Blade control device for work machine
a control device and work machine technology, applied in mechanical machines/dredgers, soil shifting machines/dredgers, construction, etc., can solve the problems of increased blade load, increased raising and lowering of blade operation, and generated etc., to achieve the effect of suppressing waviness of execution surfa
Pending Publication Date: 2021-08-19
KOBE STEEL LTD +1
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Problems solved by technology
Although there is proposed a method of automatically controlling raising and lowering operation of a blade such that a blade load applied to the blade becomes substantially constant in such a work machine, the method has a problem of waviness of an execution surface generated due to raising and lowering operation of a blade.
However, since in such a blade control device recited in Patent Literature 1 as described above, in a case, for example, where a present surface (the ground) has an up-grade or a down-grade with respect to a horizontal design surface and a work machine conducts digging work while ascending a slope along the present surface or descending the slope along the present surface, a blade load is greatly affected by a gradient of the present surface, raising and lowering operation of the blade is increased, so that an effect of suppressing waviness of an execution surface cannot be always considered sufficient.
Method used
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modification example
[0082]FIG. 12 is a block diagram showing a main function of a blade control device 100 according to a modification example of the present embodiment. FIG. 13 is a flowchart showing one example of control operation to be executed by a controller 10 included in the blade control device 100 according to the modification example. FIG. 14 is a schematic side view showing one example of a design surface SD, a present surface SP, a virtual design surface SV, and an execution surface SC when a work machine provided with the blade control device 100 according to the modification example conducts digging work while ascending and descending a slope along the present surface SP.
[0083]The blade control device 100 according to the modification example shown in FIG. 12 is different from the blade control device 100 shown in FIG. 2 in that the controller 10 further includes a vehicle body average angle calculating part 21, and has the remaining configuration being the same as that of the blade cont...
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In a blade control device, in a case where an update condition set in advance is satisfied, a virtual design surface setting part sets a virtual design surface, using a blade position when the update condition is satisfied as a reference, at an angle equivalent to a vehicle body angle, and a blade operation control part restricts raising and lowering operation of a blade such that the blade conducts the raising and lowering operation above the virtual design surface.
Description
TECHNICAL FIELD[0001]The present invention relates to a blade control device provided in a work machine including a blade.BACKGROUND ART[0002]Conventionally, a work machine including a blade for use in digging of the ground, land grading, transport of sediments, and the like has been used widely. Although there is proposed a method of automatically controlling raising and lowering operation of a blade such that a blade load applied to the blade becomes substantially constant in such a work machine, the method has a problem of waviness of an execution surface generated due to raising and lowering operation of a blade.[0003]Patent Literature 1 discloses a blade control device intended to suppress waviness of an execution surface. In the blade control device of Patent Literature 1, while restricting fluctuation of a blade to above a virtual design surface set in parallel to a design surface and closer to the blade than to the design surface, a blade operation control part lowers the bl...
Claims
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IPC IPC(8): E02F9/26E02F3/84
CPCE02F9/262E02F3/964E02F3/844E02F3/7618E02F9/265
Inventor UEMURA, SHOHEISUGANO, NAOKIMAEKAWA, SATOSHINODA, DAISUKEKAMIMURA, YUSUKE
Owner KOBE STEEL LTD