US3610341A - Motor-grader control system - Google Patents

Motor-grader control system Download PDF

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US3610341A
US3610341A US812229A US3610341DA US3610341A US 3610341 A US3610341 A US 3610341A US 812229 A US812229 A US 812229A US 3610341D A US3610341D A US 3610341DA US 3610341 A US3610341 A US 3610341A
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main frame
control
earth
mobile
hydraulic
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US812229A
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George W Swisher Jr
Don W Smith
Gordon L Spivey
Ralph K Snow
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CMI Terex Corp
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CMI Corp
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Assigned to FIRST NATIONAL BANK OF CHICAGO, THE, FIRST NATIONAL BANK AND TRUST COMPANY OF OKLAHOMA CITY, THE, FIDELITY BANK N A., FEDERAL DEPOSIT INSURANCE CORPORATION AS RECEIVER FOR PENN SQUARE BANK,N.A., BANK OF AMERICA NATIONAL TRUST AND SAVINGS ASSOCIATION,, REPUBLICBANK DALLAS,N.A., COMMERCIAL BANK,N.A., CONTINENTAL ILLINOIS NATIONAL BANK AND TRUST COMPANY OF CHICAGO, MERCATILE NATIONAL BANK AT DALLAS COMMERCE BANK,, MANUFACTURERS HANOVER TRUST COMPANY, NORTHERN TRUST COMPANY, THE, HIBERNIA NATIONAL BANK IN NEW ORLEANS THE, BANK OF PENNSYLVAIA reassignment FIRST NATIONAL BANK OF CHICAGO, THE MORTGAGE (SEE DOCUMENT FOR DETAILS). Assignors: CMI CORPORATION, CMI ENERGY CONVERSION SYSTEMS,INC., CMI INTERNATIONAL CORPORATION, CMI OIL CORPORATION, CRAMCO SPECIALTIES,INC., MACHINERY INVESTMENT CORPORATION, PANOPLY REINSURANCE COMPANY LIMITED, SOONER SCALES,INC.
Assigned to FIRST NATIONAL BANK AND TRUST COMPANY OF OKLAHOMA CITY, THE reassignment FIRST NATIONAL BANK AND TRUST COMPANY OF OKLAHOMA CITY, THE SECURITY INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: CIMOIL CORPORATION, CMI CORPORATION, CMI INTERNATIONAL CORPORATION, GRAMCO SPECIALITIES, INC., MACHINERY INVESTMENT CORPORATION, PANOPLY REINSURANACE COMPANY, LTD.
Assigned to FIRST NATIONAL BANK OF CHICAGO, FIDELITY BANK N.A., COMMERCIAL BANK, N.A., CONTINENTAL ILLINOIS NATIONAL BANK AND TRUST COMPANY OF CHICAGO, BANK OF AMERICA NATIONAL TRUST AND SAVINGS ASSOCIATION, MANUFACTURERS HANOVER TRUST COMPANY, BANK OF PENNSYLVANIA, FIRST NATIONAL BANK AND TRUST COMPANY OF OKLAHOMA CITY, THE, MERCANTILE NATIONAL BANK AT DALLAS, COMMERCE BANK, NORTHERN TRUST COMPANY, THE, REPUBLICBANK DALLAS, N.A. reassignment FIRST NATIONAL BANK OF CHICAGO Assignors: CMI CORPORATION, CMI ENERGY CONVERSION SYSTEMS, INC., CMI INTERNATIONAL CORPORATION, CMIOIL CORPORATION, GRAMCO SPECIALITIES, INC., MACHINERY INVESTMENT CORPORATION, PANOPLY REINSURANCE COMPANY, LTD., SOONER SCALES, INC.
Assigned to FIRST INTERSTATE BANK OF OKLAHOMA, N.A. reassignment FIRST INTERSTATE BANK OF OKLAHOMA, N.A. SECURITY INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: CMI CORPORATION, A CORP. OF OK
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Assigned to CMI CORPORATION A CORP. OF OKLAHOMA reassignment CMI CORPORATION A CORP. OF OKLAHOMA RELEASED BY SECURED PARTY (SEE DOCUMENT FOR DETAILS). Assignors: BOATMEN'S FIRST NATIONAL BANK OF OKLAHOMA
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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
    • E02F3/7636—Graders with the scraper blade mounted under the tractor chassis
    • E02F3/764—Graders with the scraper blade mounted under the tractor chassis 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
    • 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
    • E02F9/08—Superstructures; Supports for superstructures
    • E02F9/0841—Articulated frame, i.e. having at least one pivot point between two travelling gear units

Definitions

  • Pellegrino Att0rneyDunlap, Laney, Hessin and Dougherty ABSTRACT Apparatus for control of double-articulated earth-working machinery of the type consisting of two similar mobile, assemblies, including drive engine and traction elements, which are oriented in back-to-back manner to support a main frame therebetween.
  • the control system of the earthworking apparatus enables automatic control of machine attitude relative to an external reference such as a string line, such automatic control being applied to generate continual steering regulation as well as continual correction of the height and level of the main frame which, in turn, carries the working implement therebeneath in earth engaging attitude.
  • the invention relates generally to control apparatus or earth-working machinery and, more particularly, but not by way of limitation, it relates to improved motor-grader control systems having increased versatility of application.
  • the prior art includes the usual forms of control system as are employed in regulation of various functions in the conventional types of motor-grader. That is, control systems for the single-articulated or single-ended motor-grader which has been the primary design type.
  • the prior types of control system were, of necessity, directed to regulation of an earthworking implement as carried by a drawbar type of undercarriage.
  • Prior types of double-articulated earth-working machinery are exemplified by two prior U.S. Patents; a patent to Wright, U.S. Pat. No. 2,494,324, now expired; as well as a patent to Harris, U.S. Pat. No. 3,324,583.
  • the control systems attendant these prior art structures are devices which necessarily include specific limitations characteristic of their particular structures, and the respective control system teachings do not extend into the realm of multiplanar and/or automatic control relative to an external reference, as is dealt with in the present application.
  • the present invention contemplates a control system for a double-ended, double-articulated motor-grader assembly which includes a fully controllable main frame and working elements as well as a movable operating cab.
  • the invention consists of first and second mobile assemblies each having a similar drive power source and mobile elements, and each supporting the opposite end of a main frame which carries a subframe and working implement as well as a rotatable operating cab.
  • a system of electrically actuated hydraulic powering elements enables highly accurate control of steering, main frame tilt, main frame slope control, and main frame elevation under either manual or automatic control as sensed from an external reference means.
  • FIG. I is a side elevation of a motor-grader assembly constructed in accordance with the invention.
  • FIG. 2 is a top plan view of the motor-grader assembly as shown in FIG. I;
  • FIG. 3 is an enlarged elevation with parts shown in cutaway of a mobile assembly as constructed in accordance with the invention
  • FIG. 4 is an enlarged top plan view of a mobile assembly of the invention with parts shown in cutaway;
  • FIG. 5 is a section taken along lines 5-5 of FIG. 1;
  • FIG. 6 is an enlarged section as taken along lines 66 of FIG. 5;
  • FIG. 7 is an enlarged side elevation of the main frame of the invention with parts shown in cutaway;
  • FIG. 8 is a schematic diagram of the main frame tilt control assembly
  • FIG. 9 is a schematic diagram of the subframe cross-slope control assembly
  • FIG. 10 is a schematic diagram of the steering control assembly constructed in accordance with the invention.
  • FIG. 11 is a schematic diagram of additional structure of the steering control assembly
  • FIG. 12 is a schematic diagram of the main frame tilt control assembly as constructed in accordance with the invention.
  • FIG. 13 is a top plan view of the motor-grader assembly including control sensor support assembly.
  • FIG. 14 is a block diagram of control systems interconnections.
  • a motor-grader assembly 10 consists of an A END mobile assembly 12 and an oppositely oriented B END mobile assembly 14 with a frame assembly 16 pivotally supported therebetween.
  • the A END and B END mobile assemblies 12 and 14 respectively may be identical units supported on tandem wheel assemblies and 18b bearing on rubber-tired wheels 20a and 20b, respectively.
  • motor-grader assembly 10 is shown as being supported on pluralities of tandem arrayed rubber-tired wheels 20a and 2012, it should be understood that various other forms of ground supporting mobile means such as traction units, single or plural wheel assemblies, etc., may be employed in the mobile ground supporting function.
  • Each of mobile assemblies 12 and 14 further consists of a chassis 22a and 22b supported atop tandem wheel assemblies 180 and 18b at a central point (to be further described below) and a suitable power source or engine 24a and 24b is supported thereon.
  • Prototype motor-grader units are presently designed to include 225 horsepower diesel engines of a type which is commercially available from the Caterpillar Tractor Co. of Peoria, Ill.
  • the engines 24a and 24b function with hydraulic pumps and motors which are utilized for various power purposes about motor-grader assembly 10 as will be further described below.
  • Hood cowls 26a and 26b are affixed over respective engines 24a and 24b in secure manner relative to chassis 22a and 22b while conventional bumper structure 28a and 28 b, exhaust stack 30a and 30b, and air cleaners 32a and 32b are suitably adapted.
  • the main frame assembly 16 is pivotally supported on the A END mobile assembly 12 about a point indicated by vertical axis designation 34, and it is. supported at its other end by the B END mobile assembly 14 about a vertical axis designation 36.
  • the main frame assembly 16 consists of a central frame 38 having each end extending into a downward curve, Le. central frame ends 40 and 46 formed in the downward extremity thereof.
  • Central frame 38 has a mounting plate 48 securely atfixed as by welding across its upper, horizontal surface and a pair of bearing shafts 50 and 52 are secured therethrough in parallel, transverse disposition to form a plurality of quadrature arrayed support shafts 54, 56, 58, and 60.
  • Support shafts 54 and 60 extendoutward. in parallel, spaced and horizontal disposition from one side of central frame 38 while support shafts 56 and 58 extend in respective opposite dispositions on the other side of central frame 38.
  • the end 40 of central frame 38 includes a pair of beams 62 and 64 (see FIG. 2) and the other end 42 is similarly formed by a pair of tapering beams 66 and 68.
  • the support shafts 54, 56, 58 and 60 provide support connection for the central frame 38 as they are each pivotally affixed to respective arm ends 70, 72, 74 and 76 for movement about a transverse axis.
  • the arm ends 70 and 72 form part of a bifurcated frame 78 while the arms 74 and 76 form part of an oppositely disposed bifurcated frame 80.
  • Each of bifurcated ends 70, 72, 74 and 76 receives a semicircular bearing bracket 82, 84, 86 and 88 in secure aflixure for the purpose of movably seizing each of the respective support shafts 54, 56, 58 and 60.
  • the opposite or outer ends of the respective bifurcated frames 78 and 80 are each mounted to respective mobile assemblies 14 and 12 for pivotal affixure about vertical axes 36 and 34.
  • the hydraulic cylinder 90 is connected within bifurcated frame 78 to extend a piston arm 92 into pivotal connection with pivot eye 46 of central frame end 42.
