JPS5934337A - Controller for soil pusher of bulldozer - Google Patents
Controller for soil pusher of bulldozerInfo
- Publication number
- JPS5934337A JPS5934337A JP14516382A JP14516382A JPS5934337A JP S5934337 A JPS5934337 A JP S5934337A JP 14516382 A JP14516382 A JP 14516382A JP 14516382 A JP14516382 A JP 14516382A JP S5934337 A JPS5934337 A JP S5934337A
- Authority
- JP
- Japan
- Prior art keywords
- soil
- plate
- pusher
- valve
- hydraulic cylinder
- 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
- 239000002689 soil Substances 0.000 title abstract description 14
- 238000001514 detection method Methods 0.000 claims abstract description 9
- 238000000034 method Methods 0.000 abstract description 3
- 230000003028 elevating effect Effects 0.000 abstract 1
- 230000035945 sensitivity Effects 0.000 description 4
- 238000009412 basement excavation Methods 0.000 description 3
- 230000007935 neutral effect Effects 0.000 description 2
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 1
- 235000017491 Bambusa tulda Nutrition 0.000 description 1
- 241001330002 Bambuseae Species 0.000 description 1
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 1
- 210000001015 abdomen Anatomy 0.000 description 1
- 239000011425 bamboo Substances 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000002000 scavenging effect Effects 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
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
- E02F3/845—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically using mechanical sensors to determine the blade position, e.g. inclinometers, gyroscopes, pendulums
Landscapes
- Engineering & Computer Science (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】
本発明はフルドーザに３ける排上板等の押上装置の制御
装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a control device for a device for pushing up an evacuation plate or the like in a full dozer.
ＩＬ輪式又は腹帯式の走行機体に排上板等の押上装置を
昇降自在に設けてこ旧、により削土や土の移動等を行う
ようにしたフルドーザで、例えは、地面を７＋７ｉ定の
基を面となるように削土する場合、押土装置の下端が走
行機体に対し所定の高さ位置となるように押上装置を下
降保持し、走行機体を前進するにつれて、押上装置の前
面側に土量が増加する。この増力旧こつれてブルドーザ
走行装置の地面に対するスリップ率が増加し、このスリ
ップ率が一定以上になると押上装置により土を押し削る
ことができなくなり作業能率が著しく低下する。It is a full dozer that is equipped with an IL wheel type or belly belt type traveling machine and a lifting device such as a scavenging plate that can be raised and lowered so that it can move up and down. When excavating soil so that it is a surface, lower and hold the pushing device so that the lower end of the dozing device is at a predetermined height position with respect to the traveling machine, and as the traveling machine moves forward, the The amount of soil increases. As a result of this increased force, the slip rate of the bulldozer traveling device relative to the ground increases, and when this slip rate exceeds a certain level, the pushing device cannot push the soil away, resulting in a significant drop in work efficiency.
このような場合、従来てはブルドーザに搭乗する作業者
は走行速度の低下からスリップ率を感知し、スリップ率
が大きくなれば押上装置を適宜量だけ上昇させ、押上装
置に掛る負荷を軽減させつつ作業を続けるようにしてい
るが、この作業は熟練を要すると共に作業者はスリップ
率の感知にたえず気をくはりつつ作業を行わなければな
らないから、作業者に過度の緊張を強いることになり作
業能率が悪くなるのであった。In such cases, conventionally, the operator on the bulldozer senses the slip rate from the decrease in running speed, and when the slip rate increases, raises the pushing device by an appropriate amount, reducing the load on the pushing device. We try to continue the work, but this work requires skill and the workers have to constantly worry about sensing the slip rate, which puts excessive stress on the workers and makes the work difficult. Efficiency would suffer.
この解決策として前記スリップ率を検出装置によす検１
Ｊｔ Ｌ、このスリップ率の大小に応じてＪ’１ｌｌｉ
装置を昇降するように自動制御することか考えられるか
、走行装置か腹帯式のものでは、走行駆動輪とクローラ
部との間ではスリップか起らず、クローラ部と地面との
間でスリップが起るから、車輪式の場合のように１駆動
輸の回転と実車速度の差として表イつれるスリップ率の
検出か、困難である。As a solution to this problem, test 1 uses the slip rate as a detection device.
