US20190017242A1 - Control method in motor grader and motor grader - Google Patents
Control method in motor grader and motor grader Download PDFInfo
- Publication number
- US20190017242A1 US20190017242A1 US16/080,715 US201716080715A US2019017242A1 US 20190017242 A1 US20190017242 A1 US 20190017242A1 US 201716080715 A US201716080715 A US 201716080715A US 2019017242 A1 US2019017242 A1 US 2019017242A1
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- US
- United States
- Prior art keywords
- front frame
- respect
- rear frame
- frame
- neutral position
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
- E02F3/844—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/7636—Graders with the scraper blade mounted under the tractor chassis
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/7663—Graders with the scraper blade mounted under a frame supported by wheels, or the like
- E02F3/7668—Graders with the scraper blade mounted under a frame supported by wheels, or the like with the scraper blade being pivotable about a vertical axis
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
- E02F3/841—Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/006—Pivot joint assemblies
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
Definitions
- the present invention relates to a control method in a motor grader and to a motor grader and particularly to an articulation operation in the motor grader.
- a motor grader including a front frame and a rear frame of a vehicular body, a blade revolvably attached to the front frame, and an articulation cylinder which allows the front frame to bend with respect to the rear frame has conventionally been known.
- U.S. Pat. No. 6,152,237 has proposed a scheme for adjusting an angle of articulation of a front frame with respect to a rear frame by selecting an input switch.
- the scheme makes forced transition to a mode in which an angle of articulation is set to a prescribed angle by selection of the input switch to perform operations, and requires a manner of operation different from a normal operation, which makes operations complicated.
- the present invention was made in view of the above and an object of the present invention is to provide a control method in a motor grader and a motor grader in which adjustment to a prescribed angle at which a front frame is at a neutral position with respect to a rear frame can be made with a simplified scheme.
- a control method in a motor grader including a front frame provided with a front wheel, a rear frame pivotably coupled to the front frame and provided with a rear wheel, a pivot mechanism which is provided between the front frame and the rear frame and allows the front frame to pivot with respect to the rear frame, an operation portion, and a sensor capable of detecting whether or not the front frame is at a neutral position with respect to the rear frame, includes outputting a control signal for driving the pivot mechanism in response to an operation command in accordance with a state of operation onto the operation portion and stopping output of the control signal in response to the operation command when the sensor detects the neutral position.
- a motor grader includes a front frame provided with a front wheel, a rear frame pivotably coupled to the front frame and provided with a rear wheel, a pivot mechanism which is provided between the front frame and the rear frame and allows the front frame to pivot with respect to the rear frame, an operation portion, a sensor capable of detecting whether or not the front frame is at a neutral position with respect to the rear frame, and a controller which controls the pivot mechanism.
- the controller outputs a control signal for driving the pivot mechanism in response to an operation command in accordance with a state of operation onto the operation portion and stops output of the control signal in response to the operation command when the sensor detects the neutral position.
- FIG. 1 is a perspective view schematically showing a construction of a motor grader I based on an embodiment of the present invention.
- FIG. 2 is a side view schematically showing the construction of motor grader 1 based on the embodiment.
- FIG. 3 is a front view showing an internal construction of an operator's cab 3 based on the embodiment.
- FIG. 4 is a diagram illustrating overview of a construction of a pivot mechanism based on the embodiment.
- FIG. 5 is a diagram illustrating relation between an amount of stroke of an articulation control lever 33 and an output electric signal.
- FIG. 6 is a block diagram showing a configuration of a control system included in motor grader 1 based on the embodiment.
- FIG. 7 is a flowchart illustrating processing for control of the pivot mechanism by a main controller 150 based on the embodiment.
- FIG. 1 is a perspective view schematically showing a construction of a motor grader 1 based on an embodiment of the present invention.
- FIG. 2 is a side view schematically showing the construction of motor grader 1 based on the embodiment.
- motor grader 1 based on one embodiment includes running wheels 11 and 12 , a vehicular body frame 2 , an operator's cab 3 , and a work implement 4 .
- Motor grader 1 includes components such as an engine arranged in an engine compartment 6 .
- Work implement 4 includes a blade 42 .
- Motor grader 1 can do such works as land-grading works, snow removal works, light cutting, and mixing of materials with blade 42 .
- Running wheels 11 and 12 include a front wheel 11 and a rear wheel 12 .
- FIGS. 1 and 2 show running wheels consisting of two front wheels 11 one on each side and four rear wheels 12 two on each side, the number of front wheels and rear wheels and arrangement thereof are not limited as such.
- a fore/aft direction means a fore/aft direction of motor grader 1 .
- the fore/aft direction means a fore/aft direction when viewed from an operator who sits at an operator's seat in operator's cab 3 .
- a lateral direction or a side direction means a direction of a vehicle width of motor grader 1 .
- the lateral direction, the direction of the vehicle width, or the side direction means the lateral direction when viewed from the operator who sits at the operator's seat in operator's cab 3 .
- the fore/aft direction is shown with an arrow X
- the lateral direction is shown with an arrow Y
- an up/down direction is shown with an arrow Z.
- Vehicular body frame 2 includes a rear frame 21 , a front frame 22 , and an exterior cover 25 .
- Rear frame 21 supports exterior cover 25 and components such as an engine arranged in an engine compartment 6 .
- Exterior cover 25 covers engine compartment 6 .
- Exterior cover 25 is provided with an upper opening 26 and a lateral opening 27 .
- Upper opening 26 and lateral opening 27 are provided to pass through exterior cover 25 in a direction of thickness.
- each of four rear wheels 12 is attached to rear frame 21 as being rotatably driven by driving force from the engine.
- Front frame 22 is attached in front of rear frame 21 .
- two front wheels 11 are rotatably attached to a front end portion of front frame 22 .
- Front wheel 11 is attached as being revolvable with respect to the fore/aft direction of the vehicular body as a result of extending and retracting of a steering cylinder 7 so that motor grader 1 can change its direction of travel.
- Steering cylinder 7 can extend and retract in response to an operation of a steering wheel or a steering control lever provided in operator's cab 3 .
- Operator's cab 3 is carried on rear frame 21 .
- an operation portion such as a steering wheel, a gear shift lever, a lever for controlling work implement 4 , a brake, an accelerator pedal, and an inching pedal is provided.
- Operator's cab 3 may be carried on rear frame 21 .
- Work implement 4 mainly includes a draw bar 40 , a circle 41 , a blade 42 , a hydraulic motor 49 , and various cylinders 44 to 48 .
