IMPROVEMENTS IN & RELATING TO GRADING APPARATUS FOR VEHICLES

Abstract

Grader Apparatus for attachment to a vehicle has a main body portion coupled to a blade body portion by multiple linkages. These include primary load bearing links which connect to the blade portion aligned in a vertical z-axis allows rotation of the blade portion thereabout. Adjustable length actuators allow rotational yaw control about the z-axis. Adjustable roll actuators connect between an extension of the main body portion and the blade body portion to control its elevation and roll angle. Other embodiments allow lateral shifting of the blade body portion, and include an improved slope sensor catering for yaw with roll combinations.

Claims

1-31. (canceled)

32. A grader assembly suitable for use on a vehicle, said grader assembly comprising: a main body portion attachable to a vehicle, and a blade body portion connected to rotate about a vertical rotational z-axis; the main body portion and blade body portion connected by at least two primary load links spanning between the main body portion and blade body portion, the connection of at least one said primary load link being to a pivotable connection point lying on the blade body portion's said vertical rotational z-axis, there being at least one adjustable length positional link spanning between, and pivotably connected to, said main body portion and blade body portion, the blade body portion including or having provision for a ground working assembly.

33. The grader assembly as claimed in claim 32, further comprising a vertical planar arrangement of two said primary load links situated such that one is substantially one above the other, and in which said arrangement of two primary load links lie substantially in a vertically plane, and each have pivotable connections at each end to the respective body portions they connect to.

34. The grader assembly as claimed in claim 32, further comprising a triangular arrangement of two of said primary load links which, when viewed in plan, extending outwardly from their pivotable connection point to either the main body portion or blade body portion so as to pivotably connect to the alternate body portion outwardly of its middle (also when viewed in plan).

35. The grader assembly as claimed in claim 34 in which said two primary load links of the triangular arrangement lie substantially within a horizontal plane when the lower edge of the blade portion is parallel to horizontal ground.

36. The grader assembly as claimed in either claim 34, further comprising at least one additional primary load link located, when viewed from the side, either or both above and below the plane of said triangular arrangement of two primary load links, and which pivotably connect to a point lying on the vertical rotational z-axis of the blade body portion.

37. The grader assembly as claimed in claim 32, further comprising at least one adjustable yaw controlling linkage extending between the main body portion and blade body portion, whose adjustment in length effects rotation of the blade body portion about its vertical rotational z-axis.

38. The grader assembly as claimed in claim 37 in which said at least one adjustable yaw controlling linkage lies outwardly, when viewed in plan, of a saggital vertical plane intersecting the blade body portion's vertical rotational z-axis.

39. The grader assembly as claimed in claim 32 in which there is a forward extending mounting point associated with the main body portion, and wherein there is present at least one adjustable roll controlling linkage connected to said forward extending mounting point and extending outwardly therefrom when viewed in plan to a connection point on the blade body portion.

40. The grader assembly as claimed in claim 39 in which a said at least one adjustable roll controlling linkage lies substantially within a vertical plane passing through the blade body portion.

41. The grader assembly as claimed in claim 39 in which there are a pair of the at least one adjustable roll controlling linkages, one disposed either side of their connections to said forward extending mounting portion.

42. The grader assembly as claimed in claim 39, further comprising: a vertical planar arrangement of two said primary load links situated such that one is substantially one above the other, wherein said arrangement of two primary load links lie substantially in a vertically plane, and each have pivotable connections at each end to the respective body portions they connect to, and at least one adjustable side-shift controlling linkage which connects to the blade body portion on or near its vertical rotational z-axis, and at its alternate end to the main body portion at a point outwardly of a vertical saggital plane passing through said vertical rotational z-axis.

43. The grader assembly as claimed in claim 39 in which an adjustable controlling linkage comprises an actuator.

44. The grader assembly as claimed in claim 32 in which the bottom edge of the blade body portion comprises any one or more of: a levelling blade, dual levelling blades for bidirectional levelling, a rotary powered accessory, a brush, and a rake.

45. The grader assembly as claimed in claim 44 in which a feature on the bottom edge of the blade body portion can be replaced or substituted.

46. The grader assembly as claimed in claim 32 in which the main body portion includes a forwardly extending mounting arm, and there is also provided at the forward end of the arm a wheeled carriage assembly.

47. The grader assembly as claimed in claim 46 in which said forwardly extending mounting arm is adjustable in length.

48. The grader assembly as claimed in claim 32 in which the main body portion includes a quick hitch mounting arrangement to a vehicle.

49. The grader assembly as claimed in claim 32, further comprising a stabilized slope sensor assembly comprising a sensor portion, and sensor mounting portion; said sensor mounting portion pivotably attached to said blade body portion to allow rotation about a vertical axis either substantially coaxial or parallel to said blade body portions vertical rotational z-axis; said sensor mounting portion also attached to a point on the grader assembly preventing rotation of the sensor portion, about a vertical axis, relative to the main body portion during yaw rotational adjustments of the blade body portion; the arrangement further defined such that the sensor rotates about a horizontal axis in response to roll rotational adjustments of the blade body portion, and in which said sensor portion is a slope sensor oriented, when viewed from above, substantially along a transverse axis and is restricted in position within the coronal plane during either or both roll and yaw adjustments of the blade body portion relative to the main body portion.