Jt L, J'1lli depending on the size of this slip rate
Is it possible to automatically control the device to go up and down? With a traveling device or a belt-type type, slipping does not occur between the traveling drive wheels and the crawler section, but between the crawler section and the ground. Because of this, it is difficult to detect the slip rate, which is expressed as the difference between the rotation of a single drive and the actual vehicle speed, as in the case of a wheel-type vehicle.
そこで本発明では、走行機体に取伺く押土装置を昇１壮
自在に駆動する油圧シリンダを複動式に構成した場合に
押土装置に掛る負荷の増減をこの油圧シリンダの上下画
室の油圧差として検出できることに着１」シ、しかもこ
の場合押土装置と油圧シリンダとの相対位ｉ１イも変化
することに着目し、押−１作業中における押土装置の押
土基準＋ｌｌｉに対する１゜１・゛の位置変化を押土装
置と油圧シリンダとの相に＝１位置変化として検出し、
この検出信置゛を油）」−シリンダの駆動制御機構に関
連さぜ、押土装置に（封る色画の増減に応して、この増
減を打消丈方向に４１１１、−１−を装置を竹節させて
、押十装ｆｆｆｔに過負荷を掛けずに押土基準面に対し
押」装置を設定範囲内に維持制御できるようにし、）・
し）〜−サの作業能率の向１−、ヲ図れるようにしたも
のである。Therefore, in the present invention, when the hydraulic cylinder that drives the dozing device that picks up the traveling machine body is configured as a double-acting type, the increase and decrease of the load on the dozing device is controlled by the hydraulic pressure in the upper and lower compartments of this hydraulic cylinder. It is possible to detect the difference as a difference between the dosing device and the hydraulic cylinder by 1° with respect to the dosing standard +lli. A position change of 1.゛ is detected as a = 1 position change in the phase between the dozing device and the hydraulic cylinder,
In connection with the drive control mechanism of the cylinder, this detection signal is connected to the dosing device (according to the increase or decrease of the colored image to be sealed, a device 4111, -1- is installed in the length direction to cancel this increase or decrease). By using bamboo knots, it is possible to maintain and control the pushing equipment within the set range against the dossing standard surface without overloading the oshijuso ffft.)
It is designed to improve the work efficiency of (1) to (1).
次に本発明を実施例に基いて説明ｒると、図において、
（１）は左右一対の走行うローラ（２） Ｃ２）を備え
たトラックフレーム（３）に載置した走行機体を示す。Next, the present invention will be explained based on examples. In the figure,
(1) shows a running body mounted on a track frame (3) equipped with a pair of left and right running rollers (2) C2).
走行機体（１）の後部には操縦座席（４）を備え、走行
機体の前部にはエンジン（５）を備え、その動力を走行
うローラ（２） （２）の駆動スブロケツｌ−（６）
（６）に伝達する一方、油圧ポンプ（７）を駆動する。The rear part of the traveling body (1) is equipped with a control seat (4), the front part of the traveling body is equipped with an engine (5), and the driving subrocket l-(6) of the roller (2) (2) is powered by the engine (5). )
(6), while driving the hydraulic pump (7).
