EP0383913A1 - Procede permettant d'empecher le glissement excessif des sabots de chenilles et dispositif relatif pour vehicules a chenilles - Google Patents

Procede permettant d'empecher le glissement excessif des sabots de chenilles et dispositif relatif pour vehicules a chenilles Download PDF

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Publication number
EP0383913A1
EP0383913A1 EP88908325A EP88908325A EP0383913A1 EP 0383913 A1 EP0383913 A1 EP 0383913A1 EP 88908325 A EP88908325 A EP 88908325A EP 88908325 A EP88908325 A EP 88908325A EP 0383913 A1 EP0383913 A1 EP 0383913A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
shoe slip
crawler vehicle
engine
speed
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
EP88908325A
Other languages
German (de)
English (en)
Other versions
EP0383913A4 (en
Inventor
Shigeru Yamamoto
Hideki Yamada
Shinji Takasugi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Komatsu Ltd
Original Assignee
Komatsu Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP23082687A external-priority patent/JPS6473142A/ja
Priority claimed from JP23111587A external-priority patent/JPH07107278B2/ja
Priority claimed from JP23111687A external-priority patent/JPS6475724A/ja
Application filed by Komatsu Ltd filed Critical Komatsu Ltd
Publication of EP0383913A1 publication Critical patent/EP0383913A1/fr
Publication of EP0383913A4 publication Critical patent/EP0383913A4/en
Ceased legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/202—Mechanical transmission, e.g. clutches, gears
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2029—Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/24—Safety devices, e.g. for preventing overload