50. The grader assembly as claimed in claim 49 in which the sensor mounting portion comprises an arm extending between the main body portion and blade body portion, said arm falling substantially within or parallel to the sagittal plane of the grader assembly.

51. A grader assembly suitable for use on a vehicle, said grader assembly comprising: a main body portion attachable to a vehicle, and a blade body portion connected to rotate about a vertical rotational z-axis; the main body portion and blade body portion connected by at least two lower fixed length primary load links spanning between the main body portion and blade body portion in a triangular arrangement, when viewed in plan, and wherein the connection of said two lower primary load links being to a pivotable connection point lying on, or close to, the blade body portion's said vertical rotational z-axis, there also being at least one upper primary load link, located elevated above said two lower primary load links when viewed from the side, a said upper primary load link spanning between the main body portion and blade body portion and connecting to said blade body portion by a pivotable connection on or close to said vertical rotational z-axis; there also being at least a forward extending portion of said main body portion which extends over the blade body portion, and wherein there are two roll control linkages positioned one either side of said forward extending portion when viewed in plan, and which each said roll control linkage extends from said forward extending portion to a point on said blade body portion which is spaced distally outwardly of the roll control linkage's pivotal connection to the forward extending portion when viewed in plan, and in which their connection to said blade body portion is also a pivotable connection; there being at least one adjustable length positional link spanning between, and pivotably connected to, said main body portion and blade body portion, the blade body portion including or having provision for a ground working assembly.

Description

DESCRIPTION OF DRAWINGS

[0224] FIG. 1 is a diagrammatic view of the geometries used in this description,

[0225] FIG. 2 is a perspective diagrammatic view of a preferred embodiment of a non-sideshifting embodiment of the present invention with the blade at 30 yaw and side wings aligned therewith,

[0226] FIG. 3 are differing perspective views of the embodiment of FIG. 1 in an alternative configuration in which the blade is at 30 yaw and 9 counterclockwise roll (from the rear),

[0227] FIG. 4 is a differing view of the embodiment of FIG. 1 in the configuration of FIG. 2 but in which the blade is also lowered,

[0228] FIG. 5 are differing perspective views of the embodiment of FIG. 1 at 30 degree yaw but the blade raised to ground level

[0229] FIG. 6 are differing perspective views of the embodiment of FIG. 1 at 0 degree yaw and the blade at ground level

[0230] FIG. 7 is a perspective view of the embodiment of FIG. 1 at zero yaw with the side wings shown in a typical preferred position for grading in a reverse direction,

[0231] FIG. 8 is a perspective view of the embodiment of FIG. 1 at zero yaw with the side wings shown in a typical preferred position for grading in a forward direction,

[0232] FIG. 9 is a perspective diagrammatic view of the embodiment of FIG. 1 with both side wings extended

[0233] FIG. 10 is a perspective diagrammatic view of the embodiment of FIG. 1 with a leading side wing for forward grading in a position parallel to the wheel path, and the alternate side wing is extended inline with said blade,

[0234] FIG. 11 is a close up perspective diagrammatic view of the embodiment of FIG. 1 from the operator's right hand side,

[0235] FIG. 12 is a perspective view of the centre portion of the mouldboard in the above embodiments, and

[0236] FIG. 13 is a diagrammatic view of the right hand portion of the mouldboard in the above embodiments.

[0237] FIG. 14 is a perspective diagrammatic view of a first preferred embodiment of a sideshifting grader assembly,

[0238] FIG. 15 is an alternative perspective diagrammatic view of the embodiment of FIG. 14,

[0239] FIG. 16 is a further alternative perspective diagrammatic view of the embodiment of FIG. 14,

[0240] FIG. 17 is a perspective diagrammatic view of a second embodiment of the present invention with an alternative mount to accessory linkage arrangement,

[0241] FIG. 18 is a an alternative perspective diagrammatic view of the embodiment of FIG. 5,

[0242] FIG. 19 is a perspective underneath diagrammatic view of the embodiment of FIG. 17,

[0243] FIG. 20 is a perspective diagrammatic view of a third embodiment of the present invention with a further alternative mount accessory linkage arrangement,

[0244] FIG. 21 is a further alterative view of the embodiment of FIG. 7,

[0245] FIG. 22 is a rear diagrammatic view of various roll/cross-fall and reference lines and angles being discussed,

[0246] FIG. 23 is a top plan diagrammatic view of various yaw and reference lines and angles being discussed, and

[0247] FIG. 24 is a perspective diagrammatic view of an implementation of a preferred embodiment of the present invention.

