to the other end of the collar 144. This weight 144 has sufficient weight so that even if the main ball 1+1 is tilted due to pitching of the bulldozer 2, the weight 144 always moves downward in the vertical direction Kll.

Therefore, according to the present invention, when the bulldozer is capable of pitching at a pitching angle of -, as shown in FIG.
The main ball 141 is tilted at an inclination angle of -, but the swing ball 142 is not tilted and always remains straight.

Therefore, according to the present invention, the amount of decrease in the level of the light receiver 2 caused by the pitching of the bulldozer is reduced by the main ball 141.
It is determined by the inclination angle of and the distance from the cutting edge of the blade l to the axis 143t.

For example, from the cutting edge of the IIK blade l shown in FIG.
Let Ll be the length from the axis 14 to the middle 6 points of the laser receiver 2, the amount of decrease in the level of the laser receiver 20 caused by pitching of the bulldozer Δ11 is expressed by (Equation-2).

Δlx = Ll (1-aa*#) (Formula-2) Assuming that the length of Ll in Fig. 7 is 4111
If the length of L is 1/3 in Fig. 7, △
The length of ll is Δ! in Figure 4. It becomes 1/3 of the length of.

According to the present invention, the amount of decrease in the level of the light receiver caused by pitching of the bulldozer is significantly reduced.
The accuracy of flat finishing is greatly improved.

Furthermore, according to the present invention, in addition to the above configuration, a means for detecting the refraction angle of Benji Island 1 India 14 is provided, and the refraction angle is calculated by (Equation 2) based on the refraction angle of Benji Island 1 India 14. The target value 6 shown in FIG. 2 is corrected using the amount of decrease Δll in the light receiver 20 level as a correction value.

To illustrate this embodiment, first, in FIG. 6, a potentiometer t is attached to the Benjeram joint 14 to detect the refraction angle θ.

That is, the main body 151 of potentiometer b is connected to the swing ball 142, and the platter 152 is connected to the main ball 142.
KJIjJ) is attached (this mounting position may be reversed), and outputs a voltage corresponding to the refraction angle e of the bending angle 14.

As shown in No. 8 @ IK, the output of this potentiometer t is applied to the calculator 16, which is based on the refraction angle - (the refraction angle is equal to the pitching angle) indicated by the output of the vertical meter 15. (Formula-2) is calculated to calculate the amount of decrease in the level Δ11 of the laser receiver 20, and a signal indicating this amount of decrease in level Δ11 is applied as the correction value 17 to the addition point CK.

Note that this arithmetic unit may be configured using an arithmetic intensifier,
Alternatively, it may be constituted by a digital data table searched by the output of the potentiometer 15.

Therefore, if the bulldozer now pitches at a pitching angle of -, the main ball 141 will also tilt forward or backward at an inclination angle of 0, and as a result, the laser beam receiver 2 will move Δ1. Lower Takeso's level.

On the other hand, since the swinging ball 142 is always iim, the refraction angle of the pendulum beetle 1 in) 14 is 4h0.
A signal indicating a refraction angle of 0 is applied from the potentiometer 15 to the calculator 16. Next, the arithmetic unit 16 performs the calculation shown in (Equation 2) and adds a signal indicating 11 to the level reduction amount of the laser receiver 1 as a correction value 17 to the addition point p.

Therefore, at the addition point C, the correction value 17 is subtracted from the target value 6, and the corrected target value 17 is added to the addition point M.

On the other hand, the actuator 7 is operated by the hydraulic cylinder 11 at the position where the deviation 10 between the corrected target value and the feedback value 9 becomes 0.
The target price after this correction is changed from the target value 6 to the correction value 17 (laser receiver 20 level decrease amount Δllll
), so the laser receiver 2
follows a plane that is Δ11 lower than the laser beam 4.

That is, according to the present invention, even if the level of the laser beam receiver 20 is lowered due to pitching of the bulldozer, the level of the cutting edge of the blade L is stabilized. improve.

In addition, although the case where leveling control of the blade of a bulldozer was explained above, the present invention can be widely applied to working implements of construction machinery.

[Brief explanation of the drawing]

Part 1: An overview diagram of a construction machine that controls leveling with a receiver, 1llZ diagram is a block diagram of a general leveling control device, and FS3 diagram shows a construction machine for low-lying work that controls leveling with a laser receiver. Block diagram of
Figure 4 shows the amount of decrease in the level of the laser receiver caused by pitching of construction machinery in a conventional leveling control device, Figure 5 of Iris, Figure 6 of Atsushi is an enlarged view of the Hirobenjeram site, and Figure 7 shows the level reduction of the laser receiver caused by pitching of construction machinery in a conventional leveling control device. In this example, the factor indicates the amount of decrease in the level of the laser receiver caused by pitching of the construction machine. Floodlight, 4... Laser light, 7... Actuator,
11...Hydraulic cylinder, 13...Shaft, 14...
-Pensheramushi Soo India, 141... Main ball, 142... Swing hole, 143... Axis, 144...
・Weight, 15... Potentiometer, 16... Arithmetic unit, 6... Target value, 17... Correction value procedure... Original book (
Method) 1. Display of the case 1982 Patent Application No. 19413 2, Name of the invention Leveling 1l Jill device 3, Person making the amendment Relationship to the case Patent applicant (123) Komatsu Ltd. 4, Agent (104) Chuo, Tokyo 6th floor, Ginza Daisaku Building, 2-11-2, Ginza-ku Telephone: 03-545-3508 (Representative) Figures 1 and 1 shown in page 10, line 19 of the specification of the present application. 1 [, FIG. 8 is a block diagram of the leveling υ4tM11 according to the embodiment of the present invention] is inserted between 1 and 1.

Claims (1)

[Scope of Claims] O) A leveling control device that receives a reference laser beam by a laser receiver that moves up and down in conjunction with a working implement, and controls the position of the working implement based on a wrinkle light receiving position, wherein the working implement and A leveling control device characterized in that the laser receiver and the laser receiver are connected by nine shafts separated by Benjeram joints. C) In a leveling control device that receives a reference laser beam by a laser receiver that moves up and down in conjunction with a working implement and controls the position of the working implement based on the iron light receiving position, the working implement and the ME laser receiver are connected to each other. The work is performed based on the refraction angle of the Venjeram joint detected by the detection means that connects the shafts divided by the Pensula joint, and the refraction angle of the Benjeram joint, and the corpse detection means. What is claimed is: 1. A leveling control device comprising: means for obtaining a level reduction amount of the work implement as a correction value; and work amount position correction means for correcting the position of the work implement in accordance with the wrinkle correction value.