Definitions

  • the present invention relates to a method and apparatus for controlling shoe slip of a crawler vehicle such as bulldozers and shovel loaders, and more particularly to a method and apparatus for controlling shoe slip of a crawler vehicle in which, in order to improve operational efficiency of the vehicle by effectively using a tractive force of the vehicle, an optimum engine power output mode of the vehicle is selected in operation with reference to a preset value of shoe slip rate of the vehicle, at which preset value of the shoe slip rate a maximum tractive force of the vehicle is produced.
  • the power outputs of the engines thereof are manually controlled through main control levers of the vehicles so as to be set on predetermined values.
  • the power outputs of the engines thus controlled through the main control levers are reduced by depressing deceleration pedals of the crawler vehicles.
  • the deceleration pedals having been depressed are released from external depressing forces exerted by an operator of the vehicle, the predetermined values or the power outputs of the engines are recovered.
  • Drawbar-pulls or tractive forces of the crawler vehicles in traveling depend on slip rates of shoes of crawlers or tracks of the vehicles on the ground, the slip rates of the shoes being hereinafter simply referred to as the shoe slip rates.
  • the shoe slip rates of the vehicles reach predetermined critical values or preset values, the drawbar-pulls or tractive forces of the vehicles increase as the shoe slip rates increase.
  • the crawlers or tracks of the vehicles merely slip on the ground: to cause many disadvantages such as large energy loss and excessive wear of the crawlers or tracks; and to make it impossible to effectively utilize the power outputs of the engines for producing sufficient drawbar-pulls or tractive forces.
  • Japanese Patent Laid-Open No. 60-245859 discloses a technique for obtaining engine power outputs corresponding to working conditions of vehicles without depending on operator's recognition and decision.
  • a governor control lever of a vehicle is automatically switched over in correspondence with loads to which a drive system of the vehicle is subjected, so that cumbersomeness in operator's manual operation is resolved and the vehicle is improved in its fuel consumption.
  • Japanese Patent Publication No. 58-49661 discloses an apparatus for controlling the shoe slip of the vehicle.
  • This another conventional technique employs: a Doppler-type speed detecting means for detecting a traveling speed of a vehicle; a shoe slip rate detecting means for detecting a shoe slip rate of the vehicle on the basis of both of the traveling speed of the vehicle detected by the Doppler-type speed detecting means and a rotational speed of a sprocket wheel detected in a sprocket-wheel drive mechanism of the vehicle; and a means for issuing a signal at a time when the shoe slip rate having been detected exceeds a predetermined value, the signal being used to reduce a load of the working equipment of the vehicle.
  • the Doppler-type speed detecting means In the above Doppler-type speed detecting means, a microwave is issued to the ground and reflected therefrom to produce a reflected wave which is received to determine an actual velocity or traveling speed of the vehicle relative to the ground. Consequently, in case that the Doppler-type speed detecting means is used on the water or a rough ground to conduct a speed detecting operation, such detecting operation is poor in accuracy and too slow in response speed. In addition to the above, the Doppler-type speed detecting means often malfunctions in case that there are a plurality of sensors in the vicinity of the speed detecting means. Furthermore, the Doppler-type speed detecting means suffers from its relatively high cost because the speed detecting means requires expensive auxiliary units such as space filters, laser oscillators and the like.
  • the above first object of the present invention is accomplished by providing:
  • a method for controlling shoe slip of a crawler vehicle comprising endless tracks, a torque converter and an engine, characterized in that:
  • a method for controlling shoe slip of a crawler vehicle having an engine comprising the steps of:
  • An apparatus for controlling shoe slip of a crawler vehicle having and engine and endless tracks comprising:
  • a bulldozer or crawler vehicle has a vehicle body 1 on which: a pair of endless tracks 2, 2 are rotatably mounted while arranged side by side; a blade 3 is vertically movably mounted through a blade cylinder 4; and a ripper assembly 8 is mounted while constructed of a ripper shank 5 which is vertically moved by a lift cylinder 6 while tilted by a tilt cylinder 7.
  • Power output of an engine 9 of the crawler vehicle is controlled by an electrically controlled fuel injection pump 11 together with a manually operated throttle lever and a deceleration pedal 12.
  • the electrically controlled fuel injection pump 11 is controlled by an electrically controlled governor 10.
  • an operating or depressing stroke of the deceleration pedal 12 is measured by a sensor 13 which in turn issues a signal to have the power output of the engine of the crawler vehicle drop in proportion to the depressing stroke of the deceleration pedal 12.
  • Pressure oil issued from a pressure oil pump of a working equipment mounted on the crawler vehicle is supplied to the lift cylinder 6 and the tilt cylinder 7 through a control valve mounted in a working oil tank 16 so that these cylinders 6, 7 are actuated to have the ripper shank 5 penetrate the ground or move upward so as to control a ripping load.
  • the pressure oil pump of the working equipment of the crawler vehicle is driven by the engine of the vehicle shown in Fig. 1. As shown in Figs.
  • An power output side of the engine 9 of the crawler vehicle is connected with a pair of track-driving sprockets 22, 22 through: a torque converter 17; a speed change gear or transmission 18; a lateral axle 19; a right and a left steering clutch brake 20, 20; and a right and a left final speed-reduction mechanism 21, 21.
  • An endless track 2 runs round each of the track-driving sprockets 22, 22 of the crawler vehicle.
  • an engine speed sensor 23 for detecting the engine speed of the engine 9
  • a torque converter power output side rotating speed sensor 24 for detecting a rotating speed of a power output side of the torque converter 17
  • a gear shifting sensor 25 for detecting a selected gear ratio of the transmission 18
  • a working equipment pump pressure sensor 26 for detecting a pump pressure in the working equipment of the crawler vehicle
  • an acceleration sensor 27 for detecting an acceleration of the vehicle body 1 in its traveling direction.
  • the reference numeral 29 denotes a track slip control on-off switch.
  • the controller 28 is provided with: a tractive force computing circuit 30; a track traveling speed computing circuit 31; an actual vehicle speed computing circuit 32; a shoe slip rate computing circuit 33; and an engine power output control circuit 34.
  • the tractive force computing circuit 30 of the controller 28 computes a tractive force of the crawler vehicle on the basis of: an engine speed of the engine 9; a torque converter power output side rotating speed of the torque converter 17; and a selected gear ratio of the transmission 18.
  • the track traveling speed computing circuit 31 of the controller 28 computes a track traveling speed of the endless tracks 2 of the crawler vehicle on the basis of: the torque converter power output side rotating speed of the torque converter 17; the selected gear ratio of the transmission 18; a total gear reduction ratio of the power transmission line interposed between the transmission 18 and the track-driving sprockets 22, 22 of the crawler vehicle; and a diameter of each of the sprockets 22, 22.
  • the actual vehicle speed computing circuit 32 of the controller 28 computes an actual vehicle speed of the vehicle body 1 on the basis of the acceleration of the vehicle body 1 in its traveling direction.
  • the shoe slip rate computing circuit 33 of the controller 28 computes a shoe slip rate of each of the endless tracks 2 on the basis of: the track traveling speed; and the actual vehicle speed having been computed.
  • the engine power output control circuit 3a of the controller 28 issues a control signal to the electrically controlled governor 10 to set the engine power output of the engine 9 to a first preset engine power output mode or to a second present engine power output mode according to a pump pressure in the working equipment at a time when a shoe slip rate of the crawler vehicle exceeds a preset value.
  • the method of the present invention comprising the steps of:
  • An accelerometer is mounted on the vehicle body 1 of the crawler vehicle while may be employed as a detecting mechanism for accurately measuring an actual vehicle speed of the vehicle body 1.
  • a critical shoe slip rate of the endless tracks 2, 2 of the crawler vehicle is computed, at which critical shoe slip rate the endless tracks 2, 2 of the crawler vehicle begin to slip.
  • the accelerometer is mounted on the vehicle body 1 in the vicinity of a center of gravity of the crawler vehicle to measure an acceleration value of the crawler vehicle in its traveling direction.
  • the thus measured acceleration value of the vehicle body 1 of the crawler vehicle is integrated with respect to time to determined an actual vehicle speed of the crawler vehicle.
  • the above acceleration value of the crawler vehicle is compensated for with respect to a tilting angle of the ground and-vibration of the vehicle body 1 in operation in its traveling direction. Compensation for the acceleration value of the crawler vehicle may be conducted by employing: a tilt meter; a frequency filter; or a specific computation.
  • Fig. 3 is a flowchart illustrating the operation of an actual vehicle speed computing circuit of the apparatus of the present invention shown in Fig. 1, in which circuit the accelerometer is employed.
  • a shoe slip rate of the endless tracks 2, 2 of the crawler vehicle is computed on the basis of the thus determined actual vehicle speed and a theoretical vehicle speed of the crawler vehicle as follows:
  • a power output modes of the engine 9 are predetermined.
  • the engine power output mode of the engine 9 is set to a cut-off mode to reduce the engine power output of the engine to a predetermined value.
  • the cut-off mode is not required as a result of current operational conditions of: vehicle speeds including the actual vehicle speed and the theoretical vehicle speed of the crawler vehicle; the tractive force of the crawler vehicle; and the working equipment of the crawler vehicle.
  • the engine power output of the vehicle is changed to realize an instant cutting off of the engine power output of the engine 9 of the crawler vehicle.
  • the cutting off of the engine power output is can- , celed to return the operation mode of the engine 9 of the vehicle returns to a normal operation.
  • a ripping work requires the engine 9 of the bulldozer to operate under a basic power output mode which is different from a normal power output mode.
  • a basic mode tractive force characteristic curve B is different from a tractive force characteristic curve A of a normal forward first speed drive of the bulldozer.
  • the basic mode tractive force characteristic curve B is moved parallel to a vertical coordinate axis or tractive force axis of the diagram of Fig. 5 to form a first engine power output mode tractive force characteristic curve C and a second engine power output mode tractive force characteristic curve D.
  • the engine 9 of the bulldozer is operated under the first engine power output mode so that the bulldozer produces a tractive force specified by the first engine power output mode tractive force characteristic curve C of the diagram shown in Fig. 5.
  • the engine 9 of the bulldozer is operated under the second engine power output mode so that the bulldozer produces a tractive force specified by the second engine power output mode tractive force characteristic curve D of the diagram shown in Fig. 5.
  • the second engine power output mode tractive force characteristic curve D or the first engine power output mode tractive force characteristic curve C of the diagram of Fig. 5 is selected in operation of the engine 9 of the bulldozer.
  • Fig. 7. is the flowchart illustrating the above- mentioned organized procedure steps and data flow according to the method of the present invention.
  • the low-pass filter 30 issues a signal to an AD converter 31 in which both of the signal having been issued from the low-pass filter 30 and a signal based on the torque converter power output side rotating speed are converted into digital signals which are in turn issued to the controller 28 from the AD converter 31.
  • the controller 28 computes a slip acceleration s of the bulldozer very 0.05 seconds as follows:
  • Figs. 9A and 9B are referred to.
  • Fig. 9B when the load exceeds a preset value, a sudden slippage of the endless tracks 2, 2 of the bulldozer occurs to increase the shoe slip rate.
  • Fig. 9A a slip acceleration assuming a pulse-like form having a pulse width of from 0.5 to 1.0 seconds and a pulse magnitude of from 0.1 to 0.3 G is produced.
  • an incremental rate of the slip acceleration is 0.6 G / second, i.e., 0.03 G / 0.05 seconds.
  • the slip acceleration is computed very 0.05 seconds, as is clear from a dotted curve in the diagram shown in Fig. 9D, it is possible to determine as to whether the slip acceleration is caused by a slippage of the bulldozer or by a tilting angle of the bulldozer.
  • the shoe slip rate S is computed in the shoe slip rate computing circuit of the controller according to the following equation:
  • shoe slip rate S is computed as described above, it is possible to accurately compute the shoe slip rate S of the bulldozer even if the vehicle body 1 of the bulldozer vibrates and tilts during working operations thereof.
  • the method of the present invention may be carried out through the following means:
  • the step of detecting the actual vehicle speed of the method of the present invention it is possible to directly detect the actual vehicle speed of the bulldozer by the use of a space filter and a Doppler sensor.
  • the method of the present invention it is also possible for the method of the present invention to employ: ratios of rotating speeds of a driving member of the torque converter in the power line of the bulldozer to rotating speeds of a driven member of the same torque converter; manual switching operations conducted by the operator of the bulldozer; and dial setting technique.
  • the step is accomplished by controlling the electrically controlled governor through an analogue control technique based on the shoe slip rate of the bulldozer.
  • the step of recovering the engine power output of the bulldozer is accomplished by: having the operator of the bulldozer depress a recovering or return button; and determining an engine power output recovering point with reference to the vehicle speed and the tractive force of the bulldozer, at which point the cutting off of the engine power output is canceled to enable the engine of the bulldozer to return to its normal operating condition.
  • the method and apparatus of the present invention for controlling the shoe slip of the crawler vehicle it is possible to improve the crawler vehicle in its fuel consumption rate and to decrease shoe wear of the crawler vehicle, so that the crawler vehicle is improved in its durability.
  • the method and apparatus of the present invention enables the operator of the crawler vehicle to drastically reduce the number of times of his manual operation of the deceleration pedal of the crawler vehicle during working operations of the vehicle, which makes operation of the crawler vehicle easy. Consequently, it is believed that the present invention is widely used in industry.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