- Draw bar 40 has a front end portion swingably attached to the front end portion of front frame 22 .
- Draw bar 40 has a rear end portion supported on front frame 22 by a pair of lift cylinders 44 and 45 .
- the rear end portion of draw bar 40 can move up and down with respect to front frame 22 .
- Draw bar 40 is vertically swingable with an axis along a direction of travel of the vehicle being defined as the center, as a result of extending and retracting of lift cylinders 44 and 45 different from each other.
- a draw bar shift cylinder 46 is attached to front frame 22 and a side end portion of draw bar 40 . As a result of extending and retracting of draw bar shift cylinder 46 , draw bar 40 is movable laterally with respect to front frame 22 .
- Circle 41 is rotatably attached to the rear end portion of draw bar 40 .
- Circle 41 can be driven by hydraulic motor 49 as being rotatable clockwise or counterclockwise with respect to draw bar 40 when viewed from above the vehicle.
- Blade 42 is supported as being slidable in the lateral direction with respect to circle 41 and as being vertically swingable with an axis in parallel to the lateral direction being defined as the center.
- a blade shift cylinder 47 is attached to circle 41 and blade 42 and arranged along a longitudinal direction of blade 42 . With blade shift cylinder 47 , blade 42 is movable in the lateral direction with respect to circle 41 .
- a tilt cylinder 48 is attached to circle 41 and blade 42 .
- blade 42 swings around the axis in parallel to the lateral direction with respect to circle 41 , and can change its orientation in the up/down direction.
- Tilt cylinder 48 can thus change an angle of inclination with respect to the direction of travel of blade 42 .
- blade 42 is constructed to be able to move up and down with respect to the vehicle, change an inclination with respect to the direction of travel, change an inclination with respect to the lateral direction, rotate, and shift in the lateral direction, with draw bar 40 and circle 41 being interposed.
- FIG. 3 is a front view showing an internal construction of operator's cab 3 based on the embodiment.
- a steering wheel post 35 As shown in FIG. 3 , in operator's cab 3 , a steering wheel post 35 , a steering wheel 34 , a left control lever group 32 , and a right control lever group 31 are provided.
- Steering wheel post 35 is arranged in front of an operator's seat. Steering wheel 34 is attached to steering wheel post 35 so as to face the operator's seat.
- Left control lever group 32 includes a plurality of control levers such as a blade rotation lever and a shift cylinder control lever.
- Right control lever group 31 includes a plurality of control levers such as an articulation control lever 33 and a leaning control lever.
- Each control lever included in left control lever group 32 and right control lever group 31 is fixed to steering wheel post 35 .
- Right control lever group 31 and left control lever group 32 are provided as being pivotable in the fore/aft direction.
- Articulation control lever 33 indicates an articulation operation for bending front frame 22 with respect to rear frame 21 .
- a potentiometer By operating each control lever included in left control lever group 32 and right control lever group 31 , a potentiometer is turned and an electric signal in accordance with a direction of operation thereof and in proportion to an operation stroke is output.
- FIG. 4 is a diagram illustrating overview of a construction of a pivot mechanism based on the embodiment.
- front frame 22 and rear frame 21 are coupled to each other with a vertical central pin 53 .
- front frame 22 is pivotably coupled to rear frame 21 at a position substantially below operator's cab 3 .
- Front frame 22 pivots with respect to rear frame 21 as a result of extending and retracting of an articulation cylinder 54 coupled between front frame 22 and rear frame 21 based on an operation of articulation control lever 33 in operator's cab 3 .
- a slewing radius at the time of revolution of motor grader 1 can be smaller and works for excavating a groove and cutting a slope by offset running can be done.
- Offset running refers to linear travel of motor grader 1 by setting a direction of bending of front frame 22 with respect to rear frame 21 and a direction of revolution of front wheel 11 with respect to the front frame to directions opposite to each other.
- An angle sensor 38 is attached to rear frame 21 , and the angle sensor detects an angle of articulation representing an angle of bending of front frame 22 with respect to rear frame 21 .
- an angle of articulation is defined as 0°.
- FIG. 5 is a diagram illustrating relation between an amount of stroke of articulation control lever 33 and an output electric signal.
- an operation to tilt articulation control lever 33 rearward from the neutral position is expressed with a (+) sign and an operation to tilt the same forward is expressed with a ( ⁇ ) sign.
- Articulation control lever 33 outputs an output electric signal in accordance with an amount of stroke. When an amount of stroke is 0, an output electric signal at a reference value is output.
- articulation control lever 33 When an amount of stroke indicated by articulation control lever 33 has the (+) sign, articulation cylinder 54 extends. Then, front frame 22 bends to the right with respect to rear frame 21 .
- articulation control lever 33 When an amount of stroke indicated by articulation control lever 33 has the ( ⁇ ) sign, articulation cylinder 54 retracts. Then, front frame 22 bends to the left with respect to rear frame 21 .
- FIG. 6 is a block diagram showing a configuration of a control system included in motor grader 1 based on the embodiment.
- the control system of motor grader 1 includes, by way of example, articulation control lever 33 , a hydraulic pump 131 , a control valve 134 , a hydraulic actuator 135 , an engine 136 , an engine controller 138 , a throttle dial 139 , a rotation sensor 140 , a multi-stage switch 145 , a starter switch 146 , a main controller 150 , and angle sensor 38 .
- Hydraulic pump 131 delivers hydraulic oil used for driving work implement 4 and the like.
- Hydraulic actuator 135 is connected to hydraulic pump 131 with control valve 134 being interposed. Hydraulic actuator 135 includes articulation cylinder 54 .
- Main controller 150 outputs a command in conformity with an output electric signal in accordance with a state of operation (an amount of operation and a direction of operation) of articulation control lever 33 to control valve 134 .
- Control valve 134 controls hydraulic actuator 135 . Specifically, supply of hydraulic oil is switched in accordance with a command from main controller 150 . For example, control valve 134 switches supply of hydraulic oil such that articulation cylinder 54 extends or retracts in accordance with the command from main controller 150 .
- Control valve 134 adjusts an amount of delivery of hydraulic oil to be supplied from hydraulic pump 131 to hydraulic actuator 135 in accordance with the command from main controller 150 . When no command is given from main controller 150 , control valve 134 stops supply of hydraulic oil from hydraulic pump 131 .
- Engine 136 has a driveshaft connected to hydraulic pump 131 and hydraulic pump 131 is driven in coordination with the driveshaft.