（８）は前記走行うローラ（２） （２）より前方にお
いて走行機体（］）に対し昇降自在に設けられた押土装
置を示し、該押土装置（８）は前記１−ラックフｌ／
−１−（３）に後端をピン（９）枢着し、機体の自ＩＪ
方に欠出させた左右一対のＣフレームａＯａｃｉと、該
両Ｃフレーム（］０ （Ｈ）の１１」端に取付く排土板
０υとからなり、ｒＪＩＪ記走行機体（１）の側面ｎ１
」方位置に枢着した左右一対の複動式油圧シリンダＱシ
リののそれぞれ−」二下に貫通して摺動自在なビス１−
ンロソド（１０３下端を排土板（１１）に枢着し、前記
油圧ポンプ（７）からの油を後述する油圧回路０４）を
介して前記油圧シリンダ０りの上室（１０又はｌｚ室ｕ
０に送油して前記押土装置（８）を昇降駆動さゼる。(8) indicates a dossing device which is provided in front of the traveling roller (2) (2) so as to be able to rise and fall freely with respect to the traveling machine (]), and the dossing device (8) is the 1-rack fl/l/
-1- (3) Pivotly connect the rear end with the pin (9), and
It consists of a pair of left and right C frames aOaci that are protruded from the side, and an earth removal plate 0υ attached to the 11'' ends of both C frames (]0 (H), and the side surface n1 of the rJIJ traveling aircraft (1).
A pair of left and right double-acting hydraulic cylinders, Q cylinders, which are pivoted in the ``2'' position, each have a screw 1 which can be freely slid through the bottom.
The lower end of the hydraulic cylinder (103 is pivotally connected to the earth removal plate (11), and the oil from the hydraulic pump (7) is transferred to the upper chamber (10 or lz chamber u) of the hydraulic cylinder 0 via a hydraulic circuit 04 (described later).
0 to drive the dozing device (8) up and down.
第２図に示す油圧回路（１４）におけるＩ！Ｊ換弁θη
は４ホー１−１３位置を有し、２ソレノイ１−コイν、
スプリングセノタ型電磁切換弁で、第１オフセット位置
（イ）ではボー１− Ｐはボー１− Ａに連通し、且つ
ボートＲはボー１− Ｂに連通し、油圧ポンプ（７）か
らの油圧を通路（Ｉ８）を介して油圧シリンダ０功の上
室０θに送り、下室ＯＱからの油は通路ａＯを芥して油
タンク（４）に戻り、ｎｉＪ記抽土板を下降させる。中
＼γ位置Ｃ口）ではＰＲ接続し、１１０記ボー１−Ａ、
Ｂは共に閉塞する。前記］二基θつへの通路０８）と下
室０６１への通路θりとはその途中に設定圧力調節自在
なアンＣｌ−１〜弁Ｑ０を接続しているのて、前記排土
板ＣＩＩ）のｎｉＪ而に負荷がｌＪイリ、油圧シリンダ
（１カ上室００の圧力がアンロード弁シ１）の設定圧カ
リ、４−になるとその分だけアンロード弁■υを介して
下室ＯＱに油が戻り、す１：土板（１１）を適宜寸法た
け上昇させる。I! in the hydraulic circuit (14) shown in FIG. J exchange valve θη
has 4 ho 1-13 positions, 2 solenoi 1-coi ν,
This is a spring senota type electromagnetic switching valve, and at the first offset position (a), bow 1-P communicates with bow 1-A, boat R communicates with bow 1-B, and hydraulic pressure from the hydraulic pump (7) is applied. The oil from the lower chamber OQ is sent to the upper chamber 0θ of the hydraulic cylinder 0 through the passage (I8), and the oil from the lower chamber OQ is returned to the oil tank (4) through the passage aO, and the niJ extraction plate is lowered. Connect PR at middle \γ position C port), 110 baud 1-A,
B are occluded together. The passage 08) to the two units θ) and the passage θ to the lower chamber 061 are connected with valves Q0 to Cl-1, which can freely adjust the set pressure, so that the earth removal plate CII ), the load is 1J, and the pressure in the upper chamber 00 of the hydraulic cylinder (unload valve 1) becomes 4-, the lower chamber OQ is increased by that amount via the unload valve υ. The oil returns to , and the soil plate (11) is raised by an appropriate amount.
第２オフセソ１−位置（ハ）ではボー１− Ａとボー！
・Ｒか連通し、ｈ（１圧シリンタＪ二室（１０の曲は油
タンク（イ）に戻り、ボー１− Ｐとボー１− Ｂか連
通し、油１王ポンプ（７）の油圧が王室に作用してＪ’
ｌ１士板（土板を上昇させる。In the 2nd offset 1-position (c), Bo 1-A and Bo!
