JPS6317978B2 - - Google Patents

Description

[Detailed description of the invention]

The present invention relates to a road surface finish angle display method and apparatus for an articulated motor grader. Figures 1 and 2 show an outline of the structure of an articulated motor grader.
is a blade, 2 is a circle, 3 is a drawbar, 4 is a pair of left and right blade lift cylinders, 5 is a circle center shift cylinder, 6 is a rotation axis for bending the vehicle body relative to the traveling vehicle body 8 at the rear end of the boom 7, 9 is the drawbar 3 and the front wheel It is a rotating shaft connected to the section 10. The circle 2 is driven and rotated by the rotation mechanism, and as the circle 2 rotates, the blade 1 also rotates and tilts with respect to the direction in which the vehicle travels. Furthermore, by expanding and contracting the blade lift cylinder 4, the drawbar 3 moves up and down, and the blade 1 moves up and down. Therefore, by operating one of the pair of lift cylinders 4, As a result, the blade 1 is inclined with respect to a horizontal plane. Further, the front portion of the vehicle body is bent around the rotation axis 6. Furthermore, by expanding and contracting the circle center lift cylinder 5, the drawbar 3 is rotated laterally, the circle 2 is fed laterally, and the blade 1 is moved laterally about the rotating shaft 9. When performing ground leveling work using an articulated motor grader equipped with the above-mentioned mechanism, the operator is required to have highly skilled and highly skilled skills. In other words, the driver needs to accurately grasp the condition of the roadbed and the inclination of the blade with respect to the direction of vehicle travel from the driver's seat located in a high position, but as will be explained later, the blade propulsion angle changes depending on the vehicle condition. This is because it affects the finished slope of the road surface. Figure 3 shows the case where the circle 2 is rotated as described above to give the blade 1 a blade propulsion angle in the direction of vehicle travel, and when the road surface is to be sloped, the blade lift cylinder is used as described above. It operates to tilt the blade 1 with respect to the horizontal plane. Figure 7 shows the relationship between the inclination angle of the blade and the finished angle of the road surface R, where △ADB is the road that includes the lower edge of the blade - end A, and the vehicle traveling direction X, that is, the longitudinal direction of the road. In the cross section cut along perpendicular vertical planes, C and E indicate the intersections of the other side edge of the blade 1 or its extension with the horizontal plane H and the road surface R, respectively, and C and E indicate the vehicle traveling direction X.
and the inclination angle of blade 1 < EAC,
and the finished angle of the road surface R<DAB are represented by a and c, respectively. In the figure However, cos(π/2-b)=sin b