- Engine controller 138 controls an operation of engine 136 in accordance with an instruction from main controller 150 .
- Engine 136 is implemented by a diesel engine by way of example.
- the number of rotations of engine 136 is set through throttle dial 139 or the like, and an actual number of rotations of the engine is detected by rotation sensor 140 .
- Rotation sensor 140 is connected to main controller 150 .
- Multi-stage switch 145 is provided in throttle dial 139 .
- Multi-stage switch 145 detects a set value (a position resulting from an operation) of throttle dial 139 .
- the set value of throttle dial 139 is transmitted to main controller 150 .
- Multi-stage switch 145 outputs a command value for the number of rotations of engine 136 to engine controller 138 .
- a target number of rotations of engine 136 is adjusted in accordance with the command value.
- Engine controller 138 adjusts the number of rotations of engine 136 by controlling an amount of fuel injection by a fuel injection apparatus in accordance with an instruction from main controller 150 .
- Engine controller 138 adjusts the number of rotations of engine 136 in accordance with a control instruction from main controller 150 to hydraulic pump 131 .
- Starter switch 146 is connected to engine controller 138 . When an operator operates starter switch 146 (sets start), a start signal is output to engine controller 138 so that engine 136 starts.
- Main controller 150 is a controller which controls the entire motor grader 1 and implemented by a central processing unit (CPU), a non-volatile memory, a timer, and the like.
- CPU central processing unit
- non-volatile memory volatile and non-volatile memory
- timer timer
- main controller 150 and engine controller 138 are separate from each other is described in the present example, they can also be implemented as one common controller.
- Angle sensor 38 detects an angle of bending (angle of articulation) of front frame 22 with respect to rear frame 21 and outputs a result of detection to main controller 150 .
- FIG. 7 is a flowchart illustrating processing for control of the pivot mechanism by main controller 150 based on the embodiment.
- main controller 150 determines whether or not an operation input has been given (step S 2 ). Main controller 150 determines whether or not an input of an output electric signal at a value other than a reference value has been given from articulation control lever 33 .
- main controller 150 determines that an operation input has been given (YES in step S 2 ), it calculates an amount of operation (step S 4 ).
- main controller 150 determines that an input of the output electric signal at a value other than the reference value has been given from articulation control lever 33 , it calculates an amount of operation (amount of stroke) based on the value.
- Main controller 150 outputs a control signal based on the calculated amount of operation (amount of stroke) (step S 6 ). Specifically, when main controller 150 determines that the calculated amount of operation (amount of stroke) is +100%, it outputs a control signal for adjusting supply of hydraulic oil to control valve 134 such that articulation cylinder 54 extends at a highest speed. Then, front frame 22 bends to the right with respect to rear frame 21 . When main controller 150 determines that the calculated amount of operation (amount of stroke) is ⁇ 100%, it outputs a control signal for adjusting supply of hydraulic oil to control valve 134 such that articulation cylinder 54 retracts at a highest speed. Then, front frame 22 bends to the left with respect to rear frame 21 .
- a speed of extending or retracting of articulation cylinder 54 is adjusted as a result of adjustment of an amount of supply of hydraulic oil in accordance with the calculated amount of operation (amount of stroke).
- a speed of bending of front frame 22 with respect to rear frame 21 is adjusted.
- main controller 150 detects an angle of articulation (step S 8 ).
- Main controller 150 detects an angle of articulation output from angle sensor 38 .
- Main controller 150 determines whether or not the front frame is at the neutral position with respect to the rear frame based on the detected angle of articulation (step S 10 ). Main controller 150 determines whether or not a detected angle of articulation is 0°, and when the angle of articulation is 0°, the main controller determines that front frame 22 is at the neutral position with respect to rear frame 21 .
- main controller 150 stops output of the control signal (step S 12 ).
- main controller 150 determines that front frame 22 is at the neutral position with respect to rear frame 21 , it stops output of the control signal to control valve 134 . Then, supply of hydraulic oil from hydraulic pump 131 to articulation cylinder 54 is stopped. Therefore, front frame 22 maintains the neutral position with respect to rear frame 21 .
- Main controller 150 determines whether or not an operation input has been given (step S 14 ). Main controller 150 determines whether or not an input of an output electric signal at a value other than the reference value has been given from articulation control lever 33 .
- step S 14 determines in step S 14 that an operation input has been given (YES in step S 14 )
- the process returns to step S 12 and a state that output of the control signal has been stopped is maintained.
- main controller 150 determines that an input of an output electric signal at a value other than the reference value has been given from articulation control lever 33 , it maintains a state that output of the control signal has been stopped.
- step S 14 determines in step S 14 that an operation input has not been given (NO in step S 14 )
- the process returns to step S 2 and the process above is repeated.
- main controller 150 determines that an input of an output electric signal having the reference value has been given from articulation control lever 33 , it determines that no operation input has been given and the process returns to step S 2 .
- main controller 150 determines in step S 2 that an operation input has been given again, it calculates an amount of operation as described above and outputs a control signal to control valve 134 based on the calculated amount of operation. Then, an articulation operation in accordance with an operation of articulation control lever 33 is again performed.
- main controller 150 determines that front frame 22 is at the neutral position with respect to rear frame 21 , stops output of a control signal to control valve 134 even though an operation input from articulation control lever 33 continues. Then, when front frame 22 is set to the neutral position with respect to rear frame 21 , the neutral position is maintained even though an operation input from articulation control lever 33 continues.
- motor grader 1 based on the present embodiment can make adjustment to a prescribed angle at which front frame 22 is at the neutral position with respect to rear frame 21 in a normal manner of operations. Therefore, it is not necessary to perform complicated operations in a manner of operations different from a normal operation, and adjustment to a prescribed angle at which front frame 22 is at the neutral position with respect to rear frame 21 can be made with a simplified scheme.
- front frame 22 can readily be adjusted to the neutral position with respect to rear frame 21 .
- articulation control lever 33 When an operation to set front frame 22 to the neutral position with respect to rear frame 21 is performed, articulation control lever 33 is kept tilted in a direction in which front frame 22 is set to the neutral position with respect to rear frame 21 .
- a speed of pivot in automatic adjustment to the neutral position can also be adjusted in accordance with an amount of operation (amount of stroke) for tilting, and an operation high in degree of freedom can be performed.
