JPH0772411B2 - Cutting depth control device for road surface cutter - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION "Industrial application field" The present invention relates to a cutting depth control of a road surface cutter device applied to a road cutting mixer or the like used when a paved road surface is repaired by a road surface reproduction method. It relates to the device.

"Conventional technology" Conventionally, when repairing an existing asphalt pavement road surface by the road surface layer reconstruction method, a road cutting mixer is used, but this road cutting mixer cuts the pavement surface and scrapes it. Cutter device (rotary scalifier)
And a hopper device that receives a new mixture fed from a dump truck and the like, a feeder device that conveys a predetermined amount of the scraped and loosened material scraped by the cutter device and the new mixture in the hopper device, and this feeder device. The mixer device that mixes the scraped material that has been conveyed by the mixer with the new compound material, and the compound material that is mixed by the mixer device and that is sent evenly onto the road surface while being transferred in the width direction of the road surface by the rotating screw. The self-propelled vehicle is equipped with a device and a leveling device that spreads and solidifies the mixed material sprinkled on the road surface.

[Problems to be Solved by the Invention] By the way, the road surface cutter device applied to the above-mentioned road cutting mixer is a cutter rotor in which a large number of bits are fixed to the peripheral surface of a cylindrical drum, and the cutter rotor is rotatable. It is composed of a cutter frame that is supported on the vehicle frame and is vertically movable, and a hydraulic cylinder that raises and lowers the cutter frame.By rotating the cutter rotor and raising and lowering the cutter frame, cutting by the cutter rotor is performed. The depth can be adjusted freely. The cutter frame is provided with a contact type distance detector including a swingable arm whose tip contacts the road surface and a sensor for detecting the swing angle of the arm. By operating the hydraulic cylinder based on the detection signal corresponding to the distance to the road surface output from the distance detector, the cutting depth of the paved road surface is always kept constant. However, since the distance detector that detects the distance to the road surface is a contact type, compound material adheres to the tip of the arm that contacts the road surface and grows, which causes an error in the detection signal and the cutting depth. There was a problem that there was an error in. Also, since the cutter rotor was controlled to be raised and lowered so as to always maintain the cutting depth initially set, there is a problem that skill and time are required when setting the first cutting depth. Furthermore, when avoiding obstacles, it is necessary to temporarily put the contact-type distance detector into a non-operating state and manually lift the cutter rotor, resulting in poor operability and a great amount of labor. There was also a problem.

The present invention has been made in view of the above-mentioned circumstances, and the cutting depth can be easily set in a short time, an error does not occur in the cutting depth, and an obstacle can be avoided. An object of the present invention is to provide a cutting depth control device for an easy road surface cutter device.

"Means for Solving the Problem" The present invention relates to a cutter rotor that is rotationally driven to cut a paved road surface, a cutter frame that rotatably supports the cutter rotor, and is supported by a vehicle so as to be lifted and lowered, and the cutter frame. A driving means for moving up and down with respect to the vehicle, a distance detecting means attached to the cutter frame for detecting a distance to a road surface in a non-contact manner, and a distance detecting means obtained when the cutter rotor comes into contact with the road surface. Storage means for storing the detection result as a zero setting value, depth setting means for setting a desired cutting depth, and subtracting the zero setting value stored in the storage means from the detection result of the distance detecting means. A control hand that calculates the actual cutting depth and controls the operation of the driving means so that the calculated cutting depth becomes the value set by the depth setting means. And a step.

[Operation] According to the above-described configuration, the distance to the road surface is detected in a non-contact manner, and therefore, unlike the conventional case, an admixture or the like is not attached to the tip of the arm to cause an error in the cutting depth. Further, the zero setting value stored in the storage means is subtracted from the detection result of the distance detecting means to calculate the actual cutting depth, and the actual cutting depth is calculated as the value set by the depth setting means. As described above, since the operation of the driving means is controlled, when setting the cutting depth, it is only necessary to operate the depth setting means to set the desired cutting depth. Further, if an avoidance switch that is operated when avoiding an obstacle is provided and the cutter frame is pulled up by the driving means while the avoidance switch is being operated, the obstacle can be easily avoided. You can

[Embodiment] An embodiment of the present invention will be described below with reference to the drawings.