・R is connected, h (1 pressure cylinder J 2 chamber (10th tune returns to oil tank (A), BO 1-P and BO 1-B are connected, oil pressure of oil 1 king pump (7) is Acting on the royal family J'
l1shi board (raise the earth board.
１ｊ１１記切換弁（１７）の各位置は第２図に示す検出
装置（財）及び制御機構（イ）によって制御される。即
ちブＪｌ／ドーザによる削土又は押土の基準面（ハ）に
対するワ１゜土板（１１）下端の上下高さ位置を直接検
出するのに替え、排土板０υと油圧シリンダＱ２との相
対位置を検出する検出装置（２）例えば油圧シリンダθ
のにおけるピストンロッド（１３の油圧シリンダ０功に
対する移動量を検出できる差動変圧器又はポテンショメ
ータを取付ける。この検出装置（支）による信号を変換
器（ハ）により電気信号に変える一方、予め、排土板Ｑ
ｌ）の下端か基準面一に下げた位置を設定するボテンン
ヨメータ等の設定部（ハ）に目標値＠を入力しておき、
この設定部（ハ）の出力信号と前記変換器（ハ）による
測定信号とを比軟部（ハ）で比較し、その差が一定以上
になれは乙の比軟部（ハ）の出力信号に従って電磁弁い
Ｉｔを駆動し、切換弁θηを操作するように構成する。1j11 Each position of the switching valve (17) is controlled by a detection device (product) and a control mechanism (a) shown in FIG. That is, instead of directly detecting the vertical height position of the lower end of the earth plate (11) at 1° with respect to the reference plane (c) of earth excavation or dossing by the dozer, the Detection device for detecting relative position (2) For example, hydraulic cylinder θ
Install a differential transformer or potentiometer that can detect the amount of movement of the piston rod (13) with respect to the hydraulic cylinder 0 function.The signal from this detection device (support) is converted into an electric signal by the converter (c). Earthen board Q
Input the target value @ into the setting section (c) of the button yometer, etc. that sets the lower end of l) or the position lowered to the same level as the reference surface.
The output signal of this setting part (C) and the measurement signal by the converter (C) are compared in the comparative soft part (C), and if the difference is more than a certain value, the electromagnetic It is configured to drive the valve It and operate the switching valve θη.
測定値か目標値よりも一定以北大きい即ち排土板（１１
）−Ｆ端か基準面一よりも一定量上にあれは切換弁ｕ２
を第１オフセツ１へ位置（１）に切換えて排」二板（１
１）を基準面まで下降させ、反対に測定値か目標値より
も一定以北小さりれは即ちυ１土板０υ下端が基準面（
岡より一定量以上下にあれは切換弁０７）を第２オフセ
ット位置（ハ）に切換えて排上板を基準面（至）まで−
に昇させる。基準面と略一致していれば切換。The measured value or the target value is greater than a certain value, that is, the earth removal plate (11
) - If the F end is a certain amount above the reference plane, it is the switching valve u2.
switch to the first offset 1 position (1) and remove the second plate (1).
1) is lowered to the reference plane, and conversely, if the deviation is smaller than a certain value north of the measured value or target value, that is, the lower end of the υ1 soil plate 0υ is lowered to the reference plane (
If it is more than a certain amount below the slope, switch the switching valve 07) to the second offset position (c) and move the discharge plate to the reference level (to).
raise it to Switch if it approximately matches the reference surface.
弁０７）は中立位置（ロ）にセットされる。なお、走行
機体（１）等には基準面（至）に対し走行うローラ（２
）下面が設定値以北沈下すれは作動する沈下センサ（７
）を設け、この作動により前記電磁弁（イ）を作動させ
るようにリミツ１−スイッチ０１）か入り、切換弁０７
）が第２オフセット位置（１１）になり排上板（１１）
を上昇させてこ７′１．にＩＩＩる負荷を軽減するよう
に構成している。Valve 07) is set to the neutral position (b). In addition, the traveling body (1) etc. are equipped with rollers (2) that run relative to the reference plane (towards).