Le procédé et le dispositif ci-décrits servent à empêcher automatiquement le glissement excessif d'une chenille au-delà de l'état où on atteint une force de traction maximale, et déchargent l'opérateur d'une tâche fastidieuse qui requiert un niveau élevé d'habileté. Le procédé de commande peut être appliqué par la commutation du mode de fonctionnement en un mode déterminé de puissance du moteur lorsque un rapport de glissement de sabot de chenille dépasse une valeur déterminée pendant le fonctionnement du véhicule. Le dispositif comprend un organe détecteur d'accélération (27) dans le sens de déplacement du véhicule, un circuit de calcul (32) de la vitesse réelle de déplacement du véhicule en fonction de l'accélération détectée, un circuit de calcul (33) du rapport de glissement de sabot de chenille à partir de la vitesse réelle du véhicule et de la vitesse de déplacement de la chenille, et un circuit de commande de la puissance du moteur servant à commuter le mode de puissance du moteur en fonction du rapport calculé de glissement de sabot de chenille.
EP19880908325 1987-09-14 1988-09-14 Shoe slip control method and apparatus therefor for caterpillar ?r vehicle Ceased EP0383913A4 (en)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
JP230826/87 1987-09-14
JP23082687A JPS6473142A (en) 1987-09-14 1987-09-14 Shoe slip control method for crawler vehicle
JP23111587A JPH07107278B2 (ja) 1987-09-17 1987-09-17 ブルドーザの履帯スリップ検知装置
JP231116/87 1987-09-17
JP231115/87 1987-09-17
JP23111687A JPS6475724A (en) 1987-09-17 1987-09-17 Prevention of crawler slip in bulldozer with ripper device