First, the configuration of a road cutting mixer to which the cutting depth control device of the road surface cutter device according to the present embodiment is applied will be described with reference to FIG. In FIG. 4, 1 is a preceding self-propelled vehicle, 2 is a succeeding self-propelled vehicle, and these two self-propelled vehicles 1 and 2 are as shown in the same figure at the time of paving road surface repair work. When they are arranged in the vertical direction and travel at a low speed in the direction of arrow F (forward) with a constant distance between them, or when they are unloaded from a transport trailer or the like and headed to the work site,
At the time of forwarding, such as when returning from the work site to the transport trailer, each of them travels independently.

A hopper device 3 for receiving a new mixture fed by a dump truck or the like is provided in the front part of the preceding self-propelled vehicle 1. The hopper device 3 is mounted on the left and right so as to open and close upward. It is composed of a pair of wings 4, 4 and a hydraulic drive mechanism for adjusting the opening and closing angles of the wings 4, 4.

A feeder device 5 that extends obliquely rearward and upward from below the hopper device 3 is provided in the center of the vehicle 1 in the width direction. With this feeder device 5, the new mixture material fed into the hopper device 3 is rearward. To be transported to.

A pair of left and right front wheels 6, 6 are attached to a vehicle frame below the hopper device 3 so as to be rotatable and rotatable in a horizontal plane. These front wheels 6, 6 are provided in a driver's seat. The direction is changed by the hydraulic drive mechanism that operates according to the rotation operation of the handle 7, and the traveling direction is changed accordingly.

A heating device 8 that preheats an existing asphalt pavement road surface is movably supported on the vehicle frame behind the front wheels 6 and 6, and the heating device 8 is movably supported. 8 is moved up and down by a hydraulic cylinder 9.

A road surface cutter device 10 for cutting and scraping the asphalt pavement road surface preheated by the heating device 8 is provided on the vehicle frame behind the heating device 8. As shown in FIG. 2 and FIG. 3, the road surface cutter device 10 includes a cutter rotor 11 in which a large number of bits are fixed to the peripheral surface of a cylindrical rotary drum, and a cutter frame rotatably supporting the cutter rotor 11. 12 and the cutter rotor 11
Is driven to rotate by a motor (not shown) directly connected to the rotary shaft, and the cutter frame 12
Is supported by a vehicle frame so as to be able to move up and down via sliders 13a to 13d and slider guides 15a to 15d. Then, the cutter frame 12 is moved up and down by the left and right hydraulic cylinders 16L and 16R, whereby the cutting depth can be adjusted. Distance sensors 17L and 17R that detect the distance to the road surface in a non-contact manner are attached to the left and right ends of the cutter frame 12, respectively. These distance sensors 17L and 17R measure the distance to the road surface based on the ultrasonic wave propagation time from when the ultrasonic wave of a specific frequency is emitted downward to when it is reflected on the road surface and returned. Output distance data respectively.

Referring again to FIG. 4, a pair of left and right drive wheels 14, 14 are rotatably provided on the vehicle frame behind the road surface cutter device 10. These drive wheels 14, 14 are hydraulic motors (not shown). And is driven to rotate by a rear wheel drive mechanism.

Further, at the rear part of the self-propelled vehicle 1, a transfer feeder device 18 for delivering the new mixture material conveyed by the feeder device 5 to the succeeding self-propelled vehicle 2 is provided. This transfer feeder device 18 is capable of adjusting the height of the discharge portion 18a at the rear end by a hydraulic cylinder 19, and the discharge portion 18a of the transfer feeder device 18 follows when paving the road surface. It is located above the entry chute 20 of the self-propelled vehicle.

On the other hand, at the front end of the following self-propelled vehicle 2, the scraping and disassembling material 21 scraped by the road surface cutter device 10 of the preceding self-propelling vehicle 1 is pushed away to the side of the road surface and the scooping and disassembling material is scooped. A pick-up feeder 22 for raising is provided.

The scraped and loosened material scooped up by the pickup feeder 22 is conveyed obliquely upward and rearward in the casing 23 and is discharged from an opening formed at the rear end of the casing 23.

Behind the pick-up feeder 22, a weighing feeder device 24 is provided for transporting the scraping and loosening material discharged from the opening of the casing 23 obliquely rearward and upward, and weighing the scraping and loosening material being transported. There is. Above the weighing feeder device 24, there is provided a weighing feeder device 26 that conveys the new mixture discharged from the transfer feeder device 18 obliquely upward and rearward and measures the weight of the new mixture being conveyed. Has been.

