JPS5891231A - Blade controller - Google Patents

Abstract

PURPOSE:To alleviate loads on a blade by lifting it when stopped by overloading as well as exactly restore the blade to its original value by a method which two systems of set-value inputting means for determining the height of the blade are provided and the second set value is input while the first set value is stored. CONSTITUTION:Levels are input by the level setter 12 of a light receiver control system A, and the rod of the light receiver 4 is shrunk or extended to the level set value by a light receiver rod elevator 6. When light 19 from a light projector 18 is out of the center of the light receiver 4, the difference is transmitted to a cylinder control ststem B and the blade 3 is moved vertically. When operation is impossible due to overloading, a switch S2 is switched to the contact (b) side by an input unit 7, the elevator 6 is driven by the signal of the input unit 7 to lower the light receiver 4, the light 19 is out of the center of the light receiver, the blade 3 goes up, and loads on the blade 3 are alleviated. When the switch S2 is reset on the contact (a) side by a return switch 11a, the blade 3 is restored to the height of set indication value by the setter 12.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a blade control device for a construction machine equipped with a blade.

Deltos, etc. - Tadarada table which construction vehicle is used?
When performing ground work, a so-called automatic leveler system is employed in which the height of the blade is controlled based on radar light projected at a predetermined height above the ground.

When the blades are operated automatically in a rotary manner, the load on the blades becomes so large that the vehicle often becomes unable to run. In such a case, conventionally, the blade was raised to reduce the above load, and then the blade was lowered again to obtain vh9, but at this time, the original height of the blade was unknown, such as rounding and the height before the blade operation. There was a disagreement between the level of the ground level and the play operation discussion.

In view of this situation, we have proposed to provide an Lf blade control device that can accurately return the blade to its original position even if the height of the blade O is manually changed during the operation of the automatic leveler. For the sake of clarity, the present invention will be described in detail below with reference to the illustrated embodiments K1.
It is 111m long.

Figure 1 shows an example of a sol dozer. The blade 3 of this sol dozer is operated to lift and tilt by a lift cylinder 1 and a tilt cylinder 2, respectively.
A rod 5 on which is installed and a mechanism 6 for raising and lowering the rod are attached. The elevating mechanism 6#'i is composed of, for example, a DC motor and gears, and the light receiver 4 is composed of photosensors St to 8 arranged vertically.

The cylinder 1 and the tilt cylinder 2 are as follows:
One each is provided at the left and right ends of the blade.

FIG. 2 shows an embodiment of the blade control device according to the present invention that controls the blade 3! It is a four-two diagram. In the same figure, the i-neutral regulator 7 is equipped with two f-tensions and meters 7b, 7, whose output voltages are changed individually by operating a lever 7&, and the output to the l-tension and meters 7 is controlled by the lift cylinder control described later. Selector switch S equipped with system BK
The S terminal is also -tensile, and the output of meter 7@ is 0? The switching switch, which is equipped with the rotary cylinder control system CK,
4 terminals bK are provided respectively.

The window comparators 8 and 9 output signals when the output voltages of the tensile meters 7b and 70 respectively become larger than a predetermined threshold;
These output signals are set to 11" output signals d3 and d4 of the control mode switching section 10, respectively, and are connected to the terminals of the changeover switch 8 of the light receiver control system A described later and the changeover switch S4 of the tilt cylinder control system C. The mode switching switch 11 is used to select and specify manual, automatic, and surveying modes, and its switching operation changes the output signal d of the control mode switching section 10.
The logic levels of 1 to d# are set as follows.

ds dB dB d.

Manual cage door 11 Automatic cage door
0 0 0 0 column weight 1 0
Each of the above output signals dl~櫨-, which is 10, connects the corresponding switches s and zs4 to the terminal a@ when the logic level is ``O'', and connects each of the above switches to the terminal when the logic level is ``1''. have each side put the ingredients in.

The receiver control system A controls the setting value of the lift level setting device 12 and the stroke of the nine rod 5 shown in FIG. Stroke detector 1 to detect
The deviation between the output signal of No. 3 and the output signal of the deflector 15 is inputted to the light receiver rod lifting mechanism 6 via an error angle 16 and an amplifier 17 with a pulse width modulator 71. Then, a display unit 42 for measuring the stroke length detected by the stroke detector 13 of the light receiver rod 5, that is, the height change of the light receiver 4, is connected to the detector 13 to monitor the stroke length. be.

The light receiver 4 receives the first laser beam projected from the light projector 18 indicating the first vAK, and detects the deviation of the light receiving position with respect to the beam. Now, the radar beam 19 is applied to any one of the centers t81 to 8m of the light receiver 4.
When the sensor is input, the output signal of the sensor is sent to the latch circuit 20.
Since the two clocks are inputted to the latch circuit 20 via the OR circuit 21 and one switch 22 which receive the outputs of the respective sensors, the output signal of the light receiving sensor corresponds to the output signal of the light receiving sensor. It is latched into the child circuit 20.