DESCRIPTION OF PREFERRED EMBODIMENTS

[0248] The following description in relation to the accompanying drawings is given by way of example only, and not intended to be limiting. These serve to illustrate various aspects of the invention and the best known methods of implementing the invention according to the applicant and inventor at the date of this document.

Non-Sideshifting Grader Embodiments

[0249] With reference to the drawings, and by way of example only, there is provided grading apparatus (generally indicated by 1) comprising a main body portion (2) and a forward support portion (3). The rear of the main body portion (3) comprises a standard quick-hitch attachment configuration (4) for attachment to a vehicle with a Quick Hitch attachment mechanism. Other types of attachment arrangements may be used in various embodiments.

[0250] In this case the tracks (5) of a vehicle (not shown) are illustrated to give an idea of scale and position. A vehicle need not be tracked, and tracks (5) are shown for illustrative purposes only.

[0251] Also shown is a section of ground (6) as a reference base, and also shown are the wheel/track (5) paths (7) for a linearly travelling vehicle. Again this gives a sense of scale and position for the preferred embodiment (1) illustrated.

[0252] A blade body portion (8) includes a blade (9) with (in this embodiment) dual pivoting lower edge portions (10). Only one is visible in this figure, though the opposing element on the other side of the blade (9) is visible in following figures. The hinged arrangement (11) associated with edge of the hinged edges (10) allow the trailing edge portion (10) to pivot upwardly while stops (not visible) limit travel of the leading edge portion (10). This dual arrangement allows for grading in both directions such that only the leading edge portion (10) effectively grades the ground (6).

[0253] Side wings (12) pivot about a vertical axis, and are controlled by an arm arrangement (14) and actuator (not visible in this figure). While these wings can extend the reach of the blade for soft grading applications, their main intended purpose is to stop a ridge of graded aggregate material from sloping back into the wheel/track path (7). The wings can be used to keep such aggregate materials well clear of the wheel paths (7).

[0254] In this embodiment a pair of fixed length load support linkages (15) are provided. These connect (16) near the middle of the blade body portion (8) when viewed in plan by a pivotable connection, typically comprises a resilient bush (such as a truck suspension bush) or ball joint or similar, The connection point (16) tends to act as the pivot point for yaw movement of the mould board assembly, which will become more evident in the following drawings. In this arrangement they have mirror symmetry about the sagittal plane when viewed in plan.

[0255] A single auxiliary linkage (17) of fixed length is provided above (in this embodiment) the load support linkages, and follows (when viewed in plan) a substantially longitudinal central path. It is noted that more than one auxiliary linkage can be provided. A pair of auxiliary linkage could be provided, and these may also have mirror symmetry about the sagittal plane when viewed in plan.

[0256] These load support and auxiliary linkages transfer most of the load from the blade body portion (8) directly back to the main body portion (2) and to the vehicle through the integral hitch arrangement (4). This direct load transferences and suitable pivotable joints allow for quite a rigid system under both forward and reverse load during operation. This reduction in flexing helps provide higher precision grading apparatus than standard grading arrangements, potentially realising a factor of 5-10 times greater in blade edge precision thereover.

[0257] Yaw rotation of the blade body portion (8) is achieved by mould board arc controlling linkages (18) comprising actuators. Relative lengthening and shortening can provide the required/desired degree of yaw. The following drawings will illustrate the relationship in lengthening and shortening the actuators (18) for different mould board yaw positions. Yaw in this context relates to an arc within the transverse xy plane, or rotation about an axis perpendicular thereto. In this embodiment there are a pair of linkages (18) having, when viewed in plan, mirror symmetry about the sagittal plane.

[0258] Roll control of the blade body portion (8) is achieved by roll limiting linkages (19) also comprising actuators. These connect with pivotable type mounts (bushes, ball joints, etc) to a point (20) on the forward support portion (3) and extend to points (21) outwardly of the middle of the blade body portion (8). In this arrangement there are a pair of roll limiting linkages which, when viewed in plan, are distributed in mirror symmetry about the sagittal axis of the apparatus (when the mould board is oriented transversely).

[0259] The roll control linkages (19) can be independently shortened and lengthened to adjust the roll orientation of the mould board (8). However it is noted that simultaneous shortening or lengthening of the pair of linkages (19) by the same amount can raise and lower the blade body portion while maintaining the current roll orientation. Hence this allows for both roll and elevational control of the blade body portion (8).

[0260] At the forward end of the forward support portion (3) is a wheel carriage portion (23) which may be of differing design though a simple preferred arrangement is illustrated here. A telescoping arm section (51) allows the carriage portion to be adjusted forwardly or rearwardly relative to the main body portion (2).

[0261] Vertical support posts (26) may be provided for mounting sensors/transceivers/components etc of varying guidance and control systems which may be employed. These systems may interact with control systems for actuators (18,19) associated with the grading system to alter the height and roll orientation of the blade body portion (8) as the attitude of the vehicle and grading apparatus alters as it travels across the ground. Mention of guidance systems have been made elsewhere herein.