Then, the scraped and loosened material and the new mixture material respectively conveyed by the weighing feeder devices 24 and 26 are put into a mixer device 28 provided behind the respective weighing feeder devices 24 and 26. This mixer device 28 is formed by radially projecting a plurality of paddles on two rotary shafts provided in a casing and extending in the vehicle front-rear direction, and these two rotary shafts are rotationally driven to make a closing chute. Mix the scraped loosening material and the new mixture that were put in 29 by paddle, then
The mixed material is discharged from a discharge port formed in the rear portion of the casing.

Behind the mixer device 28, there is provided a compound material sprinkling device 30 for sending the mixed material discharged from the left and right discharge ports of the casing of the mixer device 28 to the road surface. The compound material sprinkling device 30 is composed of a pair of left and right screws extending in the width direction of the vehicle and supported by a body frame so as to be able to move up and down, and a drive mechanism that rotationally drives these screws, and these screws are rotationally driven. By,
The mixed material discharged from the mixer device 28 is evenly sent to the road surface while being transferred in the width direction of the vehicle. Behind the mixture spreading device 30, there is provided a spreading and leveling device 31 for spreading and hardening the mixed material scattered on the road surface.

A pair of left and right driving vehicles 34, 34 are rotatably provided on the vehicle frame in front of the spreading device 30, and these driving wheels 34, 34 are driven by a hydraulic motor and a rear wheel driving mechanism (not shown). It is designed to be rotationally driven, and further, a pair of left and right front wheels 36, 36 are rotatably and rotatably mounted in a horizontal plane on the vehicle frame behind the pickup feeder 22, respectively. The directions of the front wheels 36, 36 are changed by a hydraulic drive mechanism that operates in response to a rotating operation of a steering wheel 37 provided in the driver's seat.

Next, the configuration of the cutting depth control device of the road surface cutter device 10 according to the embodiment of the present invention will be described with reference to FIG. In FIG. 1, reference numeral 45 is a hydraulic pump driven by a diesel engine mounted on the preceding self-propelled vehicle 1 and sucks the hydraulic oil stored in the hydraulic oil tank 46 through a suction pipe 47. Then, the hydraulic oil discharged from the hydraulic pump 45 is relieved by the pressure pipe 48 to the relief valve 49, the left and right solenoid valves 50L and 50R,
Guided to the unload valve 51. The relief valve 49 is
It keeps the hydraulic oil pressure discharged from the hydraulic pump 45 constant, and when the hydraulic oil pressure exceeds a predetermined pressure, the hydraulic oil discharged from the hydraulic pump 45 is transferred to the hydraulic oil tank 46 via the return pipe 52. Return to. The left solenoid valve 50L supplies hydraulic fluid supplied via the pressure pipe 48 to the left hydraulic cylinder 16L.
It selectively guides to the rod side or the head side. That is, the solenoid 50L of the left solenoid valve 50L
When a is excited, the hydraulic oil is guided to the rod side of the left hydraulic cylinder 16L via the pipe 54L, which pulls the cylinder rod 16La upward, and the discharge from the head side of the left hydraulic cylinder 16L. The selected hydraulic oil is returned to the left solenoid valve 50L via the pipe 55L, and further returned to the hydraulic oil tank 46 via the return pipe 56. On the contrary, when the solenoid 50Lb is excited, the hydraulic oil is guided to the head side of the left hydraulic cylinder 16L via the pipe 55L, which pushes the cylinder rod 16La downward, and accordingly the rod of the left hydraulic cylinder 16L. The hydraulic oil discharged from the side is returned to the left solenoid valve 50L via the pipe 54L and further returned to the hydraulic oil tank 46 via the return pipe 56. Similarly, the right solenoid valve 50R selectively guides the hydraulic oil supplied through the pressure pipe 48 to the rod side or the head side of the hydraulic cylinder 16R, and the solenoid 50Ra of the right solenoid valve 50R is excited. In this case, hydraulic oil is guided to the rod side of the right hydraulic cylinder 16R via pipe 54R,
When the cylinder rod 16Ra is pulled up and, on the contrary, the solenoid 50Rb is excited, the working oil is guided to the head side of the right hydraulic cylinder 16R via the pipe 55R, and the cylinder rod 16Ra is pushed down.