A predetermined weighting is applied to the outputs of the above-mentioned sensors 81 to S4,
That is, weighting is performed to represent the deviation of the light receiving position with respect to the optical axis of the Radhe beam 19 (shift of the center of the light receiver with respect to the optical axis), and the D/MU converter 23 converts the output signal of the latch circuit 20 into an analog signal based on this weighting. Convert to voltage. Therefore, the output signal of the D/A converter 23 indicates the amount of deviation (light receiving position deviation) between the center position of the radar beam 119 and the light receiver 4, and the center position is shifted upward with respect to the radar beam 19. The polarity of the deviation signal is reversed depending on whether the deviation is upward or downward.

The projector 1- rotates at a predetermined number of revolutions per minute to form a reference surface for the surface finished by the play 1'3. Therefore, when this light emitter 18 rotates at a rate of 600 revolutions per minute, the light receiver 4 F! , the laser beam will be detected every 0.1 seconds.

The above lift cylinder control system B includes the above changeover switch,
is connected to terminal allK, the above D/
The output value of the A converter 23 and the detected value of the detent meter 2 that detects the stroke value of the lift cylinder l are added, and the deviation between the addition result and the detected value of the detent meter 24 is calculated by the error amplifier 26. The output value of the amplifier 26 is differentiated by the differentiator 27, and the output value of the tensimeter 24 is input to the error amplifier 28, and the output value of the amplifier 26 is differentiated by the differentiator 27.
The lift cleaner 1 is configured to operate the t4 loop positioning circuit I system 29 and the main pulp 30 at an output value of 8 to control the lift cleaner 1.

Note that the output terminal of the D/A converter 23C) is connected to the terminal b of the changeover switch 8i of the light receiver control system via the amplifier 41.
K is connected. Also, the above sample hold time is $25
performs a hold operation based on the output signal of the one-shot multi 22.

The above tilt shift≠→cylinder control system C is the changeover switch 1
When both 4*1ilB are input to the terminal a@, the detected value of the stroke detector 31 (detected by the stroke difference between the left and right lift cylinders) which detects the stroke of the tilt cylinder 2, and the value of fA) - De. The detected value of the vehicle body roll angle inclinometer 32 attached to the vehicle body is added, and the deviation between the added value and the set value of the tilt inclination setting device 33 is input to the error amplifier 7'34, and the output of this amplifier is The valve positioning circuit I system 37 and the main pulse J
, thereby controlling the tilt cylinder 2.

The absolute value 7''39 that receives the output value of the error amplifier 26 of the lift cylinder control system B is the same as that of the amplifier 26.
It outputs the absolute value of the output value. The output of Jin's absolute value 7''39 is input to the pulse width modulator 4G, where it is converted into a 9 time width No+L signal corresponding to that value. 40, when the output value of the absolute value amplifier is 00, the changeover switch 8s is turned on to the terminal a side, and when the output value of the absolute value amplifier is 00, the changeover switch 8s is turned on to the terminal a side, and when it is larger than 0, the above-mentioned switch 8I is turned on the terminal side by the amount of travel time corresponding to the magnitude of expansion. As a result, the control system B performs the lift operation of the sill P3 in priority to the control system C tilt operation of the blade 3.

Now, when the lift level setter 12 of the light receiver control system is appropriately set, the light receiver rod 5 is expanded or contracted to have a stroke length corresponding to the set value. As a result, a deviation (light receiving position deviation) occurs between the center position of the deaf optical device 4 and the optical axis of the laser beam 190, and at that time, if the laser beam is incident above the center of the photo receiver (the upper ), the voltage o corresponding to the amount of deviation is shown in Figure 3.
When the radar beam is incident below the center of the receiver, the voltage e shown in the figure is the same as the above D/A.
The output from the converter 23 causes the lift cylinder control system 3 to control the lift cylinder 1 so that the optical axis of the radar beam 19 is located at the center of the light receiver 4 so that the deviation in the light receiving position is eliminated. Control. Thus, the plate 3 is positioned at a large height corresponding to the setting value of the lift level setting device 12.

On the other hand, is Tilt Sirinme ItII Gokei C also available? Since the system is configured, according to the setting value of the tilt inclination setting device 33 ->
fe, tilt cylinder 2 is adjusted so as to form a tilt angle.
When the mode changeover switch 11 selects the ``1 automatic'' mode, the control mode changeover section 10
We have explained the operation of each control system when all the output signals dl-wds are set to "0#" and the above-mentioned changeover switches S and ~S4 are both turned on to the terminal a side. The operation when the "1 survey" mode is selected in step 11 will be explained.

