JPS5869939A - Controller for blade of construction machine - Google Patents
Controller for blade of construction machineInfo
- Publication number
- JPS5869939A JPS5869939A JP16919981A JP16919981A JPS5869939A JP S5869939 A JPS5869939 A JP S5869939A JP 16919981 A JP16919981 A JP 16919981A JP 16919981 A JP16919981 A JP 16919981A JP S5869939 A JPS5869939 A JP S5869939A
- Authority
- JP
- Japan
- Prior art keywords
- blade
- control device
- receiver
- construction machine
- height
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
- E02F3/844—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically
- E02F3/847—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically using electromagnetic, optical or acoustic beams to determine the blade position, e.g. laser beams
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Electromagnetism (AREA)
- Optics & Photonics (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
Description
【発明の詳細な説明】
本発明は建設機械におけるブレードの制御装置Ｋｌｌす
るもので、詳しくは地上にレーザ光―による基準面を形
成するとともｋ、車両側に受光器を設置し文、この受光
器が常にレーザ基準面に乗るよ５にブレードを制御する
建設機械におけるブレードの制御装置Ｋｌｌするもので
ある。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a control device for blades in construction machinery, and more specifically, a reference surface is formed on the ground using a laser beam, and a light receiver is installed on the vehicle side. This is a blade control device for construction machinery that controls the blade so that the blade always rests on the laser reference plane.
従来のこの種のプレード制°御装置は、第１図に示した
ように、ブレードｌの一端に受光８２を配設するととも
に、プレーＶ１の適宜個所に該ブレードの長手方向（巾
方向）の傾斜を検出する傾斜計３を配設し、上記受光ｆ
ｓ２が常にレーザ基準面４に乗るよ５に、かつ傾斜計３
が常に一定の値となるよ５に左右のブレード昇降用シリ
ンダ（図示せず）を作動し、もりてブレードｌを制御し
ていた。As shown in FIG. 1, the conventional blade control device of this type has a light receiver 82 disposed at one end of the blade L, and a light receiving device 82 in the longitudinal direction (width direction) of the blade at an appropriate location on the blade V1. An inclinometer 3 for detecting the inclination is provided, and the above-mentioned light receiving f
5 so that s2 always lies on the laser reference plane 4, and the inclinometer 3
The left and right blade lifting cylinders (not shown) were operated to maintain a constant value at all times, thereby controlling the blade l.
このような従来のブレード制御装置は、傾斜計３を使用
−してブレード傾斜角を検出しているため、ブレード巾
が大きくなると傾斜計３の誤差による影響が大きくなり
即ち傾斜針の誤差が僅かであっても、ブレードｌの誤差
△Ｈが拡大し、したがって施工精度が落ち、しかも傾斜
針３で検出した傾斜値を予め設定した傾斜値と比較し、
その偏差が零となるようにブレード１を制御しているの
で、応答性が悪いという欠点があった。Such conventional blade control devices use the inclinometer 3 to detect the blade inclination angle, so as the blade width increases, the influence of the error in the inclinometer 3 increases, meaning that the error in the inclinometer 3 is small. Even if the error △H of the blade l increases, the construction accuracy decreases, and the inclination value detected by the inclination needle 3 is compared with the preset inclination value,
Since the blade 1 is controlled so that the deviation becomes zero, there is a drawback that the response is poor.
本発明は、このような問題点を解消したグレードの制御
装置を提供するもので、その特徴とするところは、受光
器をグレードの両端部にそれぞれ配設し、それらの各受
光器が常にレーザ基準面に乗るようにブレードを制御さ
せるようにしたことにある。The present invention provides a grade control device that solves these problems, and its feature is that light receivers are arranged at both ends of the grade, and each of these receivers is always connected to the laser beam. The reason is that the blade is controlled so that it rides on the reference plane.