  • the hydraulic cylinder 94 is affixed upwardly within bifurcated frame 80 to extend a piston rod end 96 downward into pivotal connection with pivot eye 44. Actuation of hydraulic cylinders 90 or 94 enable movement of the central frame 38 relative to each of the bifurcated frames 78 and 80 which motion must necessarily extend through to effect counterbalance at respective tandem assemblies 18b and 18a.
  • the mounting plate 48 of central frame 38 actually provides a smooth plate about which operating cab 100 is supported.
  • the operating cab 100 consisting of operators space 102 and having windshield area 104 is supported on one end of a support am 106 which, in turn, has its other end pivotally affixed on mounting plate 48 for movement about a vertical axis 108.
  • the support arm 106 includes drive and braking mechanism, as will be further described below, which operates in conjunction with mounting plate 48 to position the operators cab 100 in any desired position relative to main frame 16.
  • a subframe 110 exemplarily shown as being octagonal in construction, is supported beneath main frame 16 in laterally pivotal manner.
  • subframe 110 is pivotally affixed at a first pivot assembly 112 which is rigidly secured beneath a crossmember 114 extending between frame arms 62 and 64.
  • first pivot assembly 112 which is rigidly secured beneath a crossmember 114 extending between frame arms 62 and 64.
  • pivot assembly 116 which is secured beneath a crossmember (not shown), secured as by welding between the opposite bifurcated frame arms 66 and 68.
  • Pivotal or attitude control of subframe l 10 relative to main frame 16 is exercised by control of a pair of hydraulic cylinder 118 and 120, each of which is pivotally affixed to opposite sides of central frame 38 to extend respective pistons 122 and 124 into a suitable pivotal connection at the opposite sides of the subframe 110.
  • a pair of sensor support arms 119 and 121 extending respective telescoping rods 123 and 125 are securely affixed across opposite sides of subframe 1 10 to extend transversely relative to motor-grader assembly 10.
  • the subframe 110 provides further movable support of a rotatable ring member 126 which supports a working implement, e.g. a blade assembly 128, therebeneath.
  • Ring member 126 is supported for circular movement within a plurality of support blocks 130 beneath subframe 110, and suitable drive means (as will be further described) are mounted on subframe 110 to provide circular rotation of ring member 126.
  • the working element, such as blade assembly 128, is secured beneath ring member 126 to rotate therewith.
  • blade assembly 128 may consist of a connecting frame 132 supporting an earth cutting blade 134 which is movable as to angle of attack by means of a hydraulic cylinder 136, such structure to be further described in greater detail.
  • the tandem assembly 18b is actually a commercially available mechanical unit which enables four wheel drive of tandem arranged wheels, e.g. a separate type final drive utilizing a tandem axle.
  • Casings 140 and 142 of tandem assembly 18b each include a separate sprocket and chain drive for each of the respective front and rear wheels 20b.
  • the tandem assemblies include a transverse axle 144, and a pair of oppositely disposed clamping brackets 145 are welded beneath chassis 22b to provide secure engagement for support upon transverse axle 144.
  • the tandem axle 144 receives drive rotation from a straight-through gear drive assembly 146 which is connected to receive rotational input through a coupling 148.
  • the rotational input coupling 148 is taken from the output of a suitable hydraulic motor 150, e.g. a Series 27 Sundstrand hydraulic motor as driven from a suitable hydraulic pump 152, e.g. a Series 25 Sundstrand hydraulic pump. While specific hydraulic pump and motor equipment is identified, it should be understood that a great many combinations of differing power and type might be utilized to provide the drive power.
  • Hydraulic pressure generated in hydraulic pump 152 is also utilized in conventional manner to drive various of the hydraulic control elements disposed about the motor-grader as sembly 10, as will be further described.
  • the hydraulic pump 152 is energized from diesel engine 24b as rotational engine output applied to a parallel array of flywheels 154 is transmitted on a plurality of V-belts 156 to a plural belt pulley 158 which, in turn, applies rotational input to hydraulic pump 152.
  • Hydraulic pump 152 working in concert with conventional reservoir means (not shown) provides pressure output from a coupling 160 for conduction to an input coupling 162 for energization of the hydraulic motor 150.
  • An additional plu rality of flywheel pulleys 164 may be used to provide an additional rotational output from engine 24b for connection to other auxiliary pump means (not shown) which might be employed for powering auxiliary implement control mechanisms and such, as will be further described below.
  • a vertical pivot shaft 166 is rigidly secured through a floor plate 168 of chassis 22b (see also FIG. 6), and into rigid connection on top of gear box 146 such that it extends vertically from the center of tandem assembly 18b, i.e. straight up from the intersection of drive axle 144 through gear drive 146.
  • Pivot shaft 166 is inserted upward through a pivot bearing 170 which is formed to have oppositely disposed yoke arms 172 and 174 extending outward for steering connection as will be described.
  • the pivot bearing 170 is also formed to have two oppositely disposed connecting tabs 176 and 178 (FIG. 5) and these serve to provide a connection for tilt control hydraulics as will also be described below.
  • the pivot bearing 170 is mounted on pivot shaft 166 by means of a timken bearing 180 (FIG. 6) of conventional type interposed concentrically therebetween to provide necessary ease of the relative movement.
  • the pivot bearing 170 is formed to have a flange 182 about its upper end, and a frame support bearing 184 having a bottom flange 186 is securely affixed thereon, the placement of support bearing 184 also serving to position and retain the timken bearing 180.
  • the support bearing 184 provides a rotational support for the frame end 78.
  • a steel support rod 188 of suitable size and strength is securely affixed as by welding through the front plate 190 of end frame 78, and suitable reinforcing such as lateral plate 192 is also provided.
  • suitable reinforcing such as lateral plate 192 is also provided.
  • Various heavy construction techniques may be utilized to assure a strong bond between rod 188 and frame end 78 since the outer end of rod 188 must support the entire end of the main frame 16 upon mobile assembly 14.
  • the outer end of rod 188 is rotationally retained within support bearing 84 in similar manner as that utilized for pivot shaft 166 within pivot bearing 170.
  • a timken bearing 194 is interposed within the annular space between support rod 188 and the inner surface of support bearing 184 and a retaining plate 196 is secured over the end of support bearing 184 in such manner as to assure secure positioning of timken bearing 194.
  • Steering control is effected by means of hydraulic cylinders 198 and 200 which are connected at pivot ends 202 and 204 to a connecting frame 206 which is rigidly secured through transverse beam 208 to the chassis 22b.
  • Hydraulic pistons 210 and 212 are connected to respective yoke arms 172 and 174 of pivot bearing 170, and energization in concert of hydraulic cylinders 198 and 200 will provide rotation of yoke arms 172 and 174 (pivot bearing 170) relative to the pivot shaft 166 which is also secured to chassis 22b of mobile assembly 14.
  • Tilt control of main frame 16 is effected by control of hydraulic cylinders 214 and 216.
  • Hydraulic cylinders 214 and 216 are reach pivotally mounted by means of respective pivot pins 218 and 220 which are affixed thereto and pivotally interconnected within bracket plates 222 and 224 which are secured through suitable spacers 226 on front plate 190 of the bifurcated frame end 78.
  • Hydraulic cylinders 214 and 216 extend respective pistons 228 and 230 downward into pivotal connection with connecting tabs 176 and'178 as disposed on opposite sides of pivot bearing 170. Coordinated control of hydraulic cylinders 214 and 216 effects tilting of frame end 78 and, therefore, main frame 16 about the. longitudinal axis established by the bearing of support rod 188 within support bearing 184.
  • Frame locking is provided by a hydraulic cylinder 232 which may be selectively actuated to extend its piston rod (not specifically shown) into a locking hole which is formed within a locking block 234.
  • Locking block 234 consists merely of a block of steel with a hole therethrough and which is secured at a front center point of forward plate 190 of end frame 78.
  • Hydraulic cylinder 232 is then supported in longitudinal relationship by a mounting plate 236 suspended by a pair of support plates 238 each rigidly secured above the support bearing 184. The operator can effect control of cylinder 232 to extend the piston into locking block 234, this serving to maintain continuous positioning of the hydraulic locking cylinder 232 in vertical alignment, said vertical alignment assuring lateral horizontal positioning of frame end 78.
  • the main frame 16 is provided with unique adjustability through pivotal connection of end frames 78 and 80 to the central frame 38.
  • the subframe 110 is secured from pivot assemblies 112 and 116 from opposite ends of central frame 38. That is, a bearing sleeve 240 secured from a sleeve hanger 242 as rigidly affixed beneath transverse member 114 (FIG. 2), a part of the main frame 38, is secured about the bearing pin as supported by plates 246 and 248.
  • Pivot assembly 1 16 at the opposite end is similarly constructed and supported from the opposite end of main frame 38 with a hanger 250 supporting a bearing sleeve 252 for pivotal support about a bearing pin 254 as secured between vertical plates 256 and 258.
  • a plurality of adjustable ring support blocks 130 are disposed at approximately equal distances about the underside of subframe 110 to support the ring 126 moveably therearound. Each of support blocks is individually adjustable for setting level and centering of the ring 126.
  • a ring drive hydraulic motor 260 is suitably mounted to work into a worm gear 262 which transmits rotational force to a drive gear 264. Drive gear 264 is positioned in engagement with an inner, gear-toothed flange 266 of ring 126 to transmit motion therethrough.
  • a pair of implement support plates 270 are rigidly affixed in parallel disposition across opposite sides of ring 126.
  • each of the implement support panels 270 has a similarly shaped and downward extending panel 132 which serves to pivotally support an adjusting plate 272 about a pivotal connection 274.
  • a blade 134 is secured by a suitable form of connection 276 to said adjusting plate 272 for movement therewith.
  • Hydraulic cylinders 1'36 pivotally connected to ring 126, extend a piston 278 into pivotal connection with a lever mechanism 280 which exerts positioning control on the blade 134.
  • the hydraulic adjusting cylinder 136, as well as adjusting plate 272, connecting mechanism 276 and other related components are duplicated on each side of the ringl26, i.e. as associated with each of implement support panels 270.
  • a frame level control 282 provides setting of the elevation and level of main frame assembly 16. Such height control is effected by adjustment of the hydraulic cylinders and/or 94 (see also FIG. 1).
  • a pair of hydraulic connections 288 and 290 are connected to hydraulic cylinder 94 and to a four-way valve 292.
  • the hydraulic valve 292 is a commercially available four-way type which has a quiescent or look central portion 294 as well as oppositely porting spool sections 296 and 298.
  • the valve 292 is then controlled by energization of one or the other of the end-mounted solenoids 300 and 302 which provide the proper flow of hydraulic fluid to the hydraulic cylinder 294.
  • Hydraulic connections 304 and 306 are shown connected to a sump which may be any suitable form of hydraulic pump and reservoir system compatible with the available power requirements and drive input energy.
  • Manual lever switch 286 provides A END control by energization of electrical leads 308 and 310 to actuate one or the other of solenoids 300 and 302.