- articulation control lever 33 is kept tilted rearward to adjust front frame 22 to the neutral position with respect to rear frame 21 . Thereafter, articulation control lever 33 is returned to the neutral position. By tilting articulation control lever 33 rearward again (a direction the same as in the initial operation), front frame 22 is bent from the neutral position to the right with respect to rear frame 21 .
- front frame 22 can be adjusted to the neutral position with respect to rear frame 21 with the use of articulation control lever 33 for performing an articulation operation in the configuration above, it is not necessary to provide a special switch and adjustment can be made with a simplified scheme.
- a neutral-state sensing sensor which determines whether:or not front frame 22 is located at the neutral position with respect to rear frame 21 may be provided instead of angle sensor 38 .
- a proximity sensor which is turned on when front frame 22 is at the neutral position with respect to rear frame 21 and turned off otherwise can be provided.
- an operation member is not limited to a control lever, and an operation switch which outputs an operation command in accordance with an amount of operation can also be provided.
- a control method in a motor grader including a front frame provided with a front wheel, a rear frame pivotably coupled to the front frame and provided with a rear wheel, a pivot mechanism which is provided between the front frame and the rear frame and allows the front frame to pivot with respect to the rear frame, an operation portion, and a sensor capable of detecting whether or not the front frame is at a neutral position with respect to the rear frame, includes outputting a control signal for driving the pivot mechanism in response to an operation command in accordance with a state of operation onto the operation portion and stopping output of the control signal in response to the operation command when the sensor detects the neutral position.
- a control signal for driving the pivot mechanism is output in response to an operation command in accordance with a state of operation onto the operation portion.
- output of the control signal in response to the operation command is stopped. Therefore, it is not necessary to perform complicated operations, and adjustment to a prescribed angle at which the front frame is at the neutral position with respect to the rear frame can be made with a simplified scheme.
- accepting stop of the operation command when the sensor detects the neutral position and outputting again the control signal in response to the operation command after the stop of the operation command is accepted are included.
- an articulation operation can readily be performed such that an arbitrary angle is set in accordance with an operation command.
- a motor grader includes a front frame provided with a front wheel, a rear frame pivotably coupled to the front frame and provided with a rear wheel, a pivot mechanism which is provided between the front frame and the rear frame and allows the front frame to pivot with respect to the rear frame, an operation portion, a sensor capable of detecting whether or not the front frame is at a neutral position with respect to the rear frame, and a controller which controls the pivot mechanism.
- the controller outputs a control signal for driving the pivot mechanism in response to an operation command in accordance with a state of operation onto the operation portion and stops output of the control signal in response to the operation command when the sensor detects the neutral position.
- a control signal for driving the pivot mechanism is output from the controller in response to an operation command in accordance with a state of operation onto the operation portion.
- the controller accepts stop of the operation command when the sensor detects the neutral position and outputs again the control signal in response to the operation command after the stop of the operation command is accepted.
- an articulation operation can readily be performed such that an arbitrary angle is set in accordance with an operation command.
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Abstract
Description
- The present invention relates to a control method in a motor grader and to a motor grader and particularly to an articulation operation in the motor grader.
- A motor grader including a front frame and a rear frame of a vehicular body, a blade revolvably attached to the front frame, and an articulation cylinder which allows the front frame to bend with respect to the rear frame has conventionally been known.
- In this connection, U.S. Pat. No. 6,152,237 (PTD 1) has proposed a scheme for adjusting an angle of articulation of a front frame with respect to a rear frame by selecting an input switch.
-
- PTD 1: U.S. Pat. No. 6,152,237
- The scheme, however, makes forced transition to a mode in which an angle of articulation is set to a prescribed angle by selection of the input switch to perform operations, and requires a manner of operation different from a normal operation, which makes operations complicated.
- The present invention was made in view of the above and an object of the present invention is to provide a control method in a motor grader and a motor grader in which adjustment to a prescribed angle at which a front frame is at a neutral position with respect to a rear frame can be made with a simplified scheme.
- A control method in a motor grader according to one aspect of the present invention, the motor grader including a front frame provided with a front wheel, a rear frame pivotably coupled to the front frame and provided with a rear wheel, a pivot mechanism which is provided between the front frame and the rear frame and allows the front frame to pivot with respect to the rear frame, an operation portion, and a sensor capable of detecting whether or not the front frame is at a neutral position with respect to the rear frame, includes outputting a control signal for driving the pivot mechanism in response to an operation command in accordance with a state of operation onto the operation portion and stopping output of the control signal in response to the operation command when the sensor detects the neutral position.
- A motor grader according to one aspect of the present invention includes a front frame provided with a front wheel, a rear frame pivotably coupled to the front frame and provided with a rear wheel, a pivot mechanism which is provided between the front frame and the rear frame and allows the front frame to pivot with respect to the rear frame, an operation portion, a sensor capable of detecting whether or not the front frame is at a neutral position with respect to the rear frame, and a controller which controls the pivot mechanism. The controller outputs a control signal for driving the pivot mechanism in response to an operation command in accordance with a state of operation onto the operation portion and stops output of the control signal in response to the operation command when the sensor detects the neutral position.
- According to the control method in a motor grader and the motor grader in the present invention, adjustment to a prescribed angle at which a front frame is at a neutral position with respect to a rear frame can be made with a simplified scheme.
-
FIG. 1 is a perspective view schematically showing a construction of a motor grader I based on an embodiment of the present invention. -
FIG. 2 is a side view schematically showing the construction ofmotor grader 1 based on the embodiment. -
FIG. 3 is a front view showing an internal construction of an operator'scab 3 based on the embodiment. -
FIG. 4 is a diagram illustrating overview of a construction of a pivot mechanism based on the embodiment. -
FIG. 5 is a diagram illustrating relation between an amount of stroke of anarticulation control lever 33 and an output electric signal. -
FIG. 6 is a block diagram showing a configuration of a control system included inmotor grader 1 based on the embodiment. -
FIG. 7 is a flowchart illustrating processing for control of the pivot mechanism by amain controller 150 based on the embodiment. - An embodiment will be described below with reference to the drawings. The same elements have the same reference characters allotted in the description below and their labels and functions are also the same. Therefore, detailed description thereof will not be repeated.