The unload valve 51, in the illustrated state, returns the hydraulic oil in the pressure pipe 48 to the hydraulic oil tank 46, and when any one of the solenoids 50La, 50Lb, 50Ra, 50Rb is excited, The solenoid 51a is energized in conjunction with this, and the total amount of hydraulic oil in the pressure pipe 48 is reduced by each solenoid valve.
Guided to 50L and 50R.

The operations of the solenoid valves 50L and 50R are controlled by the left and right controllers 60L and 60R, respectively. The left controller 60L has a CPU (central processing unit) that performs various calculations and a CP
ROM (read-only memory) that stores the programs used in U, RAN (random access memory) 61L that stores various data and the zero setting value described later, and I / O (input / output) that exchanges various data It is mainly composed of a microcomputer consisting of an interface and the left solenoid valve 50L according to CPU instructions.
A valve drive circuit for supplying a drive signal to each of the solenoids 50La and 50Lb is provided. Right controller 60
R is the same as the left controller 60L, CPU, ROM, RAM61R
And a I / O interface, and a valve drive circuit that supplies a drive signal to each solenoid 50Ra, 50Rb of the right solenoid valve 50R according to instructions from the CPU. ing.

These left and right controllers 60L and 61R have a distance sensor 17
Distance measurement data is respectively supplied from L and 17R, depth set value D ₀ is respectively supplied from depth setters 63L and 63R configured by digital switches, etc.
On / off signals are respectively supplied from the 62L and 62R, the automatic depth control start switches 64L and 64R, and the avoidance switches 65L and 65R.

The operation of the cutting depth control device of the road surface cutter device 10 configured as described above will be described with reference to the flowchart shown in FIG.

Here, each hydraulic cylinder 16L, 16R, each solenoid valve 50
The operation of each part such as L, 50R and each controller 60L, 60R is the same for the left side and the right side, so only the operation of each left side will be described.

When the road surface reclaiming method using the road cutting mixer is performed, the self-propelled vehicles 1 and 2 are driven and various devices mounted on them are operated. In this case, in the preceding self-propelled vehicle 1, first, a start button (not shown) is pressed to start the rotation of the cutter rotor 11 (step SP10).
1) The CPU in the controller 60L excites the solenoid 50Lb of the solenoid valve 50L and pushes down the cylinder rod 16La of the hydraulic cylinder 16L, which causes the cutter rotor 11, the cutter frame 12, and the cutters including the distance sensors 17L and 17R. Lower the entire unit (step SP10
2). Next, when the operator visually confirms that the cutter rotor 11 has come into contact with the road surface (SP103), the solenoid 50Lb of the solenoid valve 50L is demagnetized, and the descent of the cutter unit is temporarily stopped (SP104). Then, the distance measurement data corresponding to the distance to the road surface output from the distance sensor 17L is set as the zero set value Z on the left controller.
It is stored in 60L RAM 61L (SP105). Then, in the next step SP106, the depth setting value D ₀
Is set, and this value D ₀ is stored in the RAM 61L. In the next step SP107, the operator starts the automatic depth control start switch 64L.
Turning on turns on automatic control by the left controller 60L. First, in step SP201,
The zero setting value Z stored in the RAM 61L is loaded into the CPU in the controller 60L. Next, in step SP202, the depth setting value D ₀ is also similarly fetched. And
In step SP203, it is determined whether or not to execute the automatic depth control. If the automatic depth control start switch 64L is turned on, the process proceeds to step SP204. In step SP204, the controller 60L subtracts the distance measurement data output from the distance sensor 17L from the zero setting value Z stored in the RAM 61L to calculate the actual cutting depth D by the cutter rotor 11 at the present time. . And the next step SP
In 205, the actual cutting depth D calculated in step SP8 is compared with the depth setting value D _0, and the left controller 60L to the solenoids 50La, 50L of the solenoid valves 50L, so that their difference becomes zero. An on / off control signal is supplied to 50Lb, the solenoid valve 50L is switched, and the cylinder rod 16La of the hydraulic cylinder 16L expands and contracts. As a result, the cutter rotor 11 is controlled so that the cutting depth by the cutter rotor 11 always becomes the set value set in the depth setter 63L, and the cutting surface A along the planned cutting line A shown in FIG. Is cut.