  • manual lever 288 provides B END actuation by energization of respective ones of electrical connections 312 and 314 to actuate solenoids 316 and 318.
  • These solenoids 316 and 318 provide opposite actuation of a four-way hydraulic valve 320 which has a central lockup section 322 as well as oppositely flowing port sections 324 and 326. Hydraulic lines 328 and 330 connect. between hydraulic cylinder 90 and four-way valve 320, with hydraulic lines 332 and 334 leading to a suitable hydraulic pressure sump.
  • FIG. 9 illustrates a control system 336 which controls the cross slope of the subframe and whatever the working implement suspended therebeneath.
  • the subframe l 10 has its cross slope adjusted in accordance with the actuation of hydraulic cylinders 118 and 120 which are oppositely connected in parallel to hydraulic lines 338 and 340 from a four-way valve 342 thereby to effect reciprocal cylinder action.
  • Four-way valve 342 is connected to source hydraulic lines 344 and 346, and valve 342 consists of a lockup section 348 as well as opposite porting sections 350 and 352 which are positioned by oppositely actuating solenoids 354 and 356, respectively.
  • Solenoids 354 and 356 are controlled via electrical connections 358 and 360 from a suitable cross slope selector 362 which, in turn, receives input from a manual cross slope control 364 and. an automatic cross slope control 366.
  • the manual cross slope control 364 may be located in the operating cab 100, while the automatic cross slope control 366 refers to control energization originating from suitable control sensors which are responsive to an external reference, as will be further described below.
  • the automatic cross slope control 366 may be such as a gravity responsive switch with suitable output which is adjustable in relation to a pendulum or such.
  • an automatic-manual steering system 370 includes A END steering assembly 372 and a B END steering assembly 374.
  • Manual steering is carried out by means of a steering control unit 376, the subject matter of FIG. 11 as will be further described, with steering end selection being made through a manual steering end selector switch 378.
  • Automatic steering in response to sensing of an external reference is carried out in response to an A END steering control 380 or a 8 END steering control 382 as selected by a steering selector 384 for input via leads 386 and 388 to each of an A END four-way valve 388 and a B END four-way valve 390.
  • Manual steering is carried out by steering control unit 376 which is controlled to steer one end or the other in response to actuation of manual steering end selector 378.
  • hydraulic fluid output in one direction orthe other is present on hydraulic lines 392 and 394 to a double-ended hydraulic cylinder 396.
  • the hydraulic cylinder 396 has one end 398 pivotally connected to a valve spool 400 of a heavy duty hydraulic valve 402, e.g. a 30 gallon four-way valve.
  • the hydraulic valve 402 is energized by hydraulic pressure present on hydraulic lines 404 and 406 from a suitable sump, and valve output is directed through hydraulic lines 408 and 410 which are applied in opposite, parallel connection through respective steering cylinders 198a and 2001:.
  • hydraulic lines 408 and 410 which are applied in opposite, parallel connection through respective steering cylinders 198a and 2001:.
  • Steering of the B END steering assembly 374 is effected by application of a hydraulic fluid differential between hydraulic lines 412 and 414 to a double-ended hydraulic cylinder 416.
  • the hydraulic cylinder 416 drives a reciprocal valve spool 418 of a heavy duty hydraulic valve 420 in the same manner as described for the A END assembly. That is, hydraulic source input is via lines 422 and 424 with regulating fluid output along hydraulic lines 426 and 428 to each of the hydraulic steering cylinders 430 and 432.
  • the fluid input to hydraulic cylinders 430 and 432 is in parallel but opposite orientation to effect reciprocal movement of respective piston rods 210 and 212 thereby to effect steering movement.
  • valve solenoid 438 changes four-way valve 388 from its center or lockup position 440 to spool position 442 which directs hydraulic fluid from pressure source lines 444 and 446 through respective hydraulic lines 408 and 410 to cause reciprocal energization of hydraulic cylinders 198a and 200a.
  • Energization via lead 387 energizes solenoid valve 448 such that valve spool section 450 effects an opposite hydraulic pressure differential as between hydraulic lines 408 and 410.
  • the valve spool is allowed to return to its lockup position or spool section 440.
  • the steering control unit 376 is shown in greater detail in FIG. 11 which includes various valve interconnections for responding to the manually operated steering wheel 470.
  • Steering wheel 470 is connected by means of a suitable mechanical linkage 472 to operate an orbitrol mechanism 474.
  • the orbitrol 474 is a well-known type of hydraulic proportioning pump which varies the direction and force of hydraulic flow as between pressure lines 476 and 478.
  • the lines 476 and 478 are connected to supply fluid pressure input to respective four-way hydraulic valves 480 and 482 with pressure return proceeding via hydraulic lines 484 and 486 to a fluid reservoir 488. Pressure relief is afforded by a common fluid connection 490 through oppositely oriented check valves 492 and 494 with return to the respective input pressure lines 476 and 478.
  • a main frame tilt control assembly 520 exercises selected control of lateral tilting of the A END or the B END or both ends simultaneously of the main frame relative to the respective A END and B END mobile assemblies l2 and 14.
  • the B END is in the unlocked position as B END unlock control 522 provides energizing voltage via lead 524 to energize valve solenoid 526 such that a four-way valve 528 is actuated to energize hydraulic locking cylinder 232 such that its locking piston 530 is withdrawn out of engagement with locking block 324.
  • the A END unlock 532 will be deenergized such that valve solenoid 534 does not actuate a four-way valve 536. In this position, the valve 536 actuates locking cylinder 323a such that a locking pin 530a is forced into locking engagement within locking block 2340.
  • a B END tilt control 538 may then be controlled by energization along either of electrical ends 540 or 542 to effect frame tilting relative to the B END mobile assembly.
  • Energization of lead 540 energizes valve solenoid 544 such that a four-way valve 546 is actuated from its lockup spool section 548 to a spool section 550 to place a pressure differential between hydraulic lines 552 and 554.
  • an A END tilt control 560 may be selectively actuated to energize one or the other of leads 562 or 564 to energize respective solenoids 566 or 568.
  • a hydraulic valve 570 is normally positioned with the lockup spool section 572 in circuit with pressure source lines 574 and 576 and the hydraulic circuit lines 578 and 580. Pressure lines 578 and 580 are then connected in parallel to each of hydraulic tilt cylinders 216a and 214a to effect reciprocal piston action upon energization of either of relays 566 or 568. Energization of relay 566 brings valve spool section 582 into function, while energization of relay 568 will bring the opposite valve spool section 584 to cause reverse pressure application.
  • a hydraulic override function is provided at each frame end through operation of check valves 586, 588, 590 and 592.
  • valve spool section 528 applies pressure via hydraulic line 594 to open each of the respective check valves 586 and 588 such that they will then allow hydraulic pressure application as present on either of hydraulic lines 552 and 554 to the tilt control cylinders 214 and 216.
  • check valves 590 and 592 are open with application of pressure on hydraulic line 596 (opposite from that shown) to allow hydraulic actuation of tilt cylinders 214a and 216a.
  • motor-grader assembly 10 carries a suitable tracer bar 600 suspended in outrigged position as carried by support arms 119 and 121 and respective telescoping rods 123 and 125.
  • Support arms 119 and 121 are each welded to opposite segments of subframe to extend laterally outboard, while telescoping rods 123 and 125 are adjustably held within support arms 119 and 121.
  • Telescoping rods 123 and 125 may be extended outward to any length as desired.
  • a pair of pivotal brackets 602 and 604 serve to secure the sensor rods 600 on the ends of respective telescoping rods 123 and 125.
  • the brackets 602 and 604 should be a suitable pivot assembly since it will quite often be required that telescoping rods 123 and 125 extend outward different distances. Such will be the case when motor-grader assembly 10 is operated along an external reference or string line 606 with main frame 16 canted relative to the A END and B END mobile assemblies 12 and 14. It should also be understood that telescoping rods can be readily fitted to extend outboard in the other direction, from the opposite ends of support arms 119 and 120, as exigencies demand.
  • a bracket 608 and support 610 aid in the automatic steering function by carrying a control sensor box 612 having a sensor rod 614 which is guided relative to string line 606.
  • Automatic steering function at the opposite end is carried out by bracket 616, support arm 618, control box 620 and sensor rod 622.
  • the lengthwise placement of control sensor boxes 612 and 620 may also be varied for differing applications.
  • sensor 2 boxes 612 and 620 may be aligned with the leading and trailing edges of the furthest displaced (lengthwise) wheels of respective mobile assemblies 12 and l4 as is shown in FIG. 13.
  • Bracket 624 supports a control sensor box 626 and a counterweighted sensing rod 628 which travels along string line 606.
  • bracket 626 carries a control sensor box 632 having a weighted sensor rod 634.
  • the control sensor boxes 612, 620, 628 and 632 may all be a similar type such as is disclosed in a copending patent application entitled Line Tracer Control Device,38 Ser. No. 683,256, filed Nov. 15, 1967 in the name of Steele et al., now Pat. No. 3,514,630 which is the property of the common assignee.
  • Such control sensor box provides an electrical output in response to sensing variations relative to string line 606, such electrical signals being conducted back to appropriate control assemblies on the structure of motor-grader assembly 10.
  • FIG. 14 illustrates the interconnection of the various sensing and control components.
  • output from A END steering sensor 620 is applied to steering selector 384 which may be a main panel control located in the operating cab 100.
  • a END steering output from line 640 is applied via line 642 to cause proper function of hydraulic valve 388 such that steering cylinders 198a and 2000 are driven to effect a steering correction of the A END mobile assembly 12.
  • output from B END steering sensor 612 is conducted via lines 644 through steering selector 384 to a control lead 646 which actuates hydraulic valve 390 to effect steering actuation of the B END steering cylinder 198 and 200.
  • Manual steering control from manual control unit 376 is an override control controlling selected ones of hydraulic valves 402 and/or 420. as shown more clearly in FIGS. 10 and 11.
  • Automatic elevation sensing takes place in similar manner in response to sensor control boxes, i.e. A END elevation sensor 632 and B END elevation sensor 628.
  • the respective outputs are applied via leads 648 and 650 for circuit selection in selector 299.
  • Selected outputs via control leads 652'and 654 are applied to respective hydraulic valves,292 and/or 320 to effect variation of height control cylinders 94 and 90.
  • cross slope control be carried out automatically by a suitable form of transversely oriented sensor which provides zero or no output indication relative to' a preset elevation value.
  • a suitable transverse level sensing mechanism may provide a control output for use in either the cross slope circuitry (FIG. 9) or the main frame tilt control circuitry and hydraulics (FIG. 12) or both. Suchcontrol output could be applied to effect automatic following of support structure which holds blade 134 at its cutting angle.
  • the motor-grader assembly 10 is capable of operation in either longitudinal direction under control of either an operator or an associated external reference such as a string line.
  • sensor rod 600 can be aligned at any angular relationship relative to main frame 16, depending upon the angle of attack of the motor-grader assembly' in performing its earth-working undertaking.