以下図面に示した実施例を参照しながら本発明を説明す
る。本発明に係るブレードの制御装置は、ブレード１１
０両端部に受光器１２．１２を配設したもので、 ＊障
例では受光器１２．１２をシリンダｘｓ、ｘｉを介して
ブレード制御装置している。これらのシリンダ１３．１
３にはそれぞれ受光器１２．１２’のストローク（高さ
）を検出するセンサー１４．１４’が設置されている。The present invention will be described below with reference to embodiments shown in the drawings. The blade control device according to the present invention includes a blade 11
In the case of failure, the light receivers 12.12 are connected to the blade control device via the cylinders xs and xi. These cylinders 13.1
Sensors 14 and 14' for detecting the stroke (height) of the light receivers 12 and 12' are installed at each of the sensors 14 and 3.
第２図に示した実施例は、ブレード制御装置しようとす
る傾斜角０をレーザ基準面１５で設定させたものである
。この場合には、左右の受光器１２．１２″の高さｔｏ
−１χを常に維持すれば、ブレードは常に傾斜角θに維
持される。第２図（ｂ）はその制御回路のブロック図を
示したもので、この回路では左側シリンダ１３で検出し
た受光ａ１２の高さ１．と右側シリンダ１３′で検出し
た受光１Ｆｊｔ１２″の高さｌＩとを偏差検出回路１６
で比較演算し、その偏差レベル信号に応じてシリンダド
ライブ回路１７を動作させ１．もって右側シリンダ１３
を作動させて右側受光器１２の高さｌＩを常時左側受光
＠１２の高さ／、に一致させている。したがってブレー
ド１１の傾斜は常にレーザ基準面１５で予め設定した傾
斜角＃に維持される。In the embodiment shown in FIG. 2, the inclination angle 0 to be set by the blade control device is set by the laser reference plane 15. In the embodiment shown in FIG. In this case, the height of the left and right receivers 12.12'' to
If −1χ is always maintained, the blade is always maintained at the inclination angle θ. FIG. 2(b) shows a block diagram of the control circuit. In this circuit, the height of the received light a12 detected by the left cylinder 13 is 1. and the height lI of the received light 1Fjt12'' detected by the right cylinder 13'.
The comparison calculation is performed in step 1, and the cylinder drive circuit 17 is operated according to the deviation level signal.1. Right side cylinder 13
is operated so that the height lI of the right light receiver 12 always matches the height / of the left light receiver @12. Therefore, the inclination of the blade 11 is always maintained at the inclination angle # preset on the laser reference plane 15.
なお、この実施例では、左側受光器１２の高さを任意に
設定し得るように、受光器１２をシリンダ１３を介して
ブレードＩＩＫ配設しているもので、これは本発明の技
術思想を達成するために必胸のものではない。また右側
受光−１２の高さを制御するシリンダ１３は〜左側受光
器１２の高さを可変にした場合に必要となるもの刃、左
側受光器１２をシリンダ１３を介さずブレード１１上に
固定した場合には、右側受光器１２もシリンダ１３’を
介することなくブレードｌｌ上に固定させればよい、但
し、その場合でも両受光ａ１．２．１２’の高さは一致
させておかなくてはならないことは云うまでもない。In this embodiment, the left side light receiver 12 is arranged in a blade IIK via a cylinder 13 so that the height of the left side light receiver 12 can be set arbitrarily, and this is based on the technical idea of the present invention. It's not something you have to do to achieve. The cylinder 13 that controls the height of the right receiver 12 is necessary when the height of the left receiver 12 is made variable.The left receiver 12 is fixed on the blade 11 without using the cylinder 13. In this case, the right receiver 12 may also be fixed on the blade 11 without using the cylinder 13'. However, even in that case, the heights of both receivers a1, 2, and 12' must be made the same. Needless to say, this is not the case.
