JPS58123932A - Automatic correcting device for slip of civil engineering vehicle - Google Patents

Abstract

PURPOSE:To prevent the occurrence of slip, by a method wherein a working condition of a component of each part of a vehicle and a load of a working device are automatically detected, and through the control of a computer based on the detecting signal, wheels and a working device are corrected and operated. CONSTITUTION:A device is provided with sensors 15-18 for detecting a load of a working device 11 at an earth-moving time, sensors 19-24 for detecting a working condition of a power transmitting system component, a microcomputer 25 which inputs detecting information signals from the sensors 15-24 and outputs a working device control command signal and control command signal for drawbar pull of a vehicle at a time when a slip of a vehicle occurs, a control means 28 which inputs a control command signal for a working device from the microcomputer 25 to correct and operate the working device so as to relieve a load, and a drawbar pull control means 27 which inputs a drawbar pull control command signal from the microcomputer 25 to control a power transmitting system of a vehicle. For example, in case a slip is caused mainly by a road surface condition, a signal from the microcomputer 25 is transmitted to the drawbar pull control means 27, and this permits automatic control of a jet quantity of an engine 2.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic slip correction device for automatically eliminating slip during work of an earthwork vehicle equipped with a working device such as a blade or a packet. When the load on working equipment such as blades becomes excessive at times, slipping of the tracks or wheels often occurs, which causes wear of the tracks and wheels and impedes work efficiency.

In addition to the overload of the work equipment as mentioned above, the cause of slips is not a one-size-fits-all factor, as they can also be caused by the shape of the road surface or the shape of the tracks or wheels, but it is possible to eliminate slips no matter what the cause. There is a need to.

Therefore, in the past, operators manually operated vehicles and work equipment based on comprehensive judgment in order to obtain the maximum amount of work with minimum slippage.However, such manual operation requires considerable skill and labor. This is not only a cost-effective problem, but also a major problem that must be solved when attempting to make earthmoving vehicles unmanned.

When a slip occurs due to overload of the work equipment,
When correcting the work equipment in the direction of reducing the load in order to solve this problem, if the corrective operation cannot be performed properly,
This can result in the occurrence of unevenness on the road surface that is supposed to be finished smoothly, which may affect the intended leveling accuracy. To provide an automatic slip correction device for a Kudoko vehicle that can predict and fully detect the slip at an early stage and automatically eliminate the slip at that point by signal control.

In order to achieve the above-mentioned main purpose, this invention automatically detects the operating status of components of each part of a vehicle, the load of work equipment, etc.
The present invention is characterized in that by performing corrective operations on the vehicle and the working machine under computer control based on the detection signal, it is possible to prevent slippage from occurring or to quickly and reliably eliminate scissors slippage.

Another purpose of this invention is to improve vehicle performance as well as to
An object of the present invention is to provide an automatic slip correction device for earthmoving wheels that greatly contributes to completely unmanned operation of vehicles.Preferred embodiments of the present invention will be described below with reference to the drawings.

In the illustrated wheeled earthmoving vehicle 1, the power transmission system is
Power from the engine 2 is passed through a variable capacity torque converter 3 and a transmission 4.

to the output shaft 5, and from the output shaft to the differential 6.
It has a well-known configuration in which the power is transmitted to the left and right axle shafts 7.8 and both the left and right wheels 9.10 via.

The vehicle 1 is equipped with a packet 11 as a working machine in the illustrated example.

The packet 11 is driven by lift and tilt hydraulic cylinders 12 and 13.

Each hydraulic cylinder 12, 13 is selectively operated by being supplied with pressure oil from a hydraulic system (not shown) provided in the vehicle 1 via an electromagnetic control valve or the like.

The vehicle 1 is equipped with sensors 15 to 18 for detecting the load of working equipment during earthwork work, and sensors 19 to 24 for detecting the operating status of each component of the power transmission system.

In the illustrated example, the sensors 15 to 18 for detecting the load on the work machine are tilt system pressure sensors 15 that individually detect each hydraulic pressure on the head side and bottom side of the tilt hydraulic cylinder 15.
, 16, and a lift system pressure sensor 17, which similarly detects the oil pressure on the head side and bottom side of the lift hydraulic cylinder 12.
It has 18 points.