  • automatic steering is carried out in response to A END steering control 380 and B END steering control 382 operating through steering selector 384. That is, more particularly, electrical outputs from A END steering sensor 620 and B END steering sensor 612 (Fig. 14) as applied for selective actuation of hydraulic valves 388 and 390.
  • a sensed electrical output from A END automatic steering control 380 is conducted via one or the other leads 386 and 387, depending upon the direction of turning, to activate the associated valve solenoid 438 or 448 such that hydraulic valve 388 provides the requisite pressure direction through steering cylinders 198a and 200a.
  • Manual steering is effected in a different manner utilizing overriding power application with the orbitrol and steering wheel structure of FIG. 11.
  • steering wheel 470 is manipulated to vary the orbitrol pump 474 to operate the proper one of'A END or B END hydraulic valves 480 or 482.
  • the valves 480 and 482 serve to energize respective drive cylinders 396 and 416 to position the hydraulic valve spools within respective hydraulic cylinders 402 and 420 (FIG. 10).
  • Valves 402 and 420 are heavy duty hydraulic valves which allow manual steering as an override function with continual correction being applied from an automatic steering source which may actuate the auxiliary steering cor- 40 rection hydraulic valves 388 and 390, (see also FIG. 10).
  • elevation control is carried out automatically in response to A END elevation sensor 632 and B END elevation sensor 628 as applied to the selector 299. Elevation control signals are then conducted via leads 652 and 654 to energize one or both of hydraulic valves 292 and 320 to activate their respective height control cylinders 294 and 290 located at each end of the main frame 16. Selector 299 also allows use of manual adjustment control 284 which provides parallel control of hydraulic valves 292 and 320.
  • Automatic controlmeasures may include various other external references in addition to the conventional string line practices, such references being delineated by such as light effects, relative gravity effects, surface or slab sensing, etc.
  • motor-grader assembly 10 is shown as carrying a blade implement 134, it is contemplated that various attachment implements such as ripping attachments, trimmebspreader attachments, excavator assemblies, etc. may be carried beneath the main frame inoperative alignment to carry out the earthworking function in response to either manual or automatic control.
  • the foregoing discloses a novel earth-working machinery control systemwhich is particularly applicable to double-articulated motor-grader assemblies, machines which enable greater work efficiency per time expenditure.
  • Such motorgrader assemblies have the additional advantages of being rreversible in operation such that various turning around maneuvers areeliminated and this serves to cut down greatly on job time.
  • the control systems as disclosed herein offer particular advantages in steering and elevation control of such double-ended machines, elevation control being effected such that an entire-midframe assembly is variable both as to elevation and level relative to the earth or other selected reference, and automaticamanual steering can be effected even from an offset or canted midframe position, as may be required in particular earth-working situations.
  • l. earth-working apparatus comprising:
  • first mobile means including a drive power source pivotally aflixed about a transverse axis to a tandem wheel mobile support structure;
  • second mobile means including a drive power source pivotally affixed about a transverse axis to a tandem wheel mobile support structure;
  • main frame means of generally elongated form consisting of a central frame portion having opposite ends pivotally affixed along atransverse horizontal axis to first and second end frame portions and having each of first and second end frame portions universally pivotally affixed for movement about either vertical or longitudinal axes as connected to respective first and second mobile means at a generally central position relative to the respective tandem wheels; subframe means supported beneath said central frame portion and supported pivotally about a longitudinal axis;
  • control means including control elements connected to said main frame means for selectively adjusting the height and level of the central frame portion of the main frame means by independently raising and lowering said main frame means central frame portion relative to said first and second end frame portions;
  • sensing means extending laterally from said central frame portion and responsive to relative changes of said reference means to generate a correction signal for input to said control means to effect said selective adjustment of height and level of the central frame portion of the main frame means.
  • control means comprises:
  • first power means affixed between said first end frame means and said first end of the central frame portion which power means is elongatably adjustable
  • second power means affixed between said second end frame means and said second end of the central frame portion which second power means is elongatably adjustable
  • first and second actuation means connected to respective power means which are selectively controllable to effect adjustment of one or both of said first and second power means to vary the height and level of said central frame portion.
  • second control means including connected control elements connected between said main frame means and said first mobile means to selectively adjust the longitudinal angle of the main frame means relative to said first mobile means;
  • third control means including connected control elements connected between said main frame means and said first mobile means to selectively adjust the longitudinal angle of the main frame means relative to said second mobile means.
  • said second control means comprises:
  • first power means affixed between said first end frame means and said first end of the central frame portion which power means is elongatably adjustable;
  • each of said actuation means comprises: 1 a hydraulic power source;
  • each of said first and second power means comprises:
  • each of said first and second power means comprises:
  • first power means afiixed between said first mobile means and extending generally transversely and downward for connection with said first end of the main frame means which power means is elongatably adjustable; second power means affixed between said second mobile means and extending generally transversely and downward for connection with said second end of the main frame means, which second means is elongatably adjustable; and first and second actuation means connected to respective power means which are selectively controllable to effect adjustment of one or both of said first and second power means to vary the tilt angle of said main frame means transversely about its longitudinal axis and relative to each of their respective first and second mobile means.
  • Earth-working apparatus as set forth in claim 8 which is further characterized to include:
  • first locking means affixed to said first mobile means for selective actuation to lock said first mobile means to said main frame means in rigid affixure; second locking means affixed to said second mobile means and selectively actuatable to lock said second mobile means to said second end of said main frame means in rigid affixure; and first and second actuation means connected to respective locking means which are selectively controllable to actuate said first and second locking means.
  • each of said first and second power means comprises:
  • a pair of hydraulic cylinders pivotally affixed to opposite sides of said respective first and second ends of the main frame means and having respective opposite ends pivotally affixed to said respective mobile means at a laterally outboard position.
  • each of said first and second locking means comprises;
  • each of said second sensing means comprises:
  • Earth-working apparatus as set forth in claim 13 which is further characterized to include:
  • manual steering control means at an operating position providing first and second control outputs for selective adjustment of said second control means.

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Abstract

Apparatus for control of double-articulated earth-working machinery of the type consisting of two similar mobile assemblies, including drive engine and traction elements, which are oriented in back-to-back manner to support a main frame therebetween. The control system of the earth-working apparatus enables automatic control of machine attitude relative to an external reference such as a string line, such automatic control being applied to generate continual steering regulation as well as continual correction of the height and level of the main frame which, in turn, carries the working implement therebeneath in earth engaging attitude.

Description

United States Patent [72] Inventors George W. Swisher, Jr.
Oklahoma City; Don W. Smith, Edmond; Gordon L. Spivey, Oklahoma City; Ralph K. Snow, Oklahoma City, all of Okla.
[21] Appl. No. 812,229
[22] Filed Apr. 1, 1969 [45] Patented Oct. 5, 1971 [73] Assignee CMI Corporation Oklahoma City, Okla.
[54] MOTOR-GRADER CONTROL SYSTEM 14 Claims, 14 Drawing Figs.
[52] U.S. Cl 172/4.5, 172/793 [51] Int. Cl 1102i 3/76, E02f 3/12 [50] Field of Search 172/45,
[5 6] References Cited UNITED STATES PATENTS 2,494,324 1/1950 Wright 172/793 2,742,099 4/1956 Hagen 180/79.l 2,883,774 4/1959 Clifi'ord... 37/1 17.5 X 3,122,850 3/1964 172/803 X 3,324,583 6/1967 172/781 3,346,975 10/1967 37/129 X 3,346,976 10/1967 Curlett et al... 172/4.5 3,435,546 4/1969 lverson l72/4.5 X 3,468,391 9/1969 Rushing et a1. 180/98 Primary Examiner-Robert E. Pulfrey Assistant Examiner-Stephen C. Pellegrino Att0rneyDunlap, Laney, Hessin and Dougherty ABSTRACT: Apparatus for control of double-articulated earth-working machinery of the type consisting of two similar mobile, assemblies, including drive engine and traction elements, which are oriented in back-to-back manner to support a main frame therebetween. The control system of the earthworking apparatus enables automatic control of machine attitude relative to an external reference such as a string line, such automatic control being applied to generate continual steering regulation as well as continual correction of the height and level of the main frame which, in turn, carries the working implement therebeneath in earth engaging attitude.
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IEiE-E PATENTEU 0m 519m SHEET 6 BF 8 wml 5 5. 0 0 L r H E W Ms M v N M5 q /5 5 n E h [IL rill 5A. K. m 5 W N w A 6 o H P N 0 P 1 0 0 P L n E 0 0 A m& MN 6 QM. Q$$m [J m wmw @m awn W 7 wmh mm r mm L A m? m wm L 31 If 0 3Q 35 33 M gm Qu Qm a QXR n mum wmmi exam. mwm WW an J an N% wvm a 3.0 w \J L. VA @m m \hfi N? 3 m wh Qxm 3328 $138 .1 k R k R r u i qm n x Q Q q Q Q MOTOR-GRADE]! CONTROL SYSTEM CROSS-REFERENCE TO RELATED APPLICATION The subject matter of the present application is specifically related to that of U.S. Pat. application Ser. No. 793,274 entitled Improvements in Motor-Grader Apparatus, filed on Jan. 23, I969 in the name of Swisher et al. and assigned to the common assignee.
BACKGROUND OF THE INVENTION 3 1. Field of the Invention The invention relates generally to control apparatus or earth-working machinery and, more particularly, but not by way of limitation, it relates to improved motor-grader control systems having increased versatility of application.
2. Description of the Prior Art The prior art includes the usual forms of control system as are employed in regulation of various functions in the conventional types of motor-grader. That is, control systems for the single-articulated or single-ended motor-grader which has been the primary design type. The prior types of control system were, of necessity, directed to regulation of an earthworking implement as carried by a drawbar type of undercarriage. Prior types of double-articulated earth-working machinery are exemplified by two prior U.S. Patents; a patent to Wright, U.S. Pat. No. 2,494,324, now expired; as well as a patent to Harris, U.S. Pat. No. 3,324,583. The control systems attendant these prior art structures are devices which necessarily include specific limitations characteristic of their particular structures, and the respective control system teachings do not extend into the realm of multiplanar and/or automatic control relative to an external reference, as is dealt with in the present application.
SUMMARY OF THE INVENTION The present invention contemplates a control system for a double-ended, double-articulated motor-grader assembly which includes a fully controllable main frame and working elements as well as a movable operating cab. In a more limited aspect, the invention consists of first and second mobile assemblies each having a similar drive power source and mobile elements, and each supporting the opposite end of a main frame which carries a subframe and working implement as well as a rotatable operating cab. In addition, a system of electrically actuated hydraulic powering elements enables highly accurate control of steering, main frame tilt, main frame slope control, and main frame elevation under either manual or automatic control as sensed from an external reference means.
Therefore, it is an object of the present invention to provide a double-articulated motor-grader assembly which can be controlled automatically from an external reference.
It is also an object of the invention to provide a motorgrader apparatus which has a greater degree of control over the main or middle frame and, therefore, a subframe and working implement affixed thereto.