第３図に示した実施例は、レーザ基準１１ｉ１５を水平
に設定し、左右受光！１２．１２’の高さ１１ｊ、の差
Δｊを常時一定に維持するととによって、ブレード１１
の傾斜角θを常時一定に″維持させようとしたものであ
る。この場合には第３図（ａ）から明らかなように、ブ
レード１１の傾斜角０は、−〇中／＠−／１／’６によ
って決定されるので、右側受光器１２の高さｌＩが常に
左側受光器１２の高さｌ・との差Δｊを−。定に一維持
するよ・５に受光＠１！の高さ１１を制御すればよい、
第３図（至）はその制御回路のブロック図である。この
回路では、左側シリンダ１３で検出した受光器１２の高
−さ／、に予め設定ｌ１１８で設定した傾斜角度θに対
応するストローク量Δｌを加算＠１９で加算し、その出
力値ｌ・＋Δ／に対応する高さｌ、に右側受光器１２″
が維持されるように、右側シリンダ１３を制御させてい
る。In the embodiment shown in FIG. 3, the laser reference 11i15 is set horizontally, and the left and right light is received! By keeping the difference Δj between the heights 11j and 12.12' constant, the blade 11
In this case, as is clear from FIG. 3(a), the inclination angle 0 of the blade 11 is -0 medium/@-/1. /'6, so the height lI of the right receiver 12 always maintains the difference Δj from the height l of the left receiver 12 at -.5 and the height of the light received @1! All you have to do is control Sa11.
FIG. 3 is a block diagram of the control circuit. In this circuit, the stroke amount Δl corresponding to the inclination angle θ set in advance at l118 is added to the height/ of the light receiver 12 detected by the left cylinder 13 at addition@19, and the output value l・+Δ/ height l, corresponding to the right receiver 12″
The right cylinder 13 is controlled so that the
したがうて、ブレード１１の傾斜は常に設定−１８１Ｃ
ようズ予め設定された傾斜角θに対応するストローク量
Δｊによりて傾斜角０に維持される。Therefore, the slope of the blade 11 is always set to -181C
The inclination angle is maintained at 0 by the stroke amount Δj corresponding to the preset inclination angle θ.
なお、この実施例も、左側受光ｆｉ１２の高さを任意に
設定し得るように受光器１２をシリンダ１３を介してブ
レードＩＩＫ配設しているが、これは本発明の技術思想
を達成するために必須のものではない。しかし、本実施
例を達成するためには、少なくとも右側受光器１２はシ
リンダ１３１を介してブレード１１上に配設し、該シリ
ンダを左匈受光器１２の高さに対して任意の高さの差Δ
ｌを設定できるよ５Ｋしておく必要がある。In this embodiment as well, the light receiver 12 is disposed in the blade IIK via the cylinder 13 so that the height of the left light receiving fi 12 can be arbitrarily set, but this is in order to achieve the technical idea of the present invention. is not required. However, in order to achieve this embodiment, at least the right side receiver 12 is disposed on the blade 11 via a cylinder 131, and the cylinder has an arbitrary height relative to the height of the left side receiver 12. Difference Δ
You need to have 5K so you can set l.
上記したように本発明に係るブレードの制御装置は、傾
斜針を使用することなく、ブレードの両端部洗配設した
左右の受光器をレーザ基準面に乗せることにより【ブレ
ードの傾斜角を設定するので、傾斜設定精度が高く、し
かも応答性に優れている。しかも受光器をブレード上に
設置しているので、ブレードをサークル等に対して横方
向にスライドさせて車両の片＠に寄せても、ブレード高
さを常に一定に維持することができる。As described above, the blade control device according to the present invention [sets the blade inclination angle] by placing the left and right receivers, which are installed at both ends of the blade, on the laser reference plane, without using an inclination needle. Therefore, the tilt setting accuracy is high and the responsiveness is excellent. Moreover, since the light receiver is installed on the blade, the height of the blade can always be maintained constant even if the blade is slid laterally relative to the circle or the like and brought to one side of the vehicle.
第１図は従来のブレード制御装置を示した概念図、第２
図（ａ）は本発明に係る７レーード装置を示した概念図
、８２図０）はその制御回路を示したグロック図、第３
図ｅ＞は本発明に係るブレード装置の他の実施例を示し
た概念図、第３図（ｂ）はその制御回路を示したプロ′
ツク図である。
・・・シリンダ、１４．１４’・・・センサー、１５・
・・レーザ基準面、１６・・・偏差検出回路、１７・・
・シリンダドライブ（２）路、１８・・・設定器、１９
・・・加算ＴＩ。
第１図
第２ＦｊｌＩ
（（１）
第３１図
（ａ）
（ｂ）
＋８Figure 1 is a conceptual diagram showing a conventional blade control device, Figure 2 is a conceptual diagram showing a conventional blade control device.