- <A. Overall Construction>
-
FIG. 1 is a perspective view schematically showing a construction of amotor grader 1 based on an embodiment of the present invention. -
FIG. 2 is a side view schematically showing the construction ofmotor grader 1 based on the embodiment. - Referring to
FIGS. 1 and 2 ,motor grader 1 based on one embodiment includes runningwheels vehicular body frame 2, an operator'scab 3, and a work implement 4. -
Motor grader 1 includes components such as an engine arranged in anengine compartment 6.Work implement 4 includes ablade 42. -
Motor grader 1 can do such works as land-grading works, snow removal works, light cutting, and mixing of materials withblade 42. - Running
wheels front wheel 11 and arear wheel 12. ThoughFIGS. 1 and 2 show running wheels consisting of twofront wheels 11 one on each side and fourrear wheels 12 two on each side, the number of front wheels and rear wheels and arrangement thereof are not limited as such. - In the description of the drawings below, a fore/aft direction means a fore/aft direction of
motor grader 1. Namely, the fore/aft direction means a fore/aft direction when viewed from an operator who sits at an operator's seat in operator'scab 3. A lateral direction or a side direction means a direction of a vehicle width ofmotor grader 1. Namely, the lateral direction, the direction of the vehicle width, or the side direction means the lateral direction when viewed from the operator who sits at the operator's seat in operator'scab 3. In the drawings below, the fore/aft direction is shown with an arrow X, the lateral direction is shown with an arrow Y, and an up/down direction is shown with an arrow Z. -
Vehicular body frame 2 includes arear frame 21, afront frame 22, and anexterior cover 25.Rear frame 21 supportsexterior cover 25 and components such as an engine arranged in anengine compartment 6.Exterior cover 25covers engine compartment 6.Exterior cover 25 is provided with anupper opening 26 and alateral opening 27.Upper opening 26 andlateral opening 27 are provided to pass throughexterior cover 25 in a direction of thickness. - For example, each of four
rear wheels 12 is attached torear frame 21 as being rotatably driven by driving force from the engine.Front frame 22 is attached in front ofrear frame 21. For example, twofront wheels 11 are rotatably attached to a front end portion offront frame 22.Front wheel 11 is attached as being revolvable with respect to the fore/aft direction of the vehicular body as a result of extending and retracting of asteering cylinder 7 so thatmotor grader 1 can change its direction of travel.Steering cylinder 7 can extend and retract in response to an operation of a steering wheel or a steering control lever provided in operator'scab 3. - Operator's
cab 3 is carried onrear frame 21. In operator'scab 3, an operation portion (not shown) such as a steering wheel, a gear shift lever, a lever for controlling work implement 4, a brake, an accelerator pedal, and an inching pedal is provided. Operator'scab 3 may be carried onrear frame 21. -
Work implement 4 mainly includes adraw bar 40, acircle 41, ablade 42, ahydraulic motor 49, andvarious cylinders 44 to 48. -
Draw bar 40 has a front end portion swingably attached to the front end portion offront frame 22.Draw bar 40 has a rear end portion supported onfront frame 22 by a pair oflift cylinders lift cylinders draw bar 40 can move up and down with respect tofront frame 22.Draw bar 40 is vertically swingable with an axis along a direction of travel of the vehicle being defined as the center, as a result of extending and retracting oflift cylinders - A draw
bar shift cylinder 46 is attached tofront frame 22 and a side end portion ofdraw bar 40. As a result of extending and retracting of drawbar shift cylinder 46,draw bar 40 is movable laterally with respect tofront frame 22. -
Circle 41 is rotatably attached to the rear end portion ofdraw bar 40.Circle 41 can be driven byhydraulic motor 49 as being rotatable clockwise or counterclockwise with respect to drawbar 40 when viewed from above the vehicle. -
Blade 42 is supported as being slidable in the lateral direction with respect tocircle 41 and as being vertically swingable with an axis in parallel to the lateral direction being defined as the center. Specifically, ablade shift cylinder 47 is attached tocircle 41 andblade 42 and arranged along a longitudinal direction ofblade 42. Withblade shift cylinder 47,blade 42 is movable in the lateral direction with respect tocircle 41. - A
tilt cylinder 48 is attached tocircle 41 andblade 42. As a result of extending and retracting oftilt cylinder 48,blade 42 swings around the axis in parallel to the lateral direction with respect tocircle 41, and can change its orientation in the up/down direction.Tilt cylinder 48 can thus change an angle of inclination with respect to the direction of travel ofblade 42. - As set forth above,
blade 42 is constructed to be able to move up and down with respect to the vehicle, change an inclination with respect to the direction of travel, change an inclination with respect to the lateral direction, rotate, and shift in the lateral direction, withdraw bar 40 andcircle 41 being interposed. - <a1. Construction of Operator's Cab>
-
FIG. 3 is a front view showing an internal construction of operator'scab 3 based on the embodiment. - As shown in
FIG. 3 , in operator'scab 3, asteering wheel post 35, asteering wheel 34, a leftcontrol lever group 32, and a rightcontrol lever group 31 are provided. -
Steering wheel post 35 is arranged in front of an operator's seat.Steering wheel 34 is attached tosteering wheel post 35 so as to face the operator's seat. - Left
control lever group 32 includes a plurality of control levers such as a blade rotation lever and a shift cylinder control lever. - Right
control lever group 31 includes a plurality of control levers such as anarticulation control lever 33 and a leaning control lever. - Each control lever included in left
control lever group 32 and rightcontrol lever group 31 is fixed tosteering wheel post 35. Rightcontrol lever group 31 and leftcontrol lever group 32 are provided as being pivotable in the fore/aft direction. -
Articulation control lever 33 indicates an articulation operation for bendingfront frame 22 with respect torear frame 21. - By operating each control lever included in left
control lever group 32 and rightcontrol lever group 31, a potentiometer is turned and an electric signal in accordance with a direction of operation thereof and in proportion to an operation stroke is output. - By way of example, when
articulation control lever 33 is tilted forward, an articulation operation to bendfront frame 22 to the left with respect torear frame 21 is performed. Whenarticulation control lever 33 is tilted rearward, an articulation operation to bendfront frame 22 to the right with respect torear frame 21 is performed. - <a2. Construction of Pivot Mechanism>
-
FIG. 4 is a diagram illustrating overview of a construction of a pivot mechanism based on the embodiment. - As shown in
FIG. 4 ,front frame 22 andrear frame 21 are coupled to each other with a verticalcentral pin 53. Specifically,front frame 22 is pivotably coupled torear frame 21 at a position substantially below operator'scab 3.Front frame 22 pivots with respect torear frame 21 as a result of extending and retracting of anarticulation cylinder 54 coupled betweenfront frame 22 andrear frame 21 based on an operation ofarticulation control lever 33 in operator'scab 3. By bending (articulating)front frame 22 with respect torear frame 21, a slewing radius at the time of revolution ofmotor grader 1 can be smaller and works for excavating a groove and cutting a slope by offset running can be done. Offset running refers to linear travel ofmotor grader 1 by setting a direction of bending offront frame 22 with respect torear frame 21 and a direction of revolution offront wheel 11 with respect to the front frame to directions opposite to each other. Anangle sensor 38 is attached torear frame 21, and the angle sensor detects an angle of articulation representing an angle of bending offront frame 22 with respect torear frame 21. Whenfront frame 22 is located at a neutral position with respect torear frame 21, an angle of articulation is defined as 0°. -