It is still further an object of the present invention to provide a double-articulated motor-grader which has a greater degree of steering control while guiding and controlling an earthworking implement.
Finally, it is an object of the present invention to provide a control system for a motor-grader assembly which is readily employed in either a manual or automatic mode of operation.
Other objects and advantages of the invention will be evident from the following detailed description when read in conjunction with the accompanying drawings which illustrate the invention.
BRIEF DESCRIPTION OF THE DRAWINGS FIG. I is a side elevation of a motor-grader assembly constructed in accordance with the invention;
FIG. 2 is a top plan view of the motor-grader assembly as shown in FIG. I;
FIG. 3 is an enlarged elevation with parts shown in cutaway of a mobile assembly as constructed in accordance with the invention;
FIG. 4 is an enlarged top plan view of a mobile assembly of the invention with parts shown in cutaway;
FIG. 5 is a section taken along lines 5-5 of FIG. 1;
FIG. 6 is an enlarged section as taken along lines 66 of FIG. 5;
FIG. 7 is an enlarged side elevation of the main frame of the invention with parts shown in cutaway;
FIG. 8 is a schematic diagram of the main frame tilt control assembly;
FIG. 9 is a schematic diagram of the subframe cross-slope control assembly;
FIG. 10 is a schematic diagram of the steering control assembly constructed in accordance with the invention;
FIG. 11 is a schematic diagram of additional structure of the steering control assembly;
FIG. 12 is a schematic diagram of the main frame tilt control assembly as constructed in accordance with the invention;
FIG. 13 is a top plan view of the motor-grader assembly including control sensor support assembly; and
FIG. 14 is a block diagram of control systems interconnections.
DETAILED DESCRIPTION OF THE INVENTION Referring to FIGS. 1 and 2, a motor-grader assembly 10, consists of an A END mobile assembly 12 and an oppositely oriented B END mobile assembly 14 with a frame assembly 16 pivotally supported therebetween. The A END and B END mobile assemblies 12 and 14 respectively, may be identical units supported on tandem wheel assemblies and 18b bearing on rubber- tired wheels 20a and 20b, respectively. While motor-grader assembly 10 is shown as being supported on pluralities of tandem arrayed rubber-tired wheels 20a and 2012, it should be understood that various other forms of ground supporting mobile means such as traction units, single or plural wheel assemblies, etc., may be employed in the mobile ground supporting function.
Each of mobile assemblies 12 and 14 further consists of a chassis 22a and 22b supported atop tandem wheel assemblies 180 and 18b at a central point (to be further described below) and a suitable power source or engine 24a and 24b is supported thereon. Prototype motor-grader units are presently designed to include 225 horsepower diesel engines of a type which is commercially available from the Caterpillar Tractor Co. of Peoria, Ill. The engines 24a and 24b function with hydraulic pumps and motors which are utilized for various power purposes about motor-grader assembly 10 as will be further described below. Hood cowls 26a and 26b are affixed over respective engines 24a and 24b in secure manner relative to chassis 22a and 22b while conventional bumper structure 28a and 28 b, exhaust stack 30a and 30b, and air cleaners 32a and 32b are suitably adapted.
The main frame assembly 16 is pivotally supported on the A END mobile assembly 12 about a point indicated by vertical axis designation 34, and it is. supported at its other end by the B END mobile assembly 14 about a vertical axis designation 36. The main frame assembly 16 consists of a central frame 38 having each end extending into a downward curve, Le. central frame ends 40 and 46 formed in the downward extremity thereof. Central frame 38 has a mounting plate 48 securely atfixed as by welding across its upper, horizontal surface and a pair of bearing shafts 50 and 52 are secured therethrough in parallel, transverse disposition to form a plurality of quadrature arrayed support shafts 54, 56, 58, and 60. Support shafts 54 and 60 extendoutward. in parallel, spaced and horizontal disposition from one side of central frame 38 while support shafts 56 and 58 extend in respective opposite dispositions on the other side of central frame 38.
The end 40 of central frame 38 includes a pair of beams 62 and 64 (see FIG. 2) and the other end 42 is similarly formed by a pair of tapering beams 66 and 68. The support shafts 54, 56, 58 and 60 provide support connection for the central frame 38 as they are each pivotally affixed to respective arm ends 70, 72, 74 and 76 for movement about a transverse axis.
The arm ends 70 and 72 form part of a bifurcated frame 78 while the arms 74 and 76 form part of an oppositely disposed bifurcated frame 80. Each of bifurcated ends 70, 72, 74 and 76 receives a semicircular bearing bracket 82, 84, 86 and 88 in secure aflixure for the purpose of movably seizing each of the respective support shafts 54, 56, 58 and 60.
The opposite or outer ends of the respective bifurcated frames 78 and 80 are each mounted to respective mobile assemblies 14 and 12 for pivotal affixure about vertical axes 36 and 34. The hydraulic cylinder 90 is connected within bifurcated frame 78 to extend a piston arm 92 into pivotal connection with pivot eye 46 of central frame end 42. Similarly, the hydraulic cylinder 94 is affixed upwardly within bifurcated frame 80 to extend a piston rod end 96 downward into pivotal connection with pivot eye 44. Actuation of hydraulic cylinders 90 or 94 enable movement of the central frame 38 relative to each of the bifurcated frames 78 and 80 which motion must necessarily extend through to effect counterbalance at respective tandem assemblies 18b and 18a.
The mounting plate 48 of central frame 38 actually provides a smooth plate about which operating cab 100 is supported. The operating cab 100 consisting of operators space 102 and having windshield area 104 is supported on one end of a support am 106 which, in turn, has its other end pivotally affixed on mounting plate 48 for movement about a vertical axis 108. The support arm 106 includes drive and braking mechanism, as will be further described below, which operates in conjunction with mounting plate 48 to position the operators cab 100 in any desired position relative to main frame 16.
A subframe 110, exemplarily shown as being octagonal in construction, is supported beneath main frame 16 in laterally pivotal manner. Thus, subframe 110 is pivotally affixed at a first pivot assembly 112 which is rigidly secured beneath a crossmember 114 extending between frame arms 62 and 64. Similarly, the opposite end of subframe 110 is pivotally affixed to a pivot assembly 116 which is secured beneath a crossmember (not shown), secured as by welding between the opposite bifurcated frame arms 66 and 68. Pivotal or attitude control of subframe l 10 relative to main frame 16 is exercised by control of a pair of hydraulic cylinder 118 and 120, each of which is pivotally affixed to opposite sides of central frame 38 to extend respective pistons 122 and 124 into a suitable pivotal connection at the opposite sides of the subframe 110. A pair of sensor support arms 119 and 121 extending respective telescoping rods 123 and 125 are securely affixed across opposite sides of subframe 1 10 to extend transversely relative to motor-grader assembly 10.
The subframe 110 provides further movable support of a rotatable ring member 126 which supports a working implement, e.g. a blade assembly 128, therebeneath. Ring member 126 is supported for circular movement within a plurality of support blocks 130 beneath subframe 110, and suitable drive means (as will be further described) are mounted on subframe 110 to provide circular rotation of ring member 126. The working element, such as blade assembly 128, is secured beneath ring member 126 to rotate therewith. Thus, blade assembly 128 may consist of a connecting frame 132 supporting an earth cutting blade 134 which is movable as to angle of attack by means of a hydraulic cylinder 136, such structure to be further described in greater detail.
H68. 3, 4 and depict elements of the B END mobile assembly 14 in greater detail. It should be understood that the A END mobile assembly 12 may be constructed in identical manner. The tandem assembly 18b is actually a commercially available mechanical unit which enables four wheel drive of tandem arranged wheels, e.g. a separate type final drive utilizing a tandem axle. Casings 140 and 142 of tandem assembly 18b each include a separate sprocket and chain drive for each of the respective front and rear wheels 20b. The tandem assemblies include a transverse axle 144, and a pair of oppositely disposed clamping brackets 145 are welded beneath chassis 22b to provide secure engagement for support upon transverse axle 144. The tandem axle 144 receives drive rotation from a straight-through gear drive assembly 146 which is connected to receive rotational input through a coupling 148. The rotational input coupling 148 is taken from the output of a suitable hydraulic motor 150, e.g. a Series 27 Sundstrand hydraulic motor as driven from a suitable hydraulic pump 152, e.g. a Series 25 Sundstrand hydraulic pump. While specific hydraulic pump and motor equipment is identified, it should be understood that a great many combinations of differing power and type might be utilized to provide the drive power.
Hydraulic pressure generated in hydraulic pump 152 is also utilized in conventional manner to drive various of the hydraulic control elements disposed about the motor-grader as sembly 10, as will be further described. The hydraulic pump 152 is energized from diesel engine 24b as rotational engine output applied to a parallel array of flywheels 154 is transmitted on a plurality of V-belts 156 to a plural belt pulley 158 which, in turn, applies rotational input to hydraulic pump 152. Hydraulic pump 152 working in concert with conventional reservoir means (not shown) provides pressure output from a coupling 160 for conduction to an input coupling 162 for energization of the hydraulic motor 150. An additional plu rality of flywheel pulleys 164 may be used to provide an additional rotational output from engine 24b for connection to other auxiliary pump means (not shown) which might be employed for powering auxiliary implement control mechanisms and such, as will be further described below.
A vertical pivot shaft 166 is rigidly secured through a floor plate 168 of chassis 22b (see also FIG. 6), and into rigid connection on top of gear box 146 such that it extends vertically from the center of tandem assembly 18b, i.e. straight up from the intersection of drive axle 144 through gear drive 146. Pivot shaft 166 is inserted upward through a pivot bearing 170 which is formed to have oppositely disposed yoke arms 172 and 174 extending outward for steering connection as will be described. The pivot bearing 170 is also formed to have two oppositely disposed connecting tabs 176 and 178 (FIG. 5) and these serve to provide a connection for tilt control hydraulics as will also be described below.
The pivot bearing 170 is mounted on pivot shaft 166 by means of a timken bearing 180 (FIG. 6) of conventional type interposed concentrically therebetween to provide necessary ease of the relative movement. The pivot bearing 170 is formed to have a flange 182 about its upper end, and a frame support bearing 184 having a bottom flange 186 is securely affixed thereon, the placement of support bearing 184 also serving to position and retain the timken bearing 180.
The support bearing 184 provides a rotational support for the frame end 78. A steel support rod 188 of suitable size and strength is securely affixed as by welding through the front plate 190 of end frame 78, and suitable reinforcing such as lateral plate 192 is also provided. Various heavy construction techniques may be utilized to assure a strong bond between rod 188 and frame end 78 since the outer end of rod 188 must support the entire end of the main frame 16 upon mobile assembly 14. The outer end of rod 188 is rotationally retained within support bearing 84 in similar manner as that utilized for pivot shaft 166 within pivot bearing 170. That is, a timken bearing 194 is interposed within the annular space between support rod 188 and the inner surface of support bearing 184 and a retaining plate 196 is secured over the end of support bearing 184 in such manner as to assure secure positioning of timken bearing 194.