) If the bottom surface sinks north beyond the set value, the sinking sensor (7
), and the limit switch 01) is turned on so that the solenoid valve (a) is operated by this operation, and the switching valve 07 is turned on.
) becomes the second offset position (11) and the drainage plate (11)
Raise lever 7'1. It is configured to reduce the load.
この構成において、まず設定部（■を調角）して排上板
（ＩＩ） ”Ｆゴク１１１か基準位置と一致するように
１」標値（イ）として設定ｊ〜、合せてアンロード弁Ｑ
υの圧力設定を行う。この状態で制御機構（ハ）を「自
動」にセソ１〜し、掴十板（１１）を下降させるとその
下’ｌ’＋＃：が基準面と略一致すると共に切換弁０７
１は中立位置（０）となる。In this configuration, first adjust the setting part (■) and set the discharge plate (II) as the target value (A) to match the reference position of "F goku 111", and also set the unload valve. Q
Set the pressure of υ. In this state, when the control mechanism (c) is set to "automatic" and the gripping plate (11) is lowered, the bottom 'l'+#: almost coincides with the reference plane and the switching valve 07
1 is the neutral position (0).
そこで押子作業を始めると、排土、板（１１） ｎｉＪ
面の十の抵抗により油圧シリンダ（１２七室１．１句の
油圧か上昇する。この油圧かアンロード弁シυの設定値
より大きくなれは曲はアンロー１〜弁（２］）を介して
王室（１（Ｃに流れ、ピストンロッドｑ］を上昇させ排
出板（１υを引き上げる。排上板（１］）か」二方に変
位し、その変位が目標値（イ）に対し、一定の偏差以上
大きくなれは、比較部（ハ）を介して電磁弁（＋７１を
作動させ切換弁０７１を第１オフセット位置（イ）に切
換へ油圧ポンプ（７）からの油を油圧シリンダ０２１の
上室Ｏ！９に送って排上板（１υを下げ方向に変位させ
る。このくり返しにより略均−な基準面通りに削土又は
整地作業が行える。When I started the pusher work, I removed the soil and the board (11) niJ
Due to the resistance of the surface, the hydraulic pressure of the hydraulic cylinder (127 chamber 1.1) rises.If this hydraulic pressure becomes larger than the setting value of the unload valve υ, the pressure is increased through the unload valve 1~valve (2). The royal family (1 (flows to C, piston rod q) is raised and the discharge plate (1υ is raised. Discharge plate (1)?) is displaced in two directions, and the displacement is a certain amount relative to the target value (A). If the deviation is larger than the deviation, operate the solenoid valve (+71) via the comparison part (c) to switch the switching valve 071 to the first offset position (a). 9 and displaces the evacuation plate (1υ) in the downward direction.By repeating this process, earth excavation or land leveling work can be carried out along a substantially uniform reference plane.
なお、アンロード弁Ｑυの設定圧力状態て押子作業を行
っているとき排土板θ１）前面への負荷が大きすぎるた
め走行うローラ（２）かスリップし、地面を削り取って
走行機体（１）が基準面（イ）に対して一定以上沈下す
れは前記沈下センサ（ト）が優先的に作動し、切換弁ｑ
ηを第２オフセット位置（ハ）に戻してＤｌ、土板θυ
を上昇させることにより、ブルドーザ（１）本体のスリ
ップ沈下と走行うローラ部の埋没を防止できる。In addition, when performing pusher work with the set pressure of the unloading valve Qυ, the load on the front of the earth removal plate θ1) is too large, causing the traveling roller (2) to slip, scraping the ground and causing the traveling machine body (1) to slip. ) sinks more than a certain level with respect to the reference surface (a), the sinking sensor (g) operates preferentially, and the switching valve q
Return η to the second offset position (c), Dl, earth plate θυ
By raising the bulldozer (1), it is possible to prevent the main body of the bulldozer (1) from slipping and sinking and the running roller section from being buried.