FIG. 5 is a diagram illustrating relation between an amount of stroke ofarticulation control lever 33 and an output electric signal. - As shown in
FIG. 5 , an operation to tiltarticulation control lever 33 rearward from the neutral position is expressed with a (+) sign and an operation to tilt the same forward is expressed with a (−) sign.Articulation control lever 33 outputs an output electric signal in accordance with an amount of stroke. When an amount of stroke is 0, an output electric signal at a reference value is output. - When an amount of stroke indicated by
articulation control lever 33 has the (+) sign,articulation cylinder 54 extends. Then,front frame 22 bends to the right with respect torear frame 21. - When an amount of stroke indicated by
articulation control lever 33 has the (−) sign,articulation cylinder 54 retracts. Then,front frame 22 bends to the left with respect torear frame 21. - As the amount of stroke is greater (closer to 100% or −100%), a speed of extending or retracting of
articulation cylinder 54 is higher. - <B. Configuration of Control System>
-
FIG. 6 is a block diagram showing a configuration of a control system included inmotor grader 1 based on the embodiment. - As shown in
FIG. 6 , the control system ofmotor grader 1 includes, by way of example,articulation control lever 33, ahydraulic pump 131, acontrol valve 134, ahydraulic actuator 135, anengine 136, anengine controller 138, athrottle dial 139, arotation sensor 140, amulti-stage switch 145, astarter switch 146, amain controller 150, andangle sensor 38. -
Hydraulic pump 131 delivers hydraulic oil used for driving work implement 4 and the like. -
Hydraulic actuator 135 is connected tohydraulic pump 131 withcontrol valve 134 being interposed.Hydraulic actuator 135 includesarticulation cylinder 54. -
Main controller 150 outputs a command in conformity with an output electric signal in accordance with a state of operation (an amount of operation and a direction of operation) ofarticulation control lever 33 to controlvalve 134. -
Control valve 134 controlshydraulic actuator 135. Specifically, supply of hydraulic oil is switched in accordance with a command frommain controller 150. For example,control valve 134 switches supply of hydraulic oil such thatarticulation cylinder 54 extends or retracts in accordance with the command frommain controller 150. -
Control valve 134 adjusts an amount of delivery of hydraulic oil to be supplied fromhydraulic pump 131 tohydraulic actuator 135 in accordance with the command frommain controller 150. When no command is given frommain controller 150,control valve 134 stops supply of hydraulic oil fromhydraulic pump 131. -
Engine 136 has a driveshaft connected tohydraulic pump 131 andhydraulic pump 131 is driven in coordination with the driveshaft. -
Engine controller 138 controls an operation ofengine 136 in accordance with an instruction frommain controller 150.Engine 136 is implemented by a diesel engine by way of example. The number of rotations ofengine 136 is set throughthrottle dial 139 or the like, and an actual number of rotations of the engine is detected byrotation sensor 140.Rotation sensor 140 is connected tomain controller 150. -
Multi-stage switch 145 is provided inthrottle dial 139.Multi-stage switch 145 detects a set value (a position resulting from an operation) ofthrottle dial 139. The set value ofthrottle dial 139 is transmitted tomain controller 150.Multi-stage switch 145 outputs a command value for the number of rotations ofengine 136 toengine controller 138. A target number of rotations ofengine 136 is adjusted in accordance with the command value. -
Engine controller 138 adjusts the number of rotations ofengine 136 by controlling an amount of fuel injection by a fuel injection apparatus in accordance with an instruction frommain controller 150.Engine controller 138 adjusts the number of rotations ofengine 136 in accordance with a control instruction frommain controller 150 tohydraulic pump 131. -
Starter switch 146 is connected toengine controller 138. When an operator operates starter switch 146 (sets start), a start signal is output toengine controller 138 so thatengine 136 starts. -
Main controller 150 is a controller which controls theentire motor grader 1 and implemented by a central processing unit (CPU), a non-volatile memory, a timer, and the like. - Though a configuration in which
main controller 150 andengine controller 138 are separate from each other is described in the present example, they can also be implemented as one common controller. -
Angle sensor 38 detects an angle of bending (angle of articulation) offront frame 22 with respect torear frame 21 and outputs a result of detection tomain controller 150. - <C. Control Flow>
-
FIG. 7 is a flowchart illustrating processing for control of the pivot mechanism bymain controller 150 based on the embodiment. - As shown in
FIG. 7 ,main controller 150 determines whether or not an operation input has been given (step S2).Main controller 150 determines whether or not an input of an output electric signal at a value other than a reference value has been given fromarticulation control lever 33. - When
main controller 150 determines that an operation input has been given (YES in step S2), it calculates an amount of operation (step S4). Whenmain controller 150 determines that an input of the output electric signal at a value other than the reference value has been given fromarticulation control lever 33, it calculates an amount of operation (amount of stroke) based on the value. -
Main controller 150 outputs a control signal based on the calculated amount of operation (amount of stroke) (step S6). Specifically, whenmain controller 150 determines that the calculated amount of operation (amount of stroke) is +100%, it outputs a control signal for adjusting supply of hydraulic oil to controlvalve 134 such thatarticulation cylinder 54 extends at a highest speed. Then,front frame 22 bends to the right with respect torear frame 21. Whenmain controller 150 determines that the calculated amount of operation (amount of stroke) is −100%, it outputs a control signal for adjusting supply of hydraulic oil to controlvalve 134 such thatarticulation cylinder 54 retracts at a highest speed. Then,front frame 22 bends to the left with respect torear frame 21. A speed of extending or retracting ofarticulation cylinder 54 is adjusted as a result of adjustment of an amount of supply of hydraulic oil in accordance with the calculated amount of operation (amount of stroke). Thus, a speed of bending offront frame 22 with respect torear frame 21 is adjusted. - Then,
main controller 150 detects an angle of articulation (step S8).Main controller 150 detects an angle of articulation output fromangle sensor 38. -
Main controller 150 determines whether or not the front frame is at the neutral position with respect to the rear frame based on the detected angle of articulation (step S10).Main controller 150 determines whether or not a detected angle of articulation is 0°, and when the angle of articulation is 0°, the main controller determines thatfront frame 22 is at the neutral position with respect torear frame 21. - When the front frame is at the neutral position with respect to the rear frame based on the calculated angle of articulation (YES in step S10),