On the other hand, in the illustrated example, the sensors 19 to 24 of the power transmission system include a sensor 24 for detecting the engine 20 rotation speed, a sensor 2'5 for detecting the transmission torque level of the torque converter 3,
A sensor 22 for detecting the speed stage of the transmission 4, a freezing sensor 21 that detects the output shaft 50 rotation speed, and a pair of left and right slips that individually detect the rotation speed of each of the axle shafts 7.8 exemplified as the left and right drive system. It consists of a sensor 20°19.

Each of the sensors 15 to 24 outputs an input value fl of a microcomputer (hereinafter abbreviated as microcomputer) 25.
It is connected to 125A.

The microcomputer 25 has the input device 25A and the output device 25B.
In addition to the above, it has a CPU and a memory (both not shown), and the memory is preprogrammed with reference data for setting the operating conditions of the vehicle 1 and the working position of the packet 110, or is operated by an operator. It is designed to input control signals.

The microcomputer 25 also includes a display device 26 for displaying input information from each of the sensors 15 to 24 and control command information as a result of information processing based on the input information.

Further, the output device 25B of the microcomputer 25 is connected to the tractive force control means 27 of the vehicle 1 and the working machine control means 2.

When the packet 11 is displaced and maintained at a predetermined work position while the vehicle 1 is traveling forward, earthwork work such as loading earth and sand is performed using the packet.

The wheeled earthmoving vehicle 1 used during this work has the differential 6 as described above, so when a traction load occurs on the wheels 9 and 10 and exceeds the limit of ground resistance, both axles 9 and 10 It is extremely rare for both axles to start slipping @ Therefore, in this case, a rotation difference occurs between both axles 9 and 10 〇 The rotation difference is caused by the slip sensors 19 and 20 detecting the respective rotation speeds of the axle shafts 7 and 8. It becomes clear by what you do. The microcomputer 25 looks into the detection information and predicts the occurrence of a slip.At the same time, the microcomputer 25
Information from other sensors 15-18 and 21-24 is also taken in.

Accordingly, the microcomputer 25 processes and judges the input information from each of the sensors 15 to 24, and transmits the resulting control command signal to the traction force control means 27 to the working machine control means 28.

That is, the microcomputer 25 processes the input information from each sensor 15 to 24 to determine the cause of the slip occurrence. For example, if the cause is an overload of the packets 11,
In order to reduce the load, the microcomputer 25 performs processing corresponding to information from the work equipment load detection sensors 15 to 18,
The resulting control command signal is sent to the work equipment control means 2 in this case.
8.

The means 28 controls the hydraulic cylinder 12 in the hydraulic system for driving the working machine by inputting the aforementioned control command signal.
13, the hydraulic pressure of the pump, the drive pressure of the hydraulic motor, the stress of the packet 11, etc. are automatically controlled.◇ Under this control, the packet 11 is corrected in the direction of load reduction in seconds. Therefore, slips caused by the work machine load are automatically eliminated at an early stage.

On the other hand, if the cause of the slip is other than the work machine load, such as road surface conditions, the control command signal from the microcomputer 25 is transmitted to the traction force control means 27.

The means 27 automatically controls the fuel injection amount of the engine 2, the transmission torque level of the torque converter 3, the speed stage of the transmission 4, etc. based on the input signal, so that the tractive force of the vehicle 1 is automatically corrected. Slips caused by road conditions other than work equipment load are also automatically eliminated.

Therefore, even if a slip occurs due to any cause, it can be automatically resolved at an early stage.

The above is a case of a wheeled earthmoving vehicle, but it goes without saying that this invention can also be applied to a tracked earthmoving vehicle.However, there are some differences in the slip detection means between the wheeled type and the tracked type. arise.

