JPS62291337A - Pitch angle controller - Google Patents

Abstract

PURPOSE:To easily control the angle of cutting edge on a driver seat by a method in which the situation of working site is determined from the position of a speed lever and the angle of vehicular body, and the angle of blade cutting edge is calculated and controlled through a micro-computer. CONSTITUTION:When a change-gear stage switch 11 turns ON and is on A', signals from a vehicular speed stage detector 12 and a vehicular angle detector 13 for knowing the contents of working are put in a control circuit 17 through a switch circuit 20. According to each vehicular speed stage, on the basis of data on pitch angle for inclination angle and also for speed lever, proper cutting edge angle according to operations is read out in the circuit 17 in accordance with signals from the detectors 12 and 13, sent out through an output circuit 22 to a pitch cylinder servo-valve 25, and fed back to a conversion circuit 23. In the circuit 17, deviation with a set pitch angle is judged and correcting signal is sent out to the valve 25. The given pitch angle can thus be controlled to a proper cutting edge angle.

Description

Detailed Description of the Invention 3. Detailed Description of the Invention (Field of Industrial Application) This invention relates to a device for controlling the cutting edge angle of a blade during blade work in a bulldozer.

(Prior art) Bulldozer blade work is generally divided into ground leveling work (usually 3rd gear) and excavation work (usually 2nd gear) depending on the vehicle speed. It is conceivable that it would be possible to reduce soil spillage during transport work and reduce the digging load during excavation work, but this has not been realized because conventionally the blade edge angle cannot be controlled from the driver's seat.

In particular, when doing dozing work on a so-called uphill slope, such as when climbing up a slope, the cutting edge angle cannot be controlled from the driver's seat during the work as mentioned above, so it is common to keep the cutting edge angle constant relative to the slope. , In other pushing up work on downhill slopes or level ground, changing the cutting edge angle has not been carried out.

(Problem to be solved by the invention) As mentioned above, conventionally the cutting edge angle cannot be controlled from the driver's seat during work, so the cutting edge angle is changed depending on the vehicle speed to reduce soil spillage and excavation load during transport work. Not only is it difficult to measure the soil, but especially when pushing up on an uphill slope, the angle of the cutting edge is constant with respect to the slope, so the soil spills out more than when it is horizontal, and soil looseness during pushing up is also worse.

On a downhill slope, soil spillage is smaller than on a level ground, so it was not possible to reduce the cutting resistance by reducing the cutting edge angle.

(Means and effects for solving the problem) This invention has been made in view of the above points, and has a speed range,
A controller is interposed between each detection means for detecting the vehicle body inclination angle, lift cylinder stroke, and pitch cylinder stroke and the pitch cylinder control valve, and the controller has a built-in computer and can detect the pitch angle, frame inclination angle, and vehicle body inclination angle with respect to the speed range. It has a switch circuit related to an auto pitch switch and a pitch angle calculation circuit, and can grasp the work content and work site situation based on the speed lever position and vehicle body inclination. This system detects the vehicle body inclination and lifton ring stroke during actual work, determines the blade lift amount and the inclination of the working road surface, calculates the blade edge angle, and controls it via a microcomputer. Can be controlled accurately.

(Example) Embodiments of the present invention will be described below based on the drawings.

FIG. 2 is an explanatory diagram of an embodiment of the present invention in which the work content is determined based on the slope of the site and the position of the speed lever and the cutting edge angle of the blade is controlled.

In the figure, 1 is an auto pitch switch, and 2 is a speed lever, which are installed in the driver's seat of the vehicle along with a working machine lever, a pitching auto lamp monitor, etc. (not shown).

3 is a vehicle body tilt angle sensor. Signals from a speed lever 2, which knows the work content only when the auto pitch switch 1 is ON, and a vehicle body inclination sensor 3, which knows the work situation at the site, are manually input to the computer 4. The computer 4 stores data in advance as R, 0M5 for each vehicle speed (data representing the relationship between the pitch angle and the inclination angle, data regarding the pitch angle with respect to the speed lever, etc.), and calculates the appropriate cutting edge angle for each task. The pitch angle thus given is fed back through the pitch cylinder 7 and the pitch cylinder stroke sensor 8, and is controlled to an appropriate cutting edge angle.

FIG. 3 is an explanatory diagram relating to another embodiment of the present invention, in which the blade edge angle is controlled by sensing the lift cylinder stroke and the vehicle body (inclination angle). In the figure, 1' is a lift cylinder stroke sensor. Knowing S, the frame inclination angle α is determined by α−13L.
is detected. 2' detects β with a vehicle body tilt angle sensor.

When the front of the vehicle floats, β≧0, 0: it is felt. Lift cylinder stroke sensor l' and vehicle body tilt sensor 2'
A signal is input to the computer 4'. 5' is RO
Data regarding the pitch angle signal Pα-β for α-β and the pitch angle signal Pβ for β are stored in M.