Steering control is effected by means of hydraulic cylinders 198 and 200 which are connected at pivot ends 202 and 204 to a connecting frame 206 which is rigidly secured through transverse beam 208 to the chassis 22b. Hydraulic pistons 210 and 212 are connected to respective yoke arms 172 and 174 of pivot bearing 170, and energization in concert of hydraulic cylinders 198 and 200 will provide rotation of yoke arms 172 and 174 (pivot bearing 170) relative to the pivot shaft 166 which is also secured to chassis 22b of mobile assembly 14.
Tilt control of main frame 16 is effected by control of hydraulic cylinders 214 and 216. Hydraulic cylinders 214 and 216 are reach pivotally mounted by means of respective pivot pins 218 and 220 which are affixed thereto and pivotally interconnected within bracket plates 222 and 224 which are secured through suitable spacers 226 on front plate 190 of the bifurcated frame end 78. Hydraulic cylinders 214 and 216 extend respective pistons 228 and 230 downward into pivotal connection with connecting tabs 176 and'178 as disposed on opposite sides of pivot bearing 170. Coordinated control of hydraulic cylinders 214 and 216 effects tilting of frame end 78 and, therefore, main frame 16 about the. longitudinal axis established by the bearing of support rod 188 within support bearing 184.
Frame locking is provided by a hydraulic cylinder 232 which may be selectively actuated to extend its piston rod (not specifically shown) into a locking hole which is formed within a locking block 234. Locking block 234 consists merely of a block of steel with a hole therethrough and which is secured at a front center point of forward plate 190 of end frame 78. Hydraulic cylinder 232 is then supported in longitudinal relationship by a mounting plate 236 suspended by a pair of support plates 238 each rigidly secured above the support bearing 184. The operator can effect control of cylinder 232 to extend the piston into locking block 234, this serving to maintain continuous positioning of the hydraulic locking cylinder 232 in vertical alignment, said vertical alignment assuring lateral horizontal positioning of frame end 78.
Referring now to FIG. 7, the main frame 16 is provided with unique adjustability through pivotal connection of end frames 78 and 80 to the central frame 38. The subframe 110 is secured from pivot assemblies 112 and 116 from opposite ends of central frame 38. That is, a bearing sleeve 240 secured from a sleeve hanger 242 as rigidly affixed beneath transverse member 114 (FIG. 2), a part of the main frame 38, is secured about the bearing pin as supported by plates 246 and 248. Pivot assembly 1 16 at the opposite end is similarly constructed and supported from the opposite end of main frame 38 with a hanger 250 supporting a bearing sleeve 252 for pivotal support about a bearing pin 254 as secured between vertical plates 256 and 258.
A plurality of adjustable ring support blocks 130 (FIG. 2) are disposed at approximately equal distances about the underside of subframe 110 to support the ring 126 moveably therearound. Each of support blocks is individually adjustable for setting level and centering of the ring 126. A ring drive hydraulic motor 260 is suitably mounted to work into a worm gear 262 which transmits rotational force to a drive gear 264. Drive gear 264 is positioned in engagement with an inner, gear-toothed flange 266 of ring 126 to transmit motion therethrough.
A pair of implement support plates 270 are rigidly affixed in parallel disposition across opposite sides of ring 126. Referring to FIG. 7, each of the implement support panels 270 has a similarly shaped and downward extending panel 132 which serves to pivotally support an adjusting plate 272 about a pivotal connection 274. A blade 134 is secured by a suitable form of connection 276 to said adjusting plate 272 for movement therewith. Hydraulic cylinders 1'36, pivotally connected to ring 126, extend a piston 278 into pivotal connection with a lever mechanism 280 which exerts positioning control on the blade 134. The hydraulic adjusting cylinder 136, as well as adjusting plate 272, connecting mechanism 276 and other related components are duplicated on each side of the ringl26, i.e. as associated with each of implement support panels 270.
in prototype equipment, the various control power functions about the motor-grader assembly have been effected by the use of hydraulic equipment; however, it should be understood that these functions can be performed byaany of the conventional powering methods such as electrical, pneumatic, mechanical, or any combination of such power circuits. Control functions are readily regulated by the operator in the movable operating cab and, in addition to manual control, it is often desirable to enable automatic control of certain level and steering functions so that the motor-grader assembly 10 can be controlled totally or in pan from an external grade reference such as a string line. Such manual-automatic control functions as specifically directed to hydraulic equipmentation are more particularly set forth hereinafter.
- -As shown in FIG. 8, a frame level control 282 provides setting of the elevation and level of main frame assembly 16. Such height control is effected by adjustment of the hydraulic cylinders and/or 94 (see also FIG. 1). A dual control assembly 284, situated in the operator's cab 100, provides a first manual lever switch 286 for controlling A END elevation and a second manual lever control 288 for controlling 8 END height.
A pair of hydraulic connections 288 and 290 are connected to hydraulic cylinder 94 and to a four-way valve 292. The hydraulic valve 292 is a commercially available four-way type which has a quiescent or look central portion 294 as well as oppositely porting spool sections 296 and 298. The valve 292 is then controlled by energization of one or the other of the end-mounted solenoids 300 and 302 which provide the proper flow of hydraulic fluid to the hydraulic cylinder 294. Hydraulic connections 304 and 306 are shown connected to a sump which may be any suitable form of hydraulic pump and reservoir system compatible with the available power requirements and drive input energy.
Manual lever switch 286 provides A END control by energization of electrical leads 308 and 310 to actuate one or the other of solenoids 300 and 302. Similarly, manual lever 288 provides B END actuation by energization of respective ones of electrical connections 312 and 314 to actuate solenoids 316 and 318. These solenoids 316 and 318 provide opposite actuation of a four-way hydraulic valve 320 which has a central lockup section 322 as well as oppositely flowing port sections 324 and 326. Hydraulic lines 328 and 330 connect. between hydraulic cylinder 90 and four-way valve 320, with hydraulic lines 332 and 334 leading to a suitable hydraulic pressure sump.
The schematic representation of FIG. 9 illustrates a control system 336 which controls the cross slope of the subframe and whatever the working implement suspended therebeneath. The subframe l 10 has its cross slope adjusted in accordance with the actuation of hydraulic cylinders 118 and 120 which are oppositely connected in parallel to hydraulic lines 338 and 340 from a four-way valve 342 thereby to effect reciprocal cylinder action. Four-way valve 342 is connected to source hydraulic lines 344 and 346, and valve 342 consists of a lockup section 348 as well as opposite porting sections 350 and 352 which are positioned by oppositely actuating solenoids 354 and 356, respectively.
Solenoids 354 and 356 are controlled via electrical connections 358 and 360 from a suitable cross slope selector 362 which, in turn, receives input from a manual cross slope control 364 and. an automatic cross slope control 366. The manual cross slope control 364 may be located in the operating cab 100, while the automatic cross slope control 366 refers to control energization originating from suitable control sensors which are responsive to an external reference, as will be further described below. The automatic cross slope control 366 may be such as a gravity responsive switch with suitable output which is adjustable in relation to a pendulum or such.
Referring now to FIG. 10, an automatic-manual steering system 370 includes A END steering assembly 372 and a B END steering assembly 374. Manual steering is carried out by means of a steering control unit 376, the subject matter of FIG. 11 as will be further described, with steering end selection being made through a manual steering end selector switch 378. Automatic steering in response to sensing of an external reference is carried out in response to an A END steering control 380 or a 8 END steering control 382 as selected by a steering selector 384 for input via leads 386 and 388 to each of an A END four-way valve 388 and a B END four-way valve 390.
Manual steering is carried out by steering control unit 376 which is controlled to steer one end or the other in response to actuation of manual steering end selector 378. Thus, in the case where the A END assembly 372 is to be steered, hydraulic fluid output in one direction orthe other is present on hydraulic lines 392 and 394 to a double-ended hydraulic cylinder 396. The hydraulic cylinder 396 has one end 398 pivotally connected to a valve spool 400 of a heavy duty hydraulic valve 402, e.g. a 30 gallon four-way valve. The hydraulic valve 402 is energized by hydraulic pressure present on hydraulic lines 404 and 406 from a suitable sump, and valve output is directed through hydraulic lines 408 and 410 which are applied in opposite, parallel connection through respective steering cylinders 198a and 2001:. Thus, applications of pressure differential, as between hydraulic lines 408 and 410, results in reciprocal action of hydraulic cylinder pistons 212a and 2100 to effect pivoting of the steering yoke 1720-1740 which is in rigid affixure to the main frame 16.
Steering of the B END steering assembly 374 is effected by application of a hydraulic fluid differential between hydraulic lines 412 and 414 to a double-ended hydraulic cylinder 416. The hydraulic cylinder 416 drives a reciprocal valve spool 418 of a heavy duty hydraulic valve 420 in the same manner as described for the A END assembly. That is, hydraulic source input is via lines 422 and 424 with regulating fluid output along hydraulic lines 426 and 428 to each of the hydraulic steering cylinders 430 and 432. The fluid input to hydraulic cylinders 430 and 432 is in parallel but opposite orientation to effect reciprocal movement of respective piston rods 210 and 212 thereby to effect steering movement.
Automatic steering, as might be effected from suitable control sensors operating in response to an external reference, would originate as an electrical control signal in the form of a switch closure via leads 386 through 389 to energize predetermined valve solenoids. Thus, an energizing voltage on lead 386 to valve solenoid 438 changes four-way valve 388 from its center or lockup position 440 to spool position 442 which directs hydraulic fluid from pressure source lines 444 and 446 through respective hydraulic lines 408 and 410 to cause reciprocal energization of hydraulic cylinders 198a and 200a. Energization via lead 387 energizes solenoid valve 448 such that valve spool section 450 effects an opposite hydraulic pressure differential as between hydraulic lines 408 and 410. Upon deenergization of either of valve solenoids 438 or 448, the valve spool is allowed to return to its lockup position or spool section 440.
Automatic steering of the B END steering assembly is effected in similar manner. That is, electrical energization of either of leads 388 or 389 actuates respective valve solenoids 452 and 454. Actuation of solenoid valve 452 moves the valve spool from its lockup position 456 to the position where spool section 458 directs hydraulic fluid flow from source lines 460 and 462 through respective supply lines 426 and 428. Alternate energization of the valve solenoid 454 places spool section 464 in operation to reverse the pressure differential as between hydraulic lines 426 and 428, this effecting an opposite reciprocal effect as between the steering cylinders 430 and 432.
The steering control unit 376 is shown in greater detail in FIG. 11 which includes various valve interconnections for responding to the manually operated steering wheel 470. Steering wheel 470 is connected by means of a suitable mechanical linkage 472 to operate an orbitrol mechanism 474. The orbitrol 474 is a well-known type of hydraulic proportioning pump which varies the direction and force of hydraulic flow as between pressure lines 476 and 478. The lines 476 and 478 are connected to supply fluid pressure input to respective four-way hydraulic valves 480 and 482 with pressure return proceeding via hydraulic lines 484 and 486 to a fluid reservoir 488. Pressure relief is afforded by a common fluid connection 490 through oppositely oriented check valves 492 and 494 with return to the respective input pressure lines 476 and 478.
