JP2520771B2 - Control method and apparatus for loading work vehicle - Google Patents

Control method and apparatus for loading work vehicle

Info

Publication number
JP2520771B2
JP2520771B2 JP2187869A JP18786990A JP2520771B2 JP 2520771 B2 JP2520771 B2 JP 2520771B2 JP 2187869 A JP2187869 A JP 2187869A JP 18786990 A JP18786990 A JP 18786990A JP 2520771 B2 JP2520771 B2 JP 2520771B2
Authority
JP
Japan
Prior art keywords
torque
variable displacement
engine
pump
hydraulic pump
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.)
Expired - Fee Related
Application number
JP2187869A
Other languages
Japanese (ja)
Other versions
JPH0476126A (en
Inventor
政典 碇
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 METSUKU KK
Komatsu Ltd
Original Assignee
KOMATSU METSUKU KK
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
Application filed by KOMATSU METSUKU KK, Komatsu Ltd filed Critical KOMATSU METSUKU KK
Priority to JP2187869A priority Critical patent/JP2520771B2/en
Priority to EP91912321A priority patent/EP0539589B1/en
Priority to DE69123971T priority patent/DE69123971T2/en
Priority to PCT/JP1991/000948 priority patent/WO1992001869A1/en
Publication of JPH0476126A publication Critical patent/JPH0476126A/en
Application granted granted Critical
Publication of JP2520771B2 publication Critical patent/JP2520771B2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

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
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump
    • 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
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
    • E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller
    • 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
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
    • F02D29/04—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving pumps

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Positive-Displacement Pumps (AREA)
  • Operation Control Of Excavators (AREA)

Description

【発明の詳細な説明】 （産業上の利用分野） この発明は積み込み作業を主とするホイールローダ等
の建設車両の制御方法，及び装置に関するものである。Description: TECHNICAL FIELD The present invention relates to a method and apparatus for controlling a construction vehicle such as a wheel loader mainly for loading work.

（従来の技術） 従来の積み込み作業を主とするホイールローダにおい
て，可変容量油圧ポンプを用いた作業機制御システム図
を第７図に示す。図を参照してエンジンＥはアクセルペ
ダルapを操作することによりリンケージliを介してガバ
ナgvにより制御される。そしてエンジンＥの出力はトル