以」−要するに本発明では、排上板等の押上装置を走行
機体に取イ」＜複動式油圧シリンダにて昇降自在に設け
、押上装置の押土基準面に対する上ド高さ位置ン化を当
該押上装置と自口記油圧シリンタとの相対位置変化とし
て検出する検出装置と、前記押上装置を昇降動制御する
制御置溝とを押上装置に掛る負荷の増減に応じて、この
増減を打消す方向に押上装置を昇降するように関連させ
たもので、押上装置の昇降用複動式油圧シリンダの負荷
の変動と、油圧シリンダと押上装置との相対位置変化と
に相関関係があることを利用して極めて簡ｊ１１な制御
系を＋１４成することかできるので、極めて安価な制御
装置を提供できる。また従来のスリップ率を測定する場
合のような困難性がなく、押上装置の負荷及び基へ１：
、面に対する上下位置制御を確実に行え、フル１−−サ
による削土や押子作業を一段と能率向−１ニさせること
かできる。In short, in the present invention, a lifting device such as a discharge plate is mounted on the traveling machine, and a double-acting hydraulic cylinder is used to move it up and down, and the height of the lifting device is adjusted relative to the dosing reference plane. A detection device detects the change in the relative position between the push-up device and the self-registered hydraulic cylinder, and a control groove controls the lifting device to control the vertical movement of the push-up device. The device is associated with a lifting device that moves up and down in the direction of extinguishing, and there is a correlation between changes in the load on the double-acting hydraulic cylinder for lifting and lowering the lifting device and changes in the relative position between the hydraulic cylinder and the lifting device. Since it is possible to construct an extremely simple control system using this method, an extremely inexpensive control device can be provided. In addition, there is no difficulty in measuring the slip ratio in the conventional method, and the load on the push-up device and the base 1:
, it is possible to reliably control the vertical position relative to the surface, and it is possible to further improve the efficiency of earth excavation and pusher work using a full-scale machine.
なお、基準面■に対する走行うローラ（２）Ｆ而の沈下
１ｊ１の設定値の大小を変更できるように「〕１」記沈
下センザζ幻を感度可変調節自在又は沈下センサｑりの
走行機体に対する上下取イ」位置を、操縦部から遠隔操
作等で、−Ｌ下動調節自在に構成しておけは、軟弱地等
で走行機体かスリップしやすいような場合に、沈下セン
サの感度に敏感する等により作業者に排上板の上昇をよ
り早く気つかせ、走行装置の埋没を容易に防止できる。In addition, in order to change the magnitude of the set value of the settling 1j1 of the roller (2) F that runs relative to the reference surface ■, the sensitivity of the settling sensor ζ shown in ``1'' can be freely adjusted with variable sensitivity, or the sinking sensor q can be adjusted to the traveling body. If the upper and lower positions are configured to be adjustable by remote control from the control unit, the sensitivity of the subsidence sensor will be sensitive when the aircraft is likely to slip on soft ground. etc., the operator can be made aware of the rising of the discharge plate more quickly, and the traveling device can be easily prevented from being buried.
また前記の構成のような感度可変又は上下位置可変調節
できる沈下センサ■を制御機構（イ）における目標値設
定部体♀又は比較部（４）に関連させておけば（第２図
一点鎖線参照）、地面の軟硬等土質に応じて基準面の設
定が容易となる効果を有する。In addition, if a subsidence sensor ♀ with variable sensitivity or variably adjustable vertical position as described above is associated with the target value setting unit ♀ or the comparison unit (4) in the control mechanism (A) (see the dashed line in Figure 2). ), it has the effect of making it easy to set the reference plane depending on the soil quality, such as soft or hard ground.