[0262] Following are a number of views of the same embodiment of FIG. 1 in which the varying movable components are been moved to different positions. These also illustrate how varying control linkages adopt different attitudes to effect these changes, and provide greater insight into the various configurations likely to be adopted in normal operation of this embodiment of grading apparatus.

[0263] FIG. 11 illustrates closer detail of the two (left and right of middle) load support linkages (15L, 15R) and the auxiliary load support linkage (17). In the preferred embodiment of this figure, the connection points (16, 31) of the linkages (15, 17) are aligned to a substantially vertical axis (130)i.e. vertical when the mould board's (8) roll angle is zero (parallel to the ground). This can be alternatively stated as perpendicular to the longitudinal axis (running left to right) of the mouldboard (8) itself. Such centralization can help reduce stress on joints and components as the mouldboard progresses through its various permitted orientations. In practice the two lower pivotable connections (16) are positioned close to together and either side of the axis (130).

[0264] Additionally the vertical axis (130) is ideally located lie on the longitudinal (sagittal) plane of the apparatus (1) (when in the rest position). Offsetting this axis from the central plane adds complications in geometry and may introduce additional stresses if other components of the apparatus are not repositioned to compensate. Typically, it is currently more desirable to have an embodiment where operations can be equivalently mirrored left and right rather than restricted or biased to a particular side.

[0265] In alternative embodiments a four link system could be used, where the upper link (17) is substituted by two linkseither in a parallel (when viewed from above), or triangular arrangement like the lower links (15), or another orientation. In practical terms however, these options likely provide minimal advantage in relation to their additional complexity. Some such arrangements can place additional stress on the mouldboard and connection points as it attains different orientations. Further, the region in the vicinity is relatively crowded and it can be difficult to include additional links without there being interference between components during operation.

[0266] Of some consideration is that the lower links (15) provide a relative stable triangle which helps prevent unwanted sideways movement of the mouldboard (8) relative to the main body portion (2) during operation. While a panhard rod or other mechanical equivalents could be employed to help prevent unwanted lateral movement, we come back to complexity issues and trying to position components so that they don't interfere with each other during operation of the invention. The options are possible in various embodiments, though the illustrated version represents, at this time, the best practice implementation of the inventor.

[0267] The connections (16, 31, 32) represents pivoting joints, typically allowing at least 5 nominal pivoting from normal, and ideally 10. Some connections such as those on the mouldboard may require a greater degree (e.g. 15-20) of freedom depending on the specifics of the implemented embodiment. Heavy duty flexible bushes (41) with end caps (40), and allowing a large pin (42) or bolt to pass through the centre of the end of the link are typically preferred. Other than being relatively inexpensive and available commonly used in truck suspension systemsthey are relatively resistant to the ingress of particulate matter as may occur during use of the invention. The ability to easily fasten or bolt (43) the centre pin (42) can be an advantage during construction and maintenance. For connections with higher degrees of operating angular freedom, a double cup shield (such as seen in FIG. 12) can be used on the bush. It should be appreciated that other arrangements can be used in various other embodiments.

[0268] The geometry of the links (15, 17) and their flexible connections (16, 31, 32) allow the mouldboard portion (8) to go up and down relative to the main body portion (2). If the upper (17) and lower (15) links are maintained to be substantially parallel to each other when viewed from the side then the mouldboard can rise and fall without any significant change in pitchgenerally a desirable outcome. While other geometries may be employed, most grading operations prefer not to have changes in pitch as height/elevation is alteredit adds additional complexity for the operator and/or any control system present.

[0269] The yaw controlling actuators (18) have similar pivotable connections (e.g. 39R) at each end as well to allow for changes in geometry. In the preferred embodiment they are typically, when viewed from the side, substantially parallel to the links (15, 17) though (as for the former) there may be geometry variations to avoid contact between components during operation. The fixed length links (15, 17)which could be actuators or variable links in various embodimentstypically bear the force of a load on the mouldboard and ideally during forward and reverse operation. It is foreseeable that the top single link (17) could be substituted by an actuator to enable mouldboard pitch changes in alternative embodiments.

[0270] The upper roll control actuators (19) also typically have the same type of pivotable connections at their connection points (20, 21). These actuators (19) are positioned above the mouldboard (8) in the illustrated embodiment, partly as it frees up the crowded area between the mouldboard (8) and main body portion (2). Positioning the actuators to substantially lie within the roll plane (which the mouldboard rotates through) allows a greater portion of the actuators force to be translated to a roll movementin an alternative embodiment where the actuator instead spans between the mouldboard (8) and main body portion (2) only a partial component of the actuators force may contribute to a pure lifting or raising action.

[0271] Ideally also, the actuators' (19) central connection (20) is aligned with vertical axis (130) see (FIG. 11) so as to assist in free rotation in a yaw movement without creating additional stress on components of the apparatus.

[0272] The positioning in the preferred embodiment as illustrated also means that the same two actuators (19) can easily be used for mouldboard height/elevation adjustment (simultaneous operation by the same amount) as well as roll variation. This can make it easier for an operator under manual control or control systems, as opposed to some other geometries.