Electrical input from manual steering end selector 478 (FIG. 10) is provided by signal input on leads 496 and 498. Thus, input on lead 496 energizes solenoid valves 500 and 502 to bring respective valve spool sections 504 and 506 into function, this enabling A END steering control of the A END cylinder 396. Energization on lead 498 actuates valve solenoids 508 and 510 to move valve spool sections 512 and 514 in the proper flow position such that the B END cylinder 416 is energizable in response to the adjustment of orbitrol 474 for manually steering the motor-grader assembly. The center spool positions 516 and 518 of the respective four- way valves 480 and 482 merely provide pressure balancing porting.
Referring now to FIG. 12, a main frame tilt control assembly 520 exercises selected control of lateral tilting of the A END or the B END or both ends simultaneously of the main frame relative to the respective A END and B END mobile assemblies l2 and 14. As shown, the B END is in the unlocked position as B END unlock control 522 provides energizing voltage via lead 524 to energize valve solenoid 526 such that a four-way valve 528 is actuated to energize hydraulic locking cylinder 232 such that its locking piston 530 is withdrawn out of engagement with locking block 324. Alternately, the A END unlock 532 will be deenergized such that valve solenoid 534 does not actuate a four-way valve 536. In this position, the valve 536 actuates locking cylinder 323a such that a locking pin 530a is forced into locking engagement within locking block 2340.
With the A END unlock 532 deenergized to cause locking of the frame A END, a B END tilt control 538 may then be controlled by energization along either of electrical ends 540 or 542 to effect frame tilting relative to the B END mobile assembly. Energization of lead 540 energizes valve solenoid 544 such that a four-way valve 546 is actuated from its lockup spool section 548 to a spool section 550 to place a pressure differential between hydraulic lines 552 and 554.
When the A END unlock 532 is energized to withdraw the locking pin 5300 the hydraulic tilt cylinders 216a and 2140 may be energized to effect lateral tilting of main frame. Thus, an A END tilt control 560 may be selectively actuated to energize one or the other of leads 562 or 564 to energize respective solenoids 566 or 568. A hydraulic valve 570 is normally positioned with the lockup spool section 572 in circuit with pressure source lines 574 and 576 and the hydraulic circuit lines 578 and 580. Pressure lines 578 and 580 are then connected in parallel to each of hydraulic tilt cylinders 216a and 214a to effect reciprocal piston action upon energization of either of relays 566 or 568. Energization of relay 566 brings valve spool section 582 into function, while energization of relay 568 will bring the opposite valve spool section 584 to cause reverse pressure application.
A hydraulic override function is provided at each frame end through operation of check valves 586, 588, 590 and 592. Thus, not until the B END is unlocked with energization of valve solenoid 526 can the hydraulic tilt cylinders 216 and 214 be actuated. 1n the unlock attitude, valve spool section 528 applies pressure via hydraulic line 594 to open each of the respective check valves 586 and 588 such that they will then allow hydraulic pressure application as present on either of hydraulic lines 552 and 554 to the tilt control cylinders 214 and 216. Similarly, check valves 590 and 592 are open with application of pressure on hydraulic line 596 (opposite from that shown) to allow hydraulic actuation of tilt cylinders 214a and 216a.
Referring now to FIG. 13, motor-grader assembly 10 carries a suitable tracer bar 600 suspended in outrigged position as carried by support arms 119 and 121 and respective telescoping rods 123 and 125. Support arms 119 and 121 are each welded to opposite segments of subframe to extend laterally outboard, while telescoping rods 123 and 125 are adjustably held within support arms 119 and 121. Telescoping rods 123 and 125 may be extended outward to any length as desired. A pair of pivotal brackets 602 and 604 serve to secure the sensor rods 600 on the ends of respective telescoping rods 123 and 125. The brackets 602 and 604 should be a suitable pivot assembly since it will quite often be required that telescoping rods 123 and 125 extend outward different distances. Such will be the case when motor-grader assembly 10 is operated along an external reference or string line 606 with main frame 16 canted relative to the A END and B END mobile assemblies 12 and 14. It should also be understood that telescoping rods can be readily fitted to extend outboard in the other direction, from the opposite ends of support arms 119 and 120, as exigencies demand.
A bracket 608 and support 610 aid in the automatic steering function by carrying a control sensor box 612 having a sensor rod 614 which is guided relative to string line 606. Automatic steering function at the opposite end is carried out by bracket 616, support arm 618, control box 620 and sensor rod 622. The lengthwise placement of control sensor boxes 612 and 620 may also be varied for differing applications. Thus, sensor 2 boxes 612 and 620 may be aligned with the leading and trailing edges of the furthest displaced (lengthwise) wheels of respective mobile assemblies 12 and l4 as is shown in FIG. 13.
Automatic elevation sensing indications are also derived from string line 606 by means of brackets 624 and 626 which support additional control assemblies. Bracket 624 supports a control sensor box 626 and a counterweighted sensing rod 628 which travels along string line 606. Similarly, bracket 626 carries a control sensor box 632 having a weighted sensor rod 634. The control sensor boxes 612, 620, 628 and 632 may all be a similar type such as is disclosed in a copending patent application entitled Line Tracer Control Device,38 Ser. No. 683,256, filed Nov. 15, 1967 in the name of Steele et al., now Pat. No. 3,514,630 which is the property of the common assignee. Such control sensor box provides an electrical output in response to sensing variations relative to string line 606, such electrical signals being conducted back to appropriate control assemblies on the structure of motor-grader assembly 10.
The block diagram of FIG. 14 illustrates the interconnection of the various sensing and control components. Thus, output from A END steering sensor 620 is applied to steering selector 384 which may be a main panel control located in the operating cab 100. In the automatic attitude, A END steering output from line 640 is applied via line 642 to cause proper function of hydraulic valve 388 such that steering cylinders 198a and 2000 are driven to effect a steering correction of the A END mobile assembly 12. Similarly, output from B END steering sensor 612 is conducted via lines 644 through steering selector 384 to a control lead 646 which actuates hydraulic valve 390 to effect steering actuation of the B END steering cylinder 198 and 200. Manual steering control from manual control unit 376 is an override control controlling selected ones of hydraulic valves 402 and/or 420. as shown more clearly in FIGS. 10 and 11.
Automatic elevation sensing takes place in similar manner in response to sensor control boxes, i.e. A END elevation sensor 632 and B END elevation sensor 628. The respective outputs are applied via leads 648 and 650 for circuit selection in selector 299. Selected outputs via control leads 652'and 654 are applied to respective hydraulic valves,292 and/or 320 to effect variation of height control cylinders 94 and 90.
It is also contemplated that cross slope control be carried out automatically by a suitable form of transversely oriented sensor which provides zero or no output indication relative to' a preset elevation value. Thus, a suitable transverse level sensing mechanism may provide a control output for use in either the cross slope circuitry (FIG. 9) or the main frame tilt control circuitry and hydraulics (FIG. 12) or both. Suchcontrol output could be applied to effect automatic following of support structure which holds blade 134 at its cutting angle.
OPERATION The motor-grader assembly 10 is capable of operation in either longitudinal direction under control of either an operator or an associated external reference such as a string line.
assembly 10 and in parallel disposition to main frame 16. It
should be understood however that sensor rod 600 can be aligned at any angular relationship relative to main frame 16, depending upon the angle of attack of the motor-grader assembly' in performing its earth-working undertaking.
1 Referring also to FIG. 10, automatic steering is carried out in response to A END steering control 380 and B END steering control 382 operating through steering selector 384. That is, more particularly, electrical outputs from A END steering sensor 620 and B END steering sensor 612 (Fig. 14) as applied for selective actuation of hydraulic valves 388 and 390. Thus, for A END steering, a sensed electrical output from A END automatic steering control 380 is conducted via one or the other leads 386 and 387, depending upon the direction of turning, to activate the associated valve solenoid 438 or 448 such that hydraulic valve 388 provides the requisite pressure direction through steering cylinders 198a and 200a.
Manual steering is effected in a different manner utilizing overriding power application with the orbitrol and steering wheel structure of FIG. 11. In this case, steering wheel 470 is manipulated to vary the orbitrol pump 474 to operate the proper one of'A END or B END hydraulic valves 480 or 482. The valves 480 and 482, in turn, serve to energize respective drive cylinders 396 and 416 to position the hydraulic valve spools within respective hydraulic cylinders 402 and 420 (FIG. 10). Valves 402 and 420 are heavy duty hydraulic valves which allow manual steering as an override function with continual correction being applied from an automatic steering source which may actuate the auxiliary steering cor- 40 rection hydraulic valves 388 and 390, (see also FIG. 10).
Referring to FIGS. 8 and 14, elevation control is carried out automatically in response to A END elevation sensor 632 and B END elevation sensor 628 as applied to the selector 299. Elevation control signals are then conducted via leads 652 and 654 to energize one or both of hydraulic valves 292 and 320 to activate their respective height control cylinders 294 and 290 located at each end of the main frame 16. Selector 299 also allows use of manual adjustment control 284 which provides parallel control of hydraulic valves 292 and 320.
It should be understood that various other schemes, both automatic and manual, may be employed in controlling a motor-grader constructed in accordance with the invention. Automatic controlmeasures may include various other external references in addition to the conventional string line practices, such references being delineated by such as light effects, relative gravity effects, surface or slab sensing, etc. Also, while the motor-grader assembly 10 is shown as carrying a blade implement 134, it is contemplated that various attachment implements such as ripping attachments, trimmebspreader attachments, excavator assemblies, etc. may be carried beneath the main frame inoperative alignment to carry out the earthworking function in response to either manual or automatic control.
The foregoing discloses a novel earth-working machinery control systemwhich is particularly applicable to double-articulated motor-grader assemblies, machines which enable greater work efficiency per time expenditure. Such motorgrader assemblies have the additional advantages of being rreversible in operation such that various turning around maneuvers areeliminated and this serves to cut down greatly on job time. The control systems as disclosed herein offer particular advantages in steering and elevation control of such double-ended machines, elevation control being effected such that an entire-midframe assembly is variable both as to elevation and level relative to the earth or other selected reference, and automaticamanual steering can be effected even from an offset or canted midframe position, as may be required in particular earth-working situations.
Changes may be made in combination and arrangement of elements as heretofore set forth in the specification and shown in the drawings; it being understood that changes may be made in the embodiments disclosed without departing from the spirit and scope of the invention.