図面は本発明の実施例を示し、第１図はブルドーザの側
面図、第２図は制御装置の概略系統図である。
（１）・・・走行機体、（２）・・・走行うローラ、（
Ｉ［）・・Ｃフレーム、θυ・・・排上板、（８）・・
・押上装置、（７）・・・油圧ポンプ、（１２１・・・
複動式油圧シリンダ、曽・・・ピストンロッド、（１４
）・・・油圧回路、θカ・・・切換弁、（２）・・・検
出装置、Ｃυ・・アンロード弁、（イ）・・・制御機構
、（ハ）・・・比軟部、ｉ２！）・・・電磁弁、（７）
・・・沈下センサ。The drawings show an embodiment of the present invention, and FIG. 1 is a side view of a bulldozer, and FIG. 2 is a schematic system diagram of a control device. (1)...Travelling body, (2)...Running roller, (
I [)... C frame, θυ... Exhaust plate, (8)...
・Pushing device, (7)...Hydraulic pump, (121...
Double-acting hydraulic cylinder, so...piston rod, (14
)...Hydraulic circuit, θ...Switching valve, (2)...Detection device, Cυ...Unload valve, (A)...Control mechanism, (C)...Specific soft part, i2 ! )...Solenoid valve, (7)
...Subsidence sensor.
Claims (1)
油圧シリンタにて昇降自在に設け、押上装置の押土基準
面に対する上下高さ位置変化を当該押土装置と前記１１
１１圧シリンタとの相対位置変化として検出する検出装
置と、前記押土装置を昇降動側脚する制御機構とを、押
上装置に掛る負荷の増減に応じて、この増減を打消す方
向に押上装置を昇降するように関連さぜたことを特徴と
するフルドーザにおける押上装置の制御装置。(1) A dosing device such as an ejecting plate is installed so that it can be raised and lowered by a double-acting hydraulic cylinder attached to the traveling machine, and changes in the vertical height of the dosing device with respect to the dosing reference plane are controlled by the dosing device and the dosing device. 11
A detection device that detects a change in relative position with respect to the 11-pressure cylinder, and a control mechanism that moves the dozing device up and down, in response to an increase or decrease in the load applied to the push-up device, in a direction that cancels out this increase or decrease in the load applied to the push-up device. A control device for a lifting device in a full dozer, characterized in that it is connected to lift and lower.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14516382A JPS5934337A (en) | 1982-08-20 | 1982-08-20 | Controller for soil pusher of bulldozer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14516382A JPS5934337A (en) | 1982-08-20 | 1982-08-20 | Controller for soil pusher of bulldozer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5934337A true JPS5934337A (en) | 1984-02-24 |
| JPH0370051B2 JPH0370051B2 (en) | 1991-11-06 |
Family
ID=15378881
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP14516382A Granted JPS5934337A (en) | 1982-08-20 | 1982-08-20 | Controller for soil pusher of bulldozer |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5934337A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2000058565A1 (en) * | 1999-03-31 | 2000-10-05 | Caterpillar Inc. | Variable float system |
| JP2016118088A (en) * | 2014-12-19 | 2016-06-30 | アクアント株式会社 | Dredging inlet structure |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS491081A (en) * | 1972-04-19 | 1974-01-08 | ||
| JPS5265902A (en) * | 1975-11-28 | 1977-05-31 | Kubota Ltd | Bulldozer |
| JPS52137102A (en) * | 1976-05-11 | 1977-11-16 | Komatsu Mfg Co Ltd | Earth removing plate device in construction machine |
-
1982
- 1982-08-20 JP JP14516382A patent/JPS5934337A/en active Granted
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS491081A (en) * | 1972-04-19 | 1974-01-08 | ||
| JPS5265902A (en) * | 1975-11-28 | 1977-05-31 | Kubota Ltd | Bulldozer |
| JPS52137102A (en) * | 1976-05-11 | 1977-11-16 | Komatsu Mfg Co Ltd | Earth removing plate device in construction machine |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2000058565A1 (en) * | 1999-03-31 | 2000-10-05 | Caterpillar Inc. | Variable float system |
| JP2016118088A (en) * | 2014-12-19 | 2016-06-30 | アクアント株式会社 | Dredging inlet structure |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0370051B2 (en) | 1991-11-06 |
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