SL is detected by the lift cylinder stroke sensor and α
= Since the frame tilt angle is detected by KSL, this is stored in ROM5 along with β detected by the vehicle body tilt angle sensor.
' to extract the necessary data and calculate the appropriate cutting edge angle according to α and β of the actual work. When β < 0, when β ≦ C, P = P When -β≧Pβ, a pitch angle signal such as P-=Pα-β, and when Pα-β<Pβ, a pitch angle signal such as P-Pβ is applied to the control valve 6'.

In this way, the lift amount of the blade and the inclination of the working road surface are determined, the appropriate cutting edge angle is calculated according to one work, and a signal is given to the control pulp 6', and the given pitch angle is transmitted through the pitch cylinder 7'. It is fed back via the pitch cylinder stroke sensor 8' and controlled to the target cutting edge angle.

FIG. 1 diagrammatically shows the main parts of an embodiment of the present invention, which is constructed by combining the components shown in FIGS. 2 and 3 into one.

In Fig. 1, 11 is an auto pitch switch.

12 is a speed lever, 13 is a vehicle body tilt angle sensor, 14 is a lift cylinder stroke sensor, 15 is a pitch cylinder stroke sensor, and 16 is an A/D converter.

A controller 10 has a built-in computer 17. Reference numeral 18 denotes a ROM similar to that explained with reference to FIG. 3, in which a pitch angle signal Pα-β (pattern A) for α-β and a pitch angle signal Pβ (pattern B) for β are stored. As described above, a ROM regarding inclination angles and pitch angles corresponding to each vehicle speed stage is stored. (Similar to the one in Fig. 2) 20 is a switch circuit, 21 is a D/A converter, 22 is a pitch cylinder servo valve, 2
3 is a pitch cylinder, and 24 is a pitch angle calculation circuit.

Figure 2 shows that by manually operating the auto pitch switch 11 and turning on the switch circuit 20, the position of the speed lever 12 and the body inclination sensor 13 can be used to adjust the cutting edge angle appropriately depending on the work speed and work site conditions. The same is true.

In addition, the lift cylinder stroke sensor 14 and vehicle body tilt angle sensor 13 sense the lift cylinder stroke and vehicle body tilt angle during actual work, determine the lift amount of the blade and the tilt angle of the working road surface, control the blade tip angle, and control the pitch. The corner is the pitch cylinder stroke sensor 5
The fact that the cutting edge angle is fed back and controlled to the target cutting edge angle is the same as described in connection with FIG. 3.

(Effect of the invention) This invention is constructed as described above in detail.

Ascertain the work content and work site situation based on the speed lever position and vehicle body inclination, or determine the blade lift amount and working road surface elevation angle by sensing the vehicle body inclination and lift cylinder stroke during actual work, and calculate the blade tip angle. Since the cutting edge angle is controlled via a microcomputer, the cutting edge angle can be easily and accurately controlled from the driver's seat, and the work equipment can be automatically changed to suit the task. .

The working capacity of the working machine is improved, which in turn significantly improves the amount of work. Furthermore, in the past, the cutting edge angle could not be controlled from the driver's seat during work, resulting in poor soil spillage and soil break-up on uphill slopes, and no soil spillage on downhill slopes, making it impossible to reduce the cutting edge angle, but according to this invention, the cutting edge angle could not be reduced. It can be improved by increasing the cutting edge angle on uphill slopes, and even on level ground, it is possible to increase the pitch angle during lift operation to improve soil breaking.Furthermore, on downhill slopes, the cutting edge angle can be made smaller. It is also possible to reduce the digging resistance.By appropriately controlling the cutting edge angle in this way, the working limit can be expanded and the cycle time can be increased.

[Brief explanation of the drawing]

FIG. 1 schematically shows the main parts of an embodiment of the invention, and FIGS. 2 and 3 are explanatory diagrams for understanding what is shown in FIG. 1. 10... Controller. 11...Auto pitch switch. 12...Speed range detection means. 13...Vehicle body tilt angle sensor. 14...Lift cylinder stroke sensor. 15...Pitch cylinder stroke sensor. 17... Computer. 18, 19...Program memory. 20...Switch circuit. 22...Pitch cylinder servo valve. 23...Pitch cylinder, 24...Pitch angle calculation circuit. Patent applicant Komatsu Manufacturing Co., Ltd. Agent (patent attorney) Matsuzawa Standard procedure amendment Showa. 1 year 8 days 8 days

Claims (1)

[Claims] A controller is interposed between the means for detecting the speed range, a vehicle body inclination sensor, a lift cylinder stroke sensor, a pitch cylinder stroke sensor, and a pitch cylinder having a pitch cylinder control valve, and the controller has a built-in computer and detects the speed range. A pitch angle control device that stores a program related to a pitch angle relative to a pitch angle and a program related to a pitch angle relative to a frame inclination angle and a vehicle body inclination angle, and further includes a pitch angle calculation circuit and a switch circuit connected to an auto pitch switch. .