If you want to avoid obstacles on the road surface, use the avoidance switch.
Turn on 65L. Then, the cutter rotor 11 is pulled upward while the avoidance switch 65L is turned on, and then the avoidance switch is turned off when the obstacle is avoided.
By turning off 65L, the cutter rotor 11 is pushed down to the original cutting depth. In this way, the obstacle can be avoided only by operating the avoidance switch 65L, and the depth setting value D ₀ and the zero setting value Z are stored even when returning, so there is no need to reset again. It can be done with one switch operation.

Incidentally, in the above-described embodiment, the distance sensors 17L, 17
Although R is composed of an ultrasonic sensor, it may be composed of an optical sensor. Further, when the cutter rotor 11 comes into contact with the road surface, an operator turns on the zero setting switch 62L to take in the zero setting value Z. However, the zero setting switch 62L is replaced with a variable resistor or the like, The analog signal output from this variable resistor is
The zero set value Z may be automatically input directly without being manually operated by the operator by inputting it to the controller 60L via the D converter. Further, although the depth setter 63L is constituted by a digital switch, it may be replaced by a variable resistor or the like.

[Advantages of the Invention] As described above, according to the present invention, the distance to the road surface is detected in a non-contact manner. An error does not occur, and the zero cutting value stored in the storage means is subtracted from the detection result of the distance detection means to calculate the actual cutting depth, and this actual cutting depth is set to the depth setting. Since the operation of the drive means is controlled so that the value is set by the means, when setting the cutting depth, it is sufficient to operate the depth setting means to set the desired cutting depth. The effect that the depth can be easily set in a short time is obtained. Further, if an avoidance switch that is operated when avoiding an obstacle is provided and the drive means pulls up the cutter frame upward while the avoidance switch is being operated, avoidance of the obstacle is facilitated. The effect that can be obtained is also obtained.

[Brief description of drawings]

FIG. 1 is a block diagram showing the configuration of a cutting depth control device for a road surface cutter device according to an embodiment of the present invention, FIG. 2 is a front view showing the mechanical configuration of the road surface cutter device according to the embodiment, and FIG. Is a side view showing the mechanical structure of the road surface cutter device according to the embodiment, FIG. 4 is a side view showing the structure of a road cutting mixer to which the road surface cutter device according to the embodiment is applied, and FIG. 6 is a flowchart for explaining the operation of the road surface cutter device according to the above. 11 …… Cutter rotor, 12 …… Cutter frame, 16L, 16R …… Hydraulic cylinder (drive means), 17L, 17R …… Distance sensor (distance detection means), 60L, 60R …… Controller (control means), 61L, 61R ...... RAM (memory means), 63L, 63R …… Depth setting device (depth setting means), 65L, 65R …… Avoidance switch.

Front Page Continuation (72) Inventor Tomohiro Gomachi 1-19-11 Kyobashi, Chuo-ku, Tokyo Within Japan Tamaido Co., Ltd. (72) Inventor Ichiro Miyazaki 1-1-19-11 Kyobashi, Chuo-ku, Tokyo Japan Tamaido Co., Ltd. (56) References Actual Development Sho 58-172507 (JP, U) Actual Public Sho 63-1206 (JP, Y2)

Claims (2)

[Claims] 1. A cutter rotor which is rotationally driven to cut a paved road surface, a cutter frame which rotatably supports the cutter rotor and is movably supported by a vehicle, and a drive which vertically moves the cutter frame with respect to the vehicle. Means and
Distance detecting means attached to the cutter frame for detecting a distance to a road surface in a non-contact manner, and storage means for storing a detection result of the distance detecting means obtained when the cutter rotor comes into contact with the road surface as a zero setting value. The actual cutting depth is calculated by subtracting the zero setting value stored in the storage means from the depth setting means for setting a desired cutting depth and the detection result of the distance detecting means, and calculating this. A cutting depth control device for a road surface cutter device, comprising: control means for controlling the operation of the driving means so that the cutting depth becomes a value set by the depth setting means. 2. An avoidance switch that is operated when avoiding an obstacle is provided, and the control means pulls up the cutter frame by the driving means while the avoidance switch is being operated. The cutting depth control device of the road surface cutter device according to claim 1.