[0273] In practice also, having the actuators span a wide lateral distance between the centre of the mouldboard (viewed in plan) an its outer ends can allow for better fine control as a specific change in length of the actuator will have a smaller effect on angle than if the outer end was connected to the mouldboard nearer its centre. Hence we can potentially realise more accurate control (and cater for tolerances in the precision of the actuator's operation). The arrangement can have an advantage in addressing cross coupling (where an adjustment on one side prompts an adjustment on the other side to compensate for any movement there, and where that second adjustment then re-prompts a further adjustment on the other side ad infinitum). Better fine control can help reduce cross-coupling issues in the field.

[0274] Also of consideration is how grading and levelling systems are used. Typically if one alters the roll angle, you do not want the resulting action to be a pivot about the centre connection point (20) as typically this will cause one outer end of the blade (10) of the mouldboard (8) to dig into the ground while the other end will raise above it (more of a problem during manual operator control). In practice you want one end (typically the reference end, lower end, or end the operator prefers) to remain at the same elevation while changing the roll angle alters the height at the other end. This helps the operator/apparatus create a quality finish as opposed to a scalloped finish.

[0275] Effectively the change in roll angle is about the outer connection point (21). As this is near the outside end of the mouldboard (8) we only get a small change in blade (10) elevation to the outside of this point (21) while the main change in elevation due roll angle change is on the alternate side of the mouldboard (towards the middle and other side). In practice this can provide operators with better control and accuracy during operation of the apparatus.

[0276] Typically a control system and/or guidance system may be provided to assist the operator. As mentioned previously sensors, which may be on raised poles as per common in the industry, may interact with various positioning systems (e.g. ultrasonic, 2D, 2.5D, 3D systems etc). These typically either provide information to help guide manual or semiautomatic operation, or may be linked to a control system which controls actuators to make the apparatus (1) attain the required geometry as dictated by the guidance system. Various available systems typically added to equipment may be employed.

[0277] As can be appreciated, other mechanical arrangements and geometries may be adopted in various embodiments, though the illustrated embodiment is currently the best practice implementation of the inventor. This process did involve considerations of reliability, manufacturing cost, design simplification, durability in intended environments (which also includes a consideration of keeping actuators as far as possible above the ground to avoid particulate matter being graded), etc. This does not preclude further refinements or variations of the invention over time, or lesser embodiments.

[0278] In the illustrated preferred embodiment there is also a rear blade (60). Like the front blade (10) it is also hinged like the front blade (61). This means reverse operation is also possible with the trailing blade pivoting out of the way, while the leading blade rests against stops or has its rearward pivoting otherwise limited.

[0279] This can provide an advantage to an operator as they can see the rear blade (60). Quite often grading operations are done in reverse for fine control, even on conventional graders.

[0280] As another point of distinction with conventional graders, in reverse operation in the present invention is being pulled from a low point (linkages 15) whereas the mouldboard on a grader in reverse operation is being pushed from a high point. In practice, for the grader, if the blade (during reverse operation) encounters an obstruction it can dig into the ground causing the front end of the grader to pitch up and dig the blade in even further. If this happens several times in succession you can get a very corrugated and uneven finish. Pulling the blade (in reverse operation of the present invention) avoids the geometry and loadings that causes the blade to pitch and buck upon hitting an obstruction, thereby also addressing a known issue in the prior art.

[0281] The figures also illustrate the open framework nature of preferred embodiments of the present invention. In many ways this is desirable as the cabs of many smaller vehicles are lower to the ground (than convention graders) and the open structure significantly improves visibility for operators using the grading apparatus.

[0282] As previously mentioned the optional side wings may be used as needed or desired by an operator. Referring to FIG. 10, a typical orientation for forward grading (or close to a wall/edge on the left of the vehicle) has the leading side wing substantially parallel to the track path. This is similar to the non-moveable wings/side guards in traditional box levellers. In contrast the trailing side wing at the other end of the blade is fully extended (and parallel to the blade) to allow graded material (which works its way along the blade to the trailing outside edge) to be pushed as far as possible from the vehicle track path (for reasons previously explained herein).

Side-Shifting Grader Embodiments

[0283] With reference to the drawings, and by way of example only, there is provided a sideshifting grade assembly (generally indicated by (101)) comprising at least a main body portion (102) and an blade body portion (103) coupled to each other; said sideshifting grade assembly (101) also including a sideshift assembly (generally indicated by (104), wherein said sideshift assembly (104) comprises: [0284] at least a first (105) and second (106) translation portion capable of at least linear movement relative to each other; [0285] a first said translation (105) portion being mounted to said blade body portion (103) in a manner restricting relative movement between same, and [0286] a said second translation portion (106) being mounted directly or indirectly to said main body portion.