main controller 150 stops output of the control signal (step S12). Whenmain controller 150 determines thatfront frame 22 is at the neutral position with respect torear frame 21, it stops output of the control signal to controlvalve 134. Then, supply of hydraulic oil fromhydraulic pump 131 toarticulation cylinder 54 is stopped. Therefore,front frame 22 maintains the neutral position with respect torear frame 21. -
Main controller 150 determines whether or not an operation input has been given (step S14).Main controller 150 determines whether or not an input of an output electric signal at a value other than the reference value has been given fromarticulation control lever 33. - When
main controller 150 determines in step S14 that an operation input has been given (YES in step S14), the process returns to step S12 and a state that output of the control signal has been stopped is maintained. Specifically, whenmain controller 150 determines that an input of an output electric signal at a value other than the reference value has been given fromarticulation control lever 33, it maintains a state that output of the control signal has been stopped. - When
main controller 150 determines in step S14 that an operation input has not been given (NO in step S14), the process returns to step S2 and the process above is repeated. Specifically, whenmain controller 150 determines that an input of an output electric signal having the reference value has been given fromarticulation control lever 33, it determines that no operation input has been given and the process returns to step S2. - When
main controller 150 determines in step S2 that an operation input has been given again, it calculates an amount of operation as described above and outputs a control signal to controlvalve 134 based on the calculated amount of operation. Then, an articulation operation in accordance with an operation ofarticulation control lever 33 is again performed. - In the scheme according to the present invention, when
main controller 150 determines thatfront frame 22 is at the neutral position with respect torear frame 21, stops output of a control signal to controlvalve 134 even though an operation input fromarticulation control lever 33 continues. Then, whenfront frame 22 is set to the neutral position with respect torear frame 21, the neutral position is maintained even though an operation input fromarticulation control lever 33 continues. - When an operator performs an operation to set
front frame 22 to the neutral position with respect torear frame 21, the operator can automatically adjust the front frame to the neutral position by keeping tiltingarticulation control lever 33 in a direction in whichfront frame 22 is set to the neutral position with respect torear frame 21. Therefore,motor grader 1 based on the present embodiment can make adjustment to a prescribed angle at whichfront frame 22 is at the neutral position with respect torear frame 21 in a normal manner of operations. Therefore, it is not necessary to perform complicated operations in a manner of operations different from a normal operation, and adjustment to a prescribed angle at whichfront frame 22 is at the neutral position with respect torear frame 21 can be made with a simplified scheme. - For example, by keeping tilting
articulation control lever 33 rearward whilefront frame 22 is bent to the left with respect torear frame 21,front frame 22 can readily be adjusted to the neutral position with respect torear frame 21. - According to the configuration, forced transition to a prescribed mode is not made. Therefore, adjustment to any angle of articulation can always be made by operating
articulation control lever 33, and an operation high in degree of freedom can be performed. - When an operation to set
front frame 22 to the neutral position with respect torear frame 21 is performed,articulation control lever 33 is kept tilted in a direction in whichfront frame 22 is set to the neutral position with respect torear frame 21. In this case, a speed of pivot in automatic adjustment to the neutral position can also be adjusted in accordance with an amount of operation (amount of stroke) for tilting, and an operation high in degree of freedom can be performed. - Such an articulation operation as below can be performed. When
front frame 22 is set to the neutral position with respect torear frame 21, tilting ofarticulation control lever 33 is stopped and return ofarticulation control lever 33 to the neutral position is detected. Thereafter,front frame 22 is bent with respect torear frame 21 from the neutral position by tiltingarticulation control lever 33 again. - Therefore, an articulation operation after automatic adjustment to the neutral position can also readily be performed.
- For example, such an articulation operation as below can be performed. While
front frame 22 is bent to the left with respect torear frame 21,articulation control lever 33 is kept tilted rearward to adjustfront frame 22 to the neutral position with respect torear frame 21. Thereafter,articulation control lever 33 is returned to the neutral position. By tiltingarticulation control lever 33 rearward again (a direction the same as in the initial operation),front frame 22 is bent from the neutral position to the right with respect torear frame 21. - By titling
articulation control lever 33 forward (a direction reverse to the direction in the initial operation), an articulation operation to bendfront frame 22 from the neutral position to the left with respect torear frame 21 can be performed. - Since
front frame 22 can be adjusted to the neutral position with respect torear frame 21 with the use ofarticulation control lever 33 for performing an articulation operation in the configuration above, it is not necessary to provide a special switch and adjustment can be made with a simplified scheme. - Though a configuration for detecting an angle of articulation with
angle sensor 38 is described above, a neutral-state sensing sensor which determines whether:or notfront frame 22 is located at the neutral position with respect torear frame 21 may be provided instead ofangle sensor 38. For example, a proximity sensor which is turned on whenfront frame 22 is at the neutral position with respect torear frame 21 and turned off otherwise can be provided. - Though
articulation control lever 33 for performing an articulation operation is described above, an operation member is not limited to a control lever, and an operation switch which outputs an operation command in accordance with an amount of operation can also be provided. - <Function and Effect>
- A control method in a motor grader according to one aspect of the present invention, the motor grader including a front frame provided with a front wheel, a rear frame pivotably coupled to the front frame and provided with a rear wheel, a pivot mechanism which is provided between the front frame and the rear frame and allows the front frame to pivot with respect to the rear frame, an operation portion, and a sensor capable of detecting whether or not the front frame is at a neutral position with respect to the rear frame, includes outputting a control signal for driving the pivot mechanism in response to an operation command in accordance with a state of operation onto the operation portion and stopping output of the control signal in response to the operation command when the sensor detects the neutral position.
- According to the present invention, a control signal for driving the pivot mechanism is output in response to an operation command in accordance with a state of operation onto the operation portion. When the front frame is at the neutral position with respect to the rear frame, output of the control signal in response to the operation command is stopped. Therefore, it is not necessary to perform complicated operations, and adjustment to a prescribed angle at which the front frame is at the neutral position with respect to the rear frame can be made with a simplified scheme.