Figure (a) is a conceptual diagram showing a 7-rad device according to the present invention, Figure 82 (0) is a Glock diagram showing its control circuit, and Figure 3.
Figure 3(b) is a conceptual diagram showing another embodiment of the blade device according to the present invention, and Figure 3(b) is a conceptual diagram showing another embodiment of the blade device according to the present invention.
This is a diagram. ...Cylinder, 14.14'...Sensor, 15.
... Laser reference plane, 16... Deviation detection circuit, 17...
・Cylinder drive (2) path, 18... Setting device, 19
...Additional TI. Figure 1 Figure 2FjlI ((1) Figure 31 (a) (b) +8
Claims (1)
に、車両１１に受光器を設置してこの受光器が常にレー
ザ基準面に乗るようにブレードを制御する建設機械にお
けるプレー（°の制御装置において、上記受光器をブレ
ードの両端部にそれぞれ配設したことを特徴とするブレ
ードの制御装置。 （２）地上にレーザ先締による基準面を形成するととも
に、車両側に受光器を設置してこの受光器が’ＩＫレー
ザ基準面に乗るようにブレードを制御する建設機械にお
けるブレードの制御装置におい【、上記受光器をそれぞ
れ昇降用シリンダを介してブレードの両端ｓＷＣそれぞ
れ配設し、さらに上記一方のシリンダのスートローフ量
を検出する検出器と、この検出器の出力値に予め設定さ
れた値を加算する加算器とを設け、該加算器の出方値に
対応するストローク量だけ他方のシリンダを作動させる
ように構成したことを特徴とする建設機械におけるブレ
ードの制御装置。[Claims] (l) A player in a construction machine that forms a reference plane on the ground using the laser beam, and also installs a light receiver on the vehicle 11 and controls the blade so that the receiver always rides on the laser reference plane. (A blade control device characterized in that the above-mentioned light receivers are disposed at both ends of the blade.) (2) A reference surface is formed on the ground by laser tightening, and the light is received on the vehicle side. In a blade control device for a construction machine, the blade is controlled so that the receiver is placed on the IK laser reference plane. Further, a detector for detecting the sootloaf amount of one of the cylinders and an adder for adding a preset value to the output value of this detector are provided, and the stroke amount corresponding to the output value of the adder is provided. A blade control device for a construction machine, characterized in that the blade control device is configured to operate only the other cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16919981A JPS5869939A (en) | 1981-10-22 | 1981-10-22 | Controller for blade of construction machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16919981A JPS5869939A (en) | 1981-10-22 | 1981-10-22 | Controller for blade of construction machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5869939A true JPS5869939A (en) | 1983-04-26 |
| JPH0260813B2 JPH0260813B2 (en) | 1990-12-18 |
Family
ID=15882040
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP16919981A Granted JPS5869939A (en) | 1981-10-22 | 1981-10-22 | Controller for blade of construction machine |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5869939A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1264939A1 (en) * | 2001-06-06 | 2002-12-11 | Rheinmetall Landsysteme GmbH | Safety switch-off for a clearing blade |
| WO2003033827A1 (en) * | 2001-10-17 | 2003-04-24 | Meccanica Breganzese S.R.L. | Grading apparatus for road works |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3554291A (en) * | 1967-11-08 | 1971-01-12 | Baldwin Lima Hamilton Corp | Level and slope control for surfacing machines |
-
1981
- 1981-10-22 JP JP16919981A patent/JPS5869939A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3554291A (en) * | 1967-11-08 | 1971-01-12 | Baldwin Lima Hamilton Corp | Level and slope control for surfacing machines |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1264939A1 (en) * | 2001-06-06 | 2002-12-11 | Rheinmetall Landsysteme GmbH | Safety switch-off for a clearing blade |
| WO2003033827A1 (en) * | 2001-10-17 | 2003-04-24 | Meccanica Breganzese S.R.L. | Grading apparatus for road works |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0260813B2 (en) | 1990-12-18 |
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