In this case, as described above, the output signals of control mode 10 dB, d! Since the logic levels of +d8 and d4 are set to '1', '0', '1# and '01, respectively, the changeover switch 81 $8. is set to the terminal side, and the changeover switch Sm+84 is set to the terminal a side. As a result, the light receiver control system A constitutes a speed feed/luck system that uses the output value of the first converter 23 as a command value, while the lift cylinder control system B constitutes a foot nozzle control system. Then, the croup is cut off and the potentiometer 7b of the manual regulator 7 enters a state where the control deviation amount for the lift cylinder/1 is input.The tilt cylinder control system C operates in the same manner as in the case of the above-mentioned "Auto 1 mode". do.

Therefore, the blade 3 is positioned horizontally by operating the tilt setting device 33, and the blade 3 is fixed at an appropriate height position by operating the lift potentiometer 7b of the manual adjuster 7. When the vehicle runs, the height of the light receiver 4 changes as follows due to the unevenness of the ground.

That is, when the vehicle travels in a concave part of the ground and the radar beam 19 is incident above the center of the receiver 4,
The voltage or shown in FIG. 3 is outputted from the i converter 23, thereby causing the DC motor of the opening and closing mechanism 6 to rotate in a direction to extend the light receiver rod 5. Conversely, when the radar beam 19 is incident below the center of the light receiver 4, the θ voltage er shown in the figure is output from the D/A converter 23), so the DC motor moves the rod 5. Rotate in the direction to degenerate.

In this way, the receiver 4 always follows the radar beam 19 so that it is incident on its center, and thus the receiver opening,
By recording the stroke length of C and C output by the C stroke detector 13 on the display section 42, topographical surveying can be carried out with the optical axis of the radar beam 19 as a reference.

In addition, if the height difference of the running road surface is too large and the above-mentioned light projector 4 cannot follow the laser beam 19, at that point, operate the lift potentiometer and meter 7b of the above-mentioned manual adjuster 7 to adjust the light receiver position. The height of grade 3 may be adjusted so that the radar beam 19 is incident on the center of the blade 3. However, in this case, the amount of rise or fall of the blade 3 is read with a meter, etc., and the data is used as the subsequent survey result. It is necessary to add and subtract from .

Next, a case will be described in which the lift cylinder 1 and tilt cylinder 2 are manually operated.

When the mode selector switch 11 is set to the 1-auto'' mode and land leveling work is performed by automatic leveling,
As described above, there are many cases where the blade 3 becomes overloaded and the vehicle becomes unable to run. In this case, the setting value of the lift level setter 12 of the light receiver controller may be changed to move the grade 3 upward;
Since the setting value of the blade setting device 120 becomes unknown, it becomes difficult to return the cutting edge of the blade 3 to its original position.

In the apparatus according to the present invention shown in the above embodiments, manual grade lift and tilt control can be carried out without causing such inconveniences. That is,
When the lever 7a of the manual regulator 7 is operated in the direction of the lift axis, the output voltage of the I-tension meter 7b turns on the window controller 8, so that the The output signal d of the control mode switching unit 10 changes to @1'', thereby switching the selector switch S■ of the light receiver control system A to the terminal b@.

Now, assuming that a voltage e is being output from the potentiometer 7b, this voltage is input to the receiver control system as a speed command signal, and this causes the DC motor of the drive mechanism 6 to operate the receiver port. Rotate in a direction to retract the door 5. As a result, the center of the light receiver 4 is located below the optical axis of the radar beam 19, so the lift cylinder control system B receives the light receiving position deviation from the blade 3.
Control Liftonrin/1 so that it increases.

When the I-tension and the output voltage of the meter 7b are made zero, the rod 5 stops retracting, and the blade 3 also stops rising when the receiver 4 captures the radar beam 19 at its center.

After raising the blade 3 by the above operation, when the return switch l1m attached to the mode changeover switch 11 is pressed, the control mode changeover section 1
The logic level of the signal d of 0 is returned to 10'', thereby resetting the changeover switch S! to the terminal a side.

Therefore, the light receiver 4 returns to the original height corresponding to the setting value of the lift level setting device 12, and the blade 3 follows this and descends to the original height.

Incidentally, by operating the 4-tension meter 7b in a direction such that its output voltage becomes ■, the blade 3 can be moved in the opposite direction (downward direction).