[0287] Described differently the preferred embodiment of a sideshifting grader assembly comprises [0288] a main body portion (101) attachable to a vehicle, and [0289] a blade body portion (102) [0290] the main body portion and blade body portion connected by at least two primary load links (125, 126) spanning between the two portions (101, 102), the connection of at least one said primary load link being to a pivotable connection point lying on the blade body portion's said vertical rotational z-axis (130, 180), there being at least one adjustable length positional link (128) spanning between, and pivotably connected to, said main body portion and blade body portion, [0291] the blade body portion including or having provision for a ground working assembly such as a blade.

[0292] In the embodiment of FIG. 14 the primary load links (125, 126) are located one above the other. This is in contrast to the triangular arrangement in the non-sideshifting grader assembly where sideshifting translational movement was prevented.

[0293] In the embodiment of FIG. 14 the first translation portion (105) comprises a tubular element welded or otherwise affixed to the body of the blade body portion (103). The second translation portion (106) is a shaft capable of sliding within the tubular element (105). Bearings are located within to help secure and facilitate easy sliding of the shaft (106) within the tubular element (105). A bush or other seal is provided at each end of the tubular element (105) to help prevent the ingress of foreign material within.

[0294] The closest end of the shaft (106) in FIG. 14 is fixed to a coupling element (108). Also connected thereto (108) is a panhard rod (110) by means of a universal coupling (109). The other end of the panhard rod (110) is coupled by a universal coupling (111) to the forward arm extension (112) of the main body portion (102). The panhard rod link (110) is a means of securing the translational element (105) to the forward extending arm of the main body portion (102), while (through a pivotable jointuniversal joint in this embodiment) accommodating the differing degrees of freedom of yaw, roll, and elevation in embodiments of this type. The other component (106) of the translational assembly is free to slide relative to (105) and thus is capable of lateral sideways translational movement relative to the main body portion (102) while component (105) cannot. In sideshifting box-blade type levellers the first part of a side-shift portion could be more rigidly fixed to the main body portion (or forward extension thereof), though in this prior art the blade was only capable of movement within a single plane, or elevation only. The yaw component of the current grader embodiments requires a reconsideration of the translational arrangement.

[0295] The coupling (108) also connects the left roll actuator (114) by means of a ball or spherical bush or joint. The alternate end of the actuator (114) is coupled (typically by a similar joint type) to a mounting plate (122) on the forward arm extension (112).

[0296] Referring to FIG. 16 we can see the matching right hand roll actuator (116) extending from the mounting plate (122) to another coupling element (117) (by means of ball joint/bush (118)). The coupling element (117) is also fixed to the second translation portion (106). Effectively the second translation shaft (106) is supported at each end by the roll actuators (114, 116) attached via coupling elements (108, 117), and which effectively suspend it from the mounting plate (122) on the forward arm extension (112). The long elements (106, 114, 116) form a relatively stable triangle, whose dimensions can be adjusted by the actuators (114, 116 only) to effect roll configuration of the shaft (106) and thus anything associated with it. The panhard connection (110) maintains the lateral disposition (measured along the long axis of the blade body portion (103)) of the shaft (106) relative to the main body portion (102) and forward extension (112).

[0297] The blade body portion (103) and attachments are also supported by the shaft (106) by virtue of the relationship between the first and second translation portions (105, 106).

[0298] Two fixed length primary load links (125, 126) are distributed spaced vertically apart on the central saggital xz plane of the apparatus. A ball joint or bush or such like at each end allows a certain degree of pivotal movement with their connection to the mount (102) and accessory (103) portions respectively (such as to allow roll movement of the blade body portion (103)). These maintain the blade body portion (103), at its middle, a fixed distance from the main body portion (102). They connect to the blade body portion (103) in an aligned manner with the vertical rotational z-axis (130, 180). Ideally they lie in a single vertical plane in the illustrated embodimenti.e. their pivotable connections to the main body portion (102) lie also on a vertical axis. This allows unrestricted sideways movement of the blade body portion (103) relative to the main body portion, noting that other provided linkages control their relative disposition. It also causes less crowding of components in this more complicated arrangement, than with triangular link arrangements such as found in non-sideshifting embodiments.

[0299] One such linkage is sideshift controlling actuator (128), also with a ball joint or bush or other pivoting connection at each end, that extends between the blade body portion (103) and main body portion (102)which may be directly thereto or from a forward extending mount ahead of the main plane thereof (such as in the position shown in FIG. 13 though the forward mounting element has been omitted in this figure). The blade body portion (103) end is at a point vertically aligned (on z-axis (130, 180)) with the linkages (125, 126)which can minimise changes in other geometries by mounting at this centrally aligned position. Extending and retracting the actuator (128) can help translate z-axis (130, 180) left and right, hence shifting the blade body portion (103) sideways.