[Formula] becomes. ∴AB＝sin b……(1) Also

【formula】 But = ∴＝・tan a……(2) Also

[Formula] Substitute equations (1) and (2) to From formula (3), the inclination angle a of blade 1 and the road surface finish angle c
It can be seen that, unlike the above, it is affected by the propulsion angle b of the blade 1. FIG. 4 shows the change in the propulsion angle of the blade 1 when the front part of the car body is articulated around the rotation axis 6. When the front part of the car body is rotated by the articulation operating angle d, the blade 1 The state is the same as if it were rotated by an angle d with respect to the vehicle traveling direction. Furthermore, Fig. 5 shows the change in the propulsion angle of the blade 1 as the circle 2 moves sideways, and as the circle rotation angle e increases, the blade 1 also rotates by an angle e relative to the vehicle traveling direction. state. Figure 6 shows the complex changes in the blade inclination angle that occur during actual land leveling work, and f
indicates the rotation angle of circle 2. As described above, in the articulation type motor grader, the blade propulsion angle changes depending on the vehicle condition, and the inclination angle a of the blade 1 with respect to the horizontal plane H is different from the road surface finish angle c, so accurate finishing is required. The drawback was that it was difficult to implement and had to rely on the experience and intuition of experienced drivers. The present invention has been proposed to eliminate such defects, detect and display changes in the propulsion angle of the blade depending on the vehicle condition, and make it possible to obtain finishing accuracy in easy and accurate ground leveling work. The above angles are detected by the blade inclination angle a sensor, the articulation operating angle d sensor, the circle traverse feed angle e sensor, and the circle rotation angle f sensor, and the following formula tan C≒sin a/cos (d+e+f) This relates to a road surface finish angle display method for an articulation type motor grader, which is characterized in that the road surface finish angle c is calculated and displayed. Furthermore, the present invention has been proposed for the purpose of providing a road surface finish angle display device for an articulation type motor grader in order to smoothly carry out the above-mentioned method. Alternatively, a blade inclination angle sensor provided on the drawbar, an articulate operating angle sensor provided on the vehicle body bending rotation shaft, a circle lateral feed angle sensor provided on the rotation shaft connecting the drawbar and the front wheel, and a blade tilt angle sensor provided on the circle. The present invention is characterized by comprising an angle detecting section comprising a circle rotation angle sensor, and a display section displaying a road surface finish angle based on each angle detected by the detecting section. The present invention will be described below with reference to the illustrated embodiments. 6 and 7 show a composite of the displacements of the blade 1 shown in FIGS. 3 and 4 and FIG. 5, where a is the inclination angle of the blade 1 with respect to the horizontal plane, as mentioned above, b is the propulsion angle of the blade 1, c is the road surface finish angle, d is the articulate operating angle, e is the circle traverse feed angle, f is the circle rotation angle,
b=π/2−(d+e+f). From equation (3) above, tan c=tan a/sin b However, b=π/2-(d+e+f) ∴tan c=tan a/cos (d+e+f)...(4) At the normally used inclination angle, a Since is sufficiently small, tan a≒sin a Therefore, equation (4) can be approximately expressed by equation (5) below. tan c≒sin a/cos (d+e+f) (5) Therefore, it can be seen that the road surface finish angle c can be obtained by detecting and calculating each of the angles a, d, e, and f. In the illustrated embodiment, a tilt angle sensor 11 for detecting the sine sin a of the tilt angle of the blade 1 is installed on a circle 2 or a drawbar 3 that tilts integrally with the blade 1, and detects the articulation operating angle d of the vehicle body. An articulate operating angle sensor 12 is installed on the vehicle body bending shaft 6, and a circle traverse angle sensor 13 for detecting the circle traverse angle e is installed on the connecting rotation shaft 9 between the drawbar 3 and the front wheel section 10.
Furthermore, a circle rotation angle sensor 14 for detecting the articulation rotation angle f is installed near the center of the circle 2. Then, in the angle detecting section consisting of the sensors 11 to 14, the sine of the blade inclination angle, the articulate operating angle d, the circle traverse feed angle e, and the circle rotation angle f detected by the sensors 11 to 14 are calculated. The detection input signal enters the converter 15 as shown in the circuit diagram of FIG. The finishing angle c is displayed. Note that by passing the signal from the microcomputer 16 through the digital-to-analog converter 18, it can be displayed in analog form on the analog panel meter 19. As described above, according to the present invention, the blade inclination angle sensor, the articulate operating angle sensor, the circle traverse feed angle sensor, and the circle rotation angle sensor are installed in an articulate type motor grader, and the blade is controlled by each of the sensors. Detect the inclination angle a, articulate operating angle d, circle traverse feed angle e, and circle rotation angle f, and calculate and display them using equation (4) above: tan c≒sin a/cos (d+e+f). The system can automatically detect the blade inclination angle corresponding to the vehicle condition and display the road surface finish angle c, so even non-experts can
This allows for easy and highly accurate ground leveling work. FIG. 9 shows another method of the present invention, in which the detection signal from the inclination angle sensor 21 is input to the divider 27, and the articulating operating angle sensor 2
2. The inputs from the circle lateral feed angle sensor 23 and the circle rotation angle sensor 24 are input to the divider 27 through the adder 25 and the function generator 26, and are calculated.
It passes through an analog-to-digital converter 28 and is displayed on a digital display 29. Note that it is also possible to extract the output signal during the process and display it in analog on the analog panel meter 30. Although the present invention has been described above with reference to embodiments, the present invention is, of course, not limited to such embodiments, and can be modified in various ways without departing from the spirit of the present invention. .

[Brief explanation of the drawing]

Figures 1 and 2 are a side view and a plan view, respectively, schematically showing an articulate type motor grader;
Figure 3 is an explanatory diagram showing the rotating state of the blade, Figure 4
The figure is an explanatory diagram showing the articulated state,
Figure 5 is an explanatory diagram showing the state of circle cross-feeding, Figure 6
Figure 7 is an explanatory diagram showing the composite displacement of the blade that occurs during actual land leveling work; Figure 7 is an explanatory diagram showing the relationship between the blade inclination angle and the road surface finish angle;
The figure shows a circuit diagram when a microcomputer is used to display the road surface finish angle, and FIG. 9 is another circuit diagram for displaying the road surface finish angle. DESCRIPTION OF SYMBOLS 1...Blade, 2...Circle, 3...Drawbar, 6...Vehicle body bending rotation axis, 9...Connection rotation axis between drawbar and front wheel portion, 11, 21...Inclination angle sensor, 12, 22... Articulate operating angle sensor, 13, 23...Circle lateral feed angle sensor, 14, 24...Circle rotation angle sensor, 16
...Microcomputer, 17...Digital display, 19...Analog panel meter, 25...
... Adder, 26 ... Function generator, 27 ... Divider, 29 ... Digital display, 30 ... Analog panel meter.

Claims (1)

[Claims] 1. Each angle is detected by a blade inclination angle a sensor, an articulation operating angle d sensor, a circle traverse feed angle e sensor, and a circle rotation angle f sensor, and the following equation tan c ≒sin a/cos (d+e+f) A road surface finish angle display method for an articulation type motor grader is characterized in that the road surface finish angle c is calculated and displayed. 2. A blade inclination angle sensor provided on a circle or drawbar that is integrally inclined with the blade, an articulation operating angle sensor provided on the vehicle body bending rotation axis, and a circle lateral provided on the rotation axis connecting the drawbar and the front wheel. An artefact system comprising: an angle detection section including a feed angle sensor and a circle rotation angle sensor provided in the circle; and a display section that displays a road surface finish angle based on each angle detected by the detection section. Road surface finish angle display device for rate type motor graders.