On the other hand, when the tilt I-tension and meter 7@ of the manual adjuster 7 are operated, the output voltage of the I-tension and meter 7 turns on the window controller and the meter. The output causes the output signal d4 of the control mode switching section 4 to become 'l#. As a result, the switch 84 is switched to the terminal b@, and the I-tension and the output voltage of the meter 7@ are input as command values for the tilt cylinder control system, so that by changing the output voltage of the potentiometer 7. You can manually set any blade tilt angle. However, in this case too,
Press the return switch l1m and set the signal d4 to 0.
'', the tilt angle of the blade 3 can be returned to the original tilt angle by resetting the switch 84 to the terminal a side.

Note that it is also possible to manually adjust the height and tilt angle of the blade 3 by setting the mode changeover switch 11 to the 1-manual'' mode.In other words, in this case, the output signal ds of the control mode changeover unit 1O , d are both set to ``1'', so the changeover switch B B
+ 84 are respectively inserted into the terminal side. Therefore, the I tension meters 7b and 7 of the manual regulator 7
By operating @, the height and tilt angle of the blade can be set manually.

As described above, according to the present invention, when the automatic leveling operation of the blade is interrupted and the height of the blade is manually adjusted, the blade is returned to its original position after the adjustment and the automatic leveler operation is resumed. Therefore, the drawbacks of the conventional device described above can be solved.

[Brief explanation of the drawing]

Fig. 81 is a conceptual diagram showing an example of a pull-top, and Fig. 2 shows an embodiment of the device according to the present invention! Lock diagram, 3rd
The figure is a diagram showing an electrical signal corresponding to the deviation of the light receiving position of the light receiver. 1... Lift cylinder, 2... Tilt cylinder, 3
...Blade, 4...Receiver, 5...Rod, 6
...Rod lifting mechanism, 7...Manual adjuster, 7b
, 7...dlf unit, meter, 10... control mode switching section, 11... mode selection switch, 1
2... Lift level setter, 13... Stroke detector of light receiver rod, 18... Emitter, 19... Radbeam, 24... I-tension, meter, 33...
Tilt slope setting device, 81 ~ SI... changeover switch, 8
1%8n...Photo sensor. 1. Indication of the case 1988 Patent Application No. 188554 2. Name of the invention Blade control device 3. Person making the amendment Relationship to the case Patent applicant (123) Komatsu Hosakusho Co., Ltd. 4, Agent (104 ) 2-11-2-6, Ginza, Chuo-ku, Tokyo Contents of amendment +1) "Blade" in line 6 of page 2 of the specification is corrected to "the blade using a blade height setting device." (2) “And...
...Correct "left and right ends" to "left and right ends of the above blade." (3) “Terminal Suni” in lines 16 and 17 of the same page in the same book
is corrected to read, "The terminal and the terminal of the changeover switch S, which is provided in the light receiver control system A." (4) 9 corrections have been made to lines 13 to 16 on page 4 of the same book as shown below. Note dl d, d, -d. Manual mode x ′x 1
lAuto mode 0 0 0 0 Survey mode 1 0 1 0 (5
) Add the following sentence next to the bottom line of page 4 of the same book. As shown in FIG. 3, the control mode switching unit 10 includes an OR circuit 10m that receives the output signal of the window comparator 8.9, and a return switch (a) when the contacts of the mode selection switch 11 are opened and The flip 70 knob 10c is set by the output signal 111 of the OR circuit 10m and reset by the output signal of the AND circuit 10b. , an OR circuit 10d that outputs a signal 11'' when contact a or C of the changeover switch 11 is opened, and the clip-flop 10c.
OR circuit 10e that outputs a signal @l'' when is set or when contact a of changeover switch 11 is opened.
It is pointed. (6) On page 9, line 5 of the same book, add the following sentence next to ``It will be done. (Power) Correct "Fig. 1, Fig. 1, 3" in line 13 of the same book, same book, to "Fig. 1, Fig. 4". I am corrected as “Kei”. (9) ``Figure 4'' of the same book, page 12, line 11, ``Figure 3''
I am corrected. OI In the same book, page 13, line 1, "so that the laser beam 19 is incident on the center of" is changed to "the rod 5 attached to the
so that it is located at the center of its movable stroke.'' (lυ In the same book, page 17, line 19, “Figure 3 is”
The figure is a circuit diagram showing an example of the configuration of the control mode switching section shown in FIG. 2, and FIG.・Add 3 diagrams attached to s and IIs. 14 Correct the Cabinet member's diagram 118 with Attachment O and 9 O
Easy 4-TA

Claims (1)

[Claims] A receiver control system that positions a receiver movably attached to the blade at a height according to a command value, and eliminates deviation in the receiving position of the receiver with respect to radar light projected at a predetermined height above the ground. and a lift cylinder control system for lifting the blade, and in addition to the means for setting the command value, two command value setting means are provided, and the command value is set by the two command value setting devices. A blade control device characterized by having a switch element selectively applied to a blade control system.