In other words, in the case of a track-type earthmoving vehicle in which the left and right tracks are driven individually by hydraulic pressure, the ground pressure resistance (traction coefficient) will differ depending on whether slipping occurs in the left or right tracks or not.
There are differences. As a result, a change occurs in the motor drive pressure of the left and right drive hydraulic systems. In addition, if a slip occurs when the left and right tracks are driven individually, the wheel attitude changes to the left or right.Therefore, in the case of a track-type earthmoving vehicle, slip detection means include the pump discharge pressure of the left and right track drive hydraulic system, the motor The so-called driving force of the left and right tracks, such as driving pressure and motor torque, may be detected by a pressure sensor, and the vehicle attitude may be detected by a ground air sensor, a gyro compass, etc. provided in the vehicle itself. Other information detection, information processing, control commands, etc. are basically the same as in the case of Tsumugi's wheeled vehicle.
The explanation will be omitted.

Therefore, in the case of a tracked earthmoving vehicle, slips can be automatically eliminated in the same way as in the case of a wheeled earthmoving vehicle.

As described above, the present invention automatically detects the operating status of the power transmission system components and the load of the work equipment during the work of the earthmoving vehicle, and uses the control command signal as a result of processing the detected information by computer to control the vehicle when a slip occurs. Since the traction force control and the corrective operation of the work equipment are carried out, vehicle slippage during earthwork work can be quickly and automatically resolved.

Therefore, according to the present invention, it is possible to eliminate all the harmful effects caused by slips of earthmoving vehicles, improve vehicle performance, and require manual operations for traction force control and work equipment correction operations when slips occur. Toshina: Because it is, it has many benefits, such as greatly contributing to unmanned operation of earthmoving vehicles.

[Brief explanation of the drawing]

The drawing is a system block diagram of an automatic slip correction device according to a preferred embodiment of the present invention. 01 is an earthmoving vehicle, 2-
10 is a power transmission system component of a vehicle, 11 is a packet exemplified as a working machine, 12.13 is a hydraulic cylinder of a hydraulic system for driving a working machine, 15 to 18 are sensors for detecting the load of a working machine, and 19 to 24 are components of a component system. sensor, 25
is a microcomputer, 27 line chapter attraction Liu control means, 28
is the work equipment control means◎

Claims (6)

[Claims] (1) A device that automatically corrects the slip of earthmoving wheels equipped with a working machine such as a blade or a packet and a hydraulic system for driving the vertical working machine, and a sensor that detects the work machine load during earthwork work. , a sensor that detects the operating status of the vehicle's power transmission system components, inputs detection information signals from these sensors, performs information processing based on the input signal, and controls the work equipment when a vehicle slip occurs or when the occurrence is predicted. A microcomputer that outputs a command signal and a vehicle tractive force control command signal, a work equipment control means that inputs a work equipment control command signal from the pump to make a corrective operation of the work equipment in the direction of reducing the load, and the above:! /Slip office correction device for an earthmoving vehicle characterized by comprising a traction force control means for controlling the power transmission system of the vehicle by inputting a traction force control command signal from a viator. (2) The earthmoving vehicle according to claim 1, wherein the sensor for detecting the load on the work equipment is a pressure sensor that detects the hydraulic pressure of the hydraulic system for driving the work equipment during earthwork work. Automatic slip correction device〇 (3) The power transmission system component sensors include sensors that individually detect the engine rotation speed, the transmission torque level of the torque converter, the speed stage of the transformer, and the rotation speed of the torque converter output shaft; 2. The earthmoving wheel slip correction device according to claim 1, further comprising a slip sensor that detects the rotational speed, driving force, wheel posture, etc. of each of the left and right drive systems. (4) The microcomputer inputs or stores reference data for setting the operating conditions of the vehicle and the working position of the work equipment, and compares and calculates the cough reference data with the input information from each section to update the vehicle. and an automatic control signal for the earthmoving wheel according to claim 1, which outputs an appropriate control signal for the working machine. (5) The microcomputer is equipped with a display device that displays input information from each sensor and control command information as a result of information processing, as set forth in claim 1 or 4. Automatic slip correction device for earthmoving vehicles @ (6) The work machine control means controls the hydraulic pressure of the hydraulic cylinder in the work machine drive hydraulic system, the pump discharge pressure, the drive pressure of the hydraulic motor, the work machine stress, etc. based on the input signal from the microcomputer. In the automatic slip correction device for an earthmoving vehicle according to claim 1, the traction force control means adjusts the fuel injection amount of the engine based on the input signal from the microcomputer. , torque converter (6) torque, transmission speed stage, etc.