Publications (2)

Publication Number Publication Date
EP0383913A1 true EP0383913A1 (fr) 1990-08-29
EP0383913A4 EP0383913A4 (en) 1991-03-13

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP19880908325 Ceased EP0383913A4 (en) 1987-09-14 1988-09-14 Shoe slip control method and apparatus therefor for caterpillar ?r vehicle

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EP (1) EP0383913A4 (fr)
WO (1) WO1989002520A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5219411A (en) * 1988-05-16 1993-06-15 Kabushiki Kaisha Komatsu Seisakusho Adaptive engine output mode setting method based on shoe slip
US5265705A (en) * 1989-11-17 1993-11-30 Kabushiki Kaisha Komatsu Seisakusho Method of preventing wheel loader from slipping

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS56135638A (en) * 1980-03-25 1981-10-23 Komatsu Ltd Load controller for working machine
JPS56131721A (en) * 1980-03-18 1981-10-15 Komatsu Ltd Load controller for working machine
JPS58123932A (ja) * 1982-01-18 1983-07-23 Caterpillar Mitsubishi Ltd 土工車輌のスリツプ自動補正装置
US4518044A (en) * 1982-03-22 1985-05-21 Deere & Company Vehicle with control system for raising and lowering implement
JPS60245859A (ja) * 1984-05-17 1985-12-05 Caterpillar Mitsubishi Ltd ガバナコントロ−ルレバ−制御装置
JPS61155524A (ja) * 1984-12-27 1986-07-15 Hitachi Constr Mach Co Ltd 車輪式掘削積込機の油圧回路
JPH0615785B2 (ja) * 1985-09-06 1994-03-02 積水化学工業株式会社 ユニット建物

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO8902520A1 *

Also Published As

Publication number Publication date
WO1989002520A1 (fr) 1989-03-23
EP0383913A4 (en) 1991-03-13

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