[0300] Yaw motion of the blade body portion (103) is achieved by yaw actuator (130) positioned outwardly of the central sagittal plane and extending between the mount (102) and blade body portions (103). It tends to be substantially aligned with the longitudinal x-axis of the apparatus, so as to minimise any sideways contribution to positioning of the blade body portion (103) when it operates, though noting that various attainable geometries will take it away from being truly parallel to the longitudinal axisparticularly when there is side-shifting. Hence connections of the yaw controlling adjustable length link need to be sufficiently pivotable to accommodate the normal range of movements.

[0301] A front wheeled carriage portion (132) provides forward ground support and may be connected to the forward arm extension (112) by a telescoping arrangement.

[0302] In FIG. 15 the tracks (140) of a typical vehicle can be seen as well as the nominal grading path (142) for the apparatus in the normal at rest position. This extends outwardly of the track (140) path in an ideal situation. As the yaw position of the accessory (103) is altered from pure transverse the effective width of the grading path (142) (the path covered by the accessory) narrows and can fall within the path of the tracks (140). By sideshifting the accessory (103) can reach the edge of the nominal (at rest) grading path shown as (142). While it is moved inwardly at its alternate end as one end moves outwardly, the sideshifted position in FIG. 14 allows grade material to be pushed outwardly of the (upper in this figure) track path when grading in a forward direction. If necessary it can be sideshifted in the other direction if required.

[0303] FIGS. 17 through 19 illustrate a second alternative embodiment of the present invention. The translational and roll effecting upper portions remain substantially the same, with the difference between an alternative linkage arrangement between the accessory and mounting portions. This arrangement can improve the forward and reverse load capacity of the apparatus by more support between the mount and blade body portions.

[0304] Compared to the embodiment of FIG. 14, there is a relatively symmetrical arrangement of two adjustable linkages (183, 185) and (184, 186) either side of the sagittal plane when viewed from above. These replace the side-shifting (128) and yaw controlling (130) actuators of the previous embodiment. This pair of dual actuator sets is more complicated to control though can still effect changes in both yaw and side-shifting depending on which actuators are operated. The potential realizable advantage of this more complicated arrangement is in more heavy duty and larger embodiments where extreme loads may be present.

[0305] FIGS. 19 through 21 illustrate a third alternative embodiment. Again the roll and translational portions are substantially the same, with the primary difference again being the linkage/actuator arrangement between the accessory and main body portions.

[0306] Compared to the embodiment of FIG. 14 the yaw controlling actuator (130) has been moved further inward, and an additional yaw controlling actuator (190) also added. Again these variations can assist when higher loads are likely during operations.

[0307] As can be appreciated there are a number of differing geometries and combinations of actuators which may be employed on different embodiments, It is anticipated that the skilled reader of the art will appreciate these variations based on the description herein, though the description is limited largely to the best methods of implementation of the invention currently considered by the inventor.

[0308] Not shown, but typically implemented on embodiments of the present invention are sensors which may be used with conventional positional, contouring, and levelling systems. These are well known and will not be discussed in detail other than to note that such sensors typically work in conjunction with a control system to alter and/or control the orientation of the accessory during operation, though manual operator operation is still an option. There are a range of systems currently employed and adapted to be fitted to various levelling, grading, and construction machinerytypically as such systems are manufactured independently of those who make the construction machinery. GPS, laser, ultrasonic and combination systems are among those currently used, and may be 2D, 2.5D, 3D or other in operation.

[0309] In the industry these guidance systems allow high precision to be achieved, though that is largely dependent also on the accuracy and tolerances of the equipment. As mentioned earlier herein, the inventions of the present invention have been designed with such precision (compared to normal graders) in mind. As well as the information provided by guidance systems, some sensor information is often also gathered by the machinery. For instance, a guidance system might tell you the precise site position of each end of a blade portion but may struggle with elevationthough laser systems are often good at this. Regardless, knowing the roll angle of a blade is often necessary to know, especially for providing to the integrated control systems associated with the guidance system which control the attitudinal conformation of a blade. When the blade is capable of 3-dimensional movement, issues arise.

[0310] More Accurate Yaw Independent Slope Sensing

[0311] FIG. 2 should be taken from a viewpoint of standing behind the ground working equipment and looking in the direction of travel (207). It is a representative figure only and exaggerated for the purpose of illustrating the concept of the invention.

[0312] Here line (201) represents the reference zero cross-fall line, which is also parallel to the ground plane. Line (202) illustrates a particular roll angle for the accessory (for simplicity we shall assume the accessory is a blade) that has been chosen and locked into position for this demonstration. The blade has zero yaw angle when viewed from above, such as line (204) in FIG. 23. With the equipment in this configuration the angle of line (202) relative to line (201) in FIG. 22 is the effective accessory cross-fall angle. A calibrated slope sensor on the blade will give a slope angle equal to the effective accessory cross-fall anglei.e. they are in concordance.

[0313] However, as the yaw angle of the blade is adjusted, such as to align with line (206) in FIG. 23 the projected/viewed angle of the bottom of the blade alters from line (202). It starts to assume a position more in line with line (203) (exaggerated). Consequently the effective accessory cross-fall angle has changed. However a slope sensor mounted in the traditional manner on the blade will still give the same reading as when the blade was aligned with line (204) in FIG. 23. We now have a discrepancy between the effective cross-fall angle and blade slope sensor reading. And this is what causes issues every time the yaw angle of the blade is altered by the operator or control system.