- Preferably, accepting stop of the operation command when the sensor detects the neutral position and outputting again the control signal in response to the operation command after the stop of the operation command is accepted are included.
- According to the above, after adjustment to the neutral position, an articulation operation can readily be performed such that an arbitrary angle is set in accordance with an operation command.
- A motor grader according to one aspect of the present invention includes a front frame provided with a front wheel, a rear frame pivotably coupled to the front frame and provided with a rear wheel, a pivot mechanism which is provided between the front frame and the rear frame and allows the front frame to pivot with respect to the rear frame, an operation portion, a sensor capable of detecting whether or not the front frame is at a neutral position with respect to the rear frame, and a controller which controls the pivot mechanism. The controller outputs a control signal for driving the pivot mechanism in response to an operation command in accordance with a state of operation onto the operation portion and stops output of the control signal in response to the operation command when the sensor detects the neutral position.
- According to the present invention, a control signal for driving the pivot mechanism is output from the controller in response to an operation command in accordance with a state of operation onto the operation portion. When the front frame is at the neutral position with respect to the rear frame, output of the control signal in response to the operation command is stopped. Therefore, it is not necessary to perform complicated operations, and adjustment to a prescribed angle at which the front frame is at the neutral position with respect to the rear frame can be made with a simplified scheme.
- Preferably, the controller accepts stop of the operation command when the sensor detects the neutral position and outputs again the control signal in response to the operation command after the stop of the operation command is accepted.
- According to the above, after adjustment to the neutral position, an articulation operation can readily be performed such that an arbitrary angle is set in accordance with an operation command.
- The embodiment disclosed herein is illustrative and not restricted to the above disclosure alone. The scope of the present invention is defined by the terms of the claims and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.
- 1 motor grader; 2 vehicular body frame; 3 operator's cab; 4 work implement; 6 engine compartment; 11, 12 running wheel; 21 rear frame; 22 front frame; 25 exterior cover; 26 upper opening; 27 lateral opening; 31 right control lever group; 32 left control lever group; 33 articulation control lever; 34 steering wheel; 35 support member; 38 angle sensor; 40 draw bar; 41 circle; 42 blade; 44, 45 lift cylinder; 46 draw bar shift cylinder; 47 blade shift cylinder; 48 tilt cylinder; 49 hydraulic motor; 53 central pin; 54 articulation cylinder; 131 hydraulic pump; 134 control valve; 135 hydraulic actuator; 136 engine; 138 engine controller; 139 throttle dial; 140 rotation sensor; 145 multi-stage switch; 146 starter switch; and 150 main controller
Claims (4)
Applications Claiming Priority (3)
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JP2016-058843 | 2016-03-23 | ||
JP2016058843A JP6689639B2 (en) | 2016-03-23 | 2016-03-23 | Control method in motor grader and motor grader |
PCT/JP2017/010583 WO2017164055A1 (en) | 2016-03-23 | 2017-03-16 | Control method for motor graders and motor grader |
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US20190017242A1 true US20190017242A1 (en) | 2019-01-17 |
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US16/080,715 Abandoned US20190017242A1 (en) | 2016-03-23 | 2017-03-16 | Control method in motor grader and motor grader |
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US (1) | US20190017242A1 (en) |
JP (1) | JP6689639B2 (en) |
CN (1) | CN108699804B (en) |
WO (1) | WO2017164055A1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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CN115003886A (en) * | 2020-03-18 | 2022-09-02 | 株式会社小松制作所 | Motor grader and control method for motor grader |
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US11001988B2 (en) * | 2018-06-18 | 2021-05-11 | Caterpillar Inc. | Controlling interlocks based on an interlock configuration |
JP7406414B2 (en) | 2020-03-18 | 2023-12-27 | 株式会社小松製作所 | Motor grader and motor grader control method |
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US6152237A (en) * | 1998-12-11 | 2000-11-28 | Caterpillar Inc. | Method for automatically controlling the articulation angle of a motor grader |
US20080263912A1 (en) * | 2007-04-30 | 2008-10-30 | Imed Gharsalli | Machine with automated blade positioning system |
US20150066298A1 (en) * | 2013-09-05 | 2015-03-05 | Caterpillar Inc. | Path Detection-Based Steering Command Filtering Method for Motor Grader Automatic Articulation Feature |
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US6129156A (en) * | 1998-12-18 | 2000-10-10 | Caterpillar Inc. | Method for automatically moving the blade of a motor grader from a present blade position to a mirror image position |
JP3256694B2 (en) * | 1999-11-30 | 2002-02-12 | 株式会社小松エスト | Motor grader operating device |
JP2007126962A (en) * | 2006-12-18 | 2007-05-24 | Kobelco Contstruction Machinery Ltd | Working machine |
US9228316B2 (en) * | 2013-03-07 | 2016-01-05 | Deere & Company | Motor grader circle drive assembly |
CN204551560U (en) * | 2015-03-20 | 2015-08-12 | 徐工集团工程机械股份有限公司 | A kind of perching knife load control system and land leveller |
-
2016
- 2016-03-23 JP JP2016058843A patent/JP6689639B2/en active Active
-
2017
- 2017-03-16 US US16/080,715 patent/US20190017242A1/en not_active Abandoned
- 2017-03-16 WO PCT/JP2017/010583 patent/WO2017164055A1/en active Application Filing
- 2017-03-16 CN CN201780011749.8A patent/CN108699804B/en active Active
Patent Citations (3)
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US6152237A (en) * | 1998-12-11 | 2000-11-28 | Caterpillar Inc. | Method for automatically controlling the articulation angle of a motor grader |
US20080263912A1 (en) * | 2007-04-30 | 2008-10-30 | Imed Gharsalli | Machine with automated blade positioning system |
US20150066298A1 (en) * | 2013-09-05 | 2015-03-05 | Caterpillar Inc. | Path Detection-Based Steering Command Filtering Method for Motor Grader Automatic Articulation Feature |
Cited By (1)
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CN115003886A (en) * | 2020-03-18 | 2022-09-02 | 株式会社小松制作所 | Motor grader and control method for motor grader |
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CN108699804B (en) | 2021-06-22 |
WO2017164055A1 (en) | 2017-09-28 |
CN108699804A (en) | 2018-10-23 |
JP6689639B2 (en) | 2020-04-28 |
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