What is claimed is:
l. earth-working apparatus, comprising:
first mobile means including a drive power source pivotally aflixed about a transverse axis to a tandem wheel mobile support structure;
second mobile means including a drive power source pivotally affixed about a transverse axis to a tandem wheel mobile support structure; main frame means of generally elongated form consisting of a central frame portion having opposite ends pivotally affixed along atransverse horizontal axis to first and second end frame portions and having each of first and second end frame portions universally pivotally affixed for movement about either vertical or longitudinal axes as connected to respective first and second mobile means at a generally central position relative to the respective tandem wheels; subframe means supported beneath said central frame portion and supported pivotally about a longitudinal axis;
implement means adjustably supported from a circle assembly secured beneath said subframe means in an earthworking position;
control means including control elements connected to said main frame means for selectively adjusting the height and level of the central frame portion of the main frame means by independently raising and lowering said main frame means central frame portion relative to said first and second end frame portions;
reference means external to said apparatus denoting a predetermined position in space; and
sensing means extending laterally from said central frame portion and responsive to relative changes of said reference means to generate a correction signal for input to said control means to effect said selective adjustment of height and level of the central frame portion of the main frame means.
2. Earth-working apparatus as set forth in claim 1 wherein said control means comprises:
first power means affixed between said first end frame means and said first end of the central frame portion which power means is elongatably adjustable; second power means affixed between said second end frame means and said second end of the central frame portion which second power means is elongatably adjustable; and
first and second actuation means connected to respective power means which are selectively controllable to effect adjustment of one or both of said first and second power means to vary the height and level of said central frame portion. 3. Earth-working apparatus as set forth in claim 1 which is further characterized to include: 1
second control means including connected control elements connected between said main frame means and said first mobile means to selectively adjust the longitudinal angle of the main frame means relative to said first mobile means; and
third control means including connected control elements connected between said main frame means and said first mobile means to selectively adjust the longitudinal angle of the main frame means relative to said second mobile means.
4. Earth-working apparatus as set forth in claim 3 wherein said second control means comprises:
first power means affixed between said first end frame means and said first end of the central frame portion which power means is elongatably adjustable;
second power means affixed between said second end frame 5 means and said second end of the central frame portion which second power means is elongatably adjustable; and
first and second actuation means connected to respective power means which are selectively controllable to effect 1 o adjustment of one or both of said first and second power means to vary the height and level of said central frame portion. 5. Earth-working apparatus as set forth in claim 4 each of said actuation means comprises: 1 a hydraulic power source;
hydraulic valve means connected to said hydraulic power source and operable to actuate said respective first or second power means; and steering control means at an operating position which is manually operable to control the actuation of said hydraulic valve means. 6. Earth-working apparatus as set forth in claim 2 wherein each of said first and second power means comprises:
a hydraulic cylinder means. 7. Earth-working apparatus as set forth in claim 4 wherein each of said first and second power means comprises:
a hydraulic cylinder means. 8. Earth-working apparatus as set forth in claim 1 which is further characterized to include:
first power means afiixed between said first mobile means and extending generally transversely and downward for connection with said first end of the main frame means which power means is elongatably adjustable; second power means affixed between said second mobile means and extending generally transversely and downward for connection with said second end of the main frame means, which second means is elongatably adjustable; and first and second actuation means connected to respective power means which are selectively controllable to effect adjustment of one or both of said first and second power means to vary the tilt angle of said main frame means transversely about its longitudinal axis and relative to each of their respective first and second mobile means. 9. Earth-working apparatus as set forth in claim 8 which is further characterized to include:
first locking means affixed to said first mobile means for selective actuation to lock said first mobile means to said main frame means in rigid affixure; second locking means affixed to said second mobile means and selectively actuatable to lock said second mobile means to said second end of said main frame means in rigid affixure; and first and second actuation means connected to respective locking means which are selectively controllable to actuate said first and second locking means. 10. Earth-working apparatus as set forth in claim 8 wherein each of said first and second power means comprises:
wherein a pair of hydraulic cylinders pivotally affixed to opposite sides of said respective first and second ends of the main frame means and having respective opposite ends pivotally affixed to said respective mobile means at a laterally outboard position.
11. Earth-working apparatus as set forth in claim 9 wherein each of said first and second locking means comprises;
locking pin receiving means mounted on each respective end of the main frame means; and hydraulic locking means including a locking pin, said locking means being mounted on each of the respective mobile means to be actuated to extend the respective locking pins into said pin receiving means. 12. Earth-working apparatus as set forth in claim 1 wherein 75 each of said second sensing means comprises:
selectively actuated in response to said first and second steering outputs to adjust the directional angle of the main frame means.
14. Earth-working apparatus as set forth in claim 13 which is further characterized to include:
manual steering control means at an operating position providing first and second control outputs for selective adjustment of said second control means.

Claims (14)

1. EARTH-WORKING APPARATUS, COMPRISING: FIRST MOBILE MEANS INCLUDING A DRIVE POWER SOURCE PIVOTALLY AFFIXED ABOUT A TRANSVERSE AXIS TO A TANDEM WHEEL MOBILE SUPPORT STRUCTURE; SECOND MOBILE MEANS INCLUDING A DRIVE POWER SOURCE PIVOTALLY AFFIXED ABOUT A TRANSVERSE AXIS TO A TANDEM WHEEL MOBILE SUPPORT STRUCTURE; MAIN FRAME MEANS OF GENERALLY ELONGATED FORM CONSISTING OF A CENTRAL FRAME PORTION HAVING OPPOSITE ENDS PIVOTALLY AFFIXED ALONG A TRANSVERSE HORIZONTAL AXIS TO FIRST AND SECOND END FRAME PORTIONS AND HAVING EACH OF FIRST AND SECOND END FRAME PORTIONS UNIVERSALLY PIVOTALLY AFFIXED FOR MOVEMENT ABOUT EITHER VERTICAL OR LONGITUDINAL AXES AS CONNECTED TO RESPECTIVE FIRST AND SECOND MOBILE MEANS AT A GENERALLY CENTRAL POSITION RELATIVE TO THE RESPECTIVE TANDEM WHEELS; SUBFRAME MEANS SUPPORTED BENEATH SAID CENTRAL FRAME PORTION AND SUPPORTED PIVOTALLY ABOUT A LONGITUDINAL AXIS; IMPLEMENT MEANS ADJUSTABLY SUPPORTED FROM A CIRCLE ASSEMBLY SECURED BENEATH SAID SUBFRAME MEANS IN AN EARTH-WORKING POSITION; CONTROL MEANS INCLUDING CONTROL ELEMENTS CONNECTED TO SAID MAIN FRAME MEANS FOR SELECTIVELY ADJUSTING THE HEIGHT AND LEVEL OF THE CENTRAL FRAME PORTION OF THE MAIN FRAME MEANS BY INDEPENDENTLY RAISING AND LOWERING SAID MAIN FRAME MEANS CENTRAL FRAME PORTION RELATIVE TO SAID FIRST AND SECOND END FRAME PORTIONS; REFERENCE MEANS EXTERNAL TO SAID APPARATUS DENOTING A PREDETERMINED POSITION IN SPACE; AND SENSING MEANS EXTENDING LATERALLY FROM SAID CENTRAL FRAME PORTION AND RESPONSIVE TO RELATIVE CHANGES OF SAID REFERENCE MEANS TO GENERATE A CORRECTION SIGNAL FOR INPUT TO SAID CONTROL MEANS TO EFFECT SAID SELECTIVE ADJUSTMENT OF HEIGHT AND LEVEL OF THE CENTRAL FRAME PORTION OF THE MAIN FRAME MEANS.
2. Earth-working apparatus as set forth in claim 1 wherein said control means comprises: first power means affixed between said first end frame means and said first end of the central frame portion which power means is elongatably adjustable; second power means affixed between said second end frame means and said second end of the central frame portion which second power means is elongatably adjustable; and first and second actuation means connected to respective power means which are selectively controllable to effect adjustment of one or both of said first and second power means to vary the height and level of said central frame portion.
3. Earth-working apparatus as set forth in claim 1 which is further characterized to include: second control means including connected control elements connected between said main frame means and said first mobile means to selectively adjust the longitudinal angle of the main frame means relative to said first mobile means; and third control means including connected control elements connected between said main frame means and said first mobile means to selectively adjust the longitudinal angle of the main frame means relative to said second mobile means.
4. Earth-working apparatus as set forth in claim 3 wherein said second control means comprises: first power means affixed between said first end frame means and said first end of the central frame portion which power means is elongatably adjustable; second power means affixed between said second end frame means and said second end of the central frame portion which second power means is elongatably adjustable; and first and second actuation means connected to respective power means which are selectively controllable to effect adjustment of one or both of said first and second power means to vary the height and level of said central frame portion.
5. Earth-working apparatus as set forth in claim 4 wherein each of said actuation means comprises: a hydraulic power source; hydraulic valve means connected to said hydraulic power source and operable to actuate said reSpective first or second power means; and steering control means at an operating position which is manually operable to control the actuation of said hydraulic valve means.
6. Earth-working apparatus as set forth in claim 2 wherein each of said first and second power means comprises: a hydraulic cylinder means.
7. Earth-working apparatus as set forth in claim 4 wherein each of said first and second power means comprises: a hydraulic cylinder means.
8. Earth-working apparatus as set forth in claim 1 which is further characterized to include: first power means affixed between said first mobile means and extending generally transversely and downward for connection with said first end of the main frame means which power means is elongatably adjustable; second power means affixed between said second mobile means and extending generally transversely and downward for connection with said second end of the main frame means, which second means is elongatably adjustable; and first and second actuation means connected to respective power means which are selectively controllable to effect adjustment of one or both of said first and second power means to vary the tilt angle of said main frame means transversely about its longitudinal axis and relative to each of their respective first and second mobile means.
9. Earth-working apparatus as set forth in claim 8 which is further characterized to include: first locking means affixed to said first mobile means for selective actuation to lock said first mobile means to said main frame means in rigid affixure; second locking means affixed to said second mobile means and selectively actuatable to lock said second mobile means to said second end of said main frame means in rigid affixure; and first and second actuation means connected to respective locking means which are selectively controllable to actuate said first and second locking means.
10. Earth-working apparatus as set forth in claim 8 wherein each of said first and second power means comprises: a pair of hydraulic cylinders pivotally affixed to opposite sides of said respective first and second ends of the main frame means and having respective opposite ends pivotally affixed to said respective mobile means at a laterally outboard position.
11. Earth-working apparatus as set forth in claim 9 wherein each of said first and second locking means comprises: locking pin receiving means mounted on each respective end of the main frame means; and hydraulic locking means including a locking pin, said locking means being mounted on each of the respective mobile means to be actuated to extend the respective locking pins into said pin receiving means.
12. Earth-working apparatus as set forth in claim 1 wherein each of said second sensing means comprises: electrical switch means which provides first and second switch closures for respective opposite variations in relative position from said reference means.
13. Earth-working apparatus as set forth in claim 3 wherein said second control means comprises: steering selector means located at an operating position on said main frame for receiving each of said first and second sensing outputs from said second control means; and hydraulic means connected to said main frame means and selectively actuated in response to said first and second steering outputs to adjust the directional angle of the main frame means.
14. Earth-working apparatus as set forth in claim 13 which is further characterized to include: manual steering control means at an operating position providing first and second control outputs for selective adjustment of said second control means.
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