[0314] As the prior art solutions have been complex and of varying degrees of reliability and effectiveness, the current invention has evolved by stepping back and rethinking a solution rather than improving on previous solutionsa step sideways, so to speak, from the direction of the art.

[0315] In simple terms the present invention seeks a means to measure the effective cross-fall angle rather than the accessory/blade angle. Referring to FIG. 23, preferred embodiments seek to align/mount a sensor so that when viewed above its left-right axis (let's assume for this example the sensor is a slope sensor which measures slope along its left-right axis) remains parallel (line (205)) to our reference line (204) for cross-fall/roll angle measurements. In this situation the sensor will be measuring a 100% component of the true effective cross-fall, as it is aligned with our reference measurement line. Slope sensors mounted traditionally to the blade assembly only measure an uncorrected component of the true effective cross-fall. Accordingly we should be able to eliminate the need for calculation corrections or complex on the fly corrections of multiple actuators on equipment (with the inherent problems (e.g. cross coupling) associated therewith).

[0316] However there is also more to the solutions proposed by the present invention. The sensor mounting/sensor still needs to respond to changes in roll angle. One could say we are trying to measure the roll angle but after taking yaw angle contributions out of the equation, so to speak. Hence any mounting system still needs to be coupled to the blade so that its angle/slope changes as the roll angle of the blade changes.

[0317] In the preferred embodiment below a first mount of the sensor system attaches to the blade (or more specifically the accessory mounting portion) in a manner in which it is fixed (with respect to rotation) relative to the blade in terms of roll movements, but is also able to pivot relative to the blade in terms of yaw movement. Hence, the first mounting assembly should allow the sensor/sensor mount to tilt in response to roll movements of the blade but be allowed to pivot in response to yaw movements of the blade. This allows the sensor/sensor mount to be subsequently fixed such that it remains aligned with reference lines (205, 207) when viewed from above in figure (23) if it is aligned with other reference lines (for some user purpose) then the reality is that it will remain substantially therewith despite yaw movements of the blade.

[0318] A second mount to a suitable point (which does not experience yaw changes) on the ground modifying equipment helps maintain this alignment. In practice, the amount by which the sensor/sensor mount angles from the horizontal reference line (201) during roll and yaw changes of the blade, will remain substantially close to the true effective cross-fall anglei.e. the angle returned will be the measurement for the angle of line (203) rather than remaining at that for line (202) as per the case of standard mounted slope sensors.

[0319] FIG. 24 illustrates an embodiment of the present invention. An accessory mounting portion (212) (of ground modifying equipment) supports blade (214). The ground is represented by grid (215). The main body portion (216) of the ground modifying portion is shown.

[0320] A variety of fixed linkages and actuators connect the accessory mounting portion (212) and main body portion (216). The exact arrangement is not important (and varies in practice on different equipment) other than to say that roll and yaw angular movements of the accessory mounting portion (212) relative to the main body portion (216) are possible. The main body portion (216) is typically fixed or mounted to a vehicle so is our reference portion in terms of direction of travel etc.

[0321] In this embodiment of ground working equipment there is a central link (220) largely aligned with the direction of travel of the ground modifying equipment. A flexible bush/ball joint (221) connects the link (220) to the accessory mounting portion (212) at its middle (223). A pin (224) travels through the centre of the joint (221) as is fixedly attached to the mount (223) on the accessory mounting portion (212). The angle of this pin from true vertical changes as the roll angle of the accessory mounting portion (212) changes.

[0322] Attached to the pin is first mounting means (225) which includes pivots (226) allowing pivoting of the bracket (228) about the central axis of the pin (224). This is fixed to the sensor mounting bracket (230) on which a suitable sensor (231) is mounted.

[0323] Extending from this bracket (230) is an arm (233) which attaches to a bracket (234) attached to the main body portion (216). This arrangement keeps the arm aligned to be substantially parallel to the direction of travel, and subsequently also the sensor (231) regardless of changes in the yaw angle of the accessory mounting portion (212). A flexible pivoting connection (235) helps accommodate changes in the roll angle of the sensor bracket (230) in response to yaw and attitudinal changes of the accessory mounting portion.

[0324] Aspects of the present invention have been described by way of example only and it should be appreciated that modifications and additions may be made thereto without departing from the spirit or scope of the present invention as described herein.

[0325] It should also be understood that the term comprise where used herein is not to be considered to be used in a limiting sense. Accordingly, comprise does not represent nor define an exclusive set of items, but includes the possibility of other components and items being added to the list.

[0326] This specification is also based on the understanding of the inventor regarding the prior art. The prior art description should not be regarded as being authoritative disclosure on the true state of the prior art but rather as referencing considerations brought to the mind and attention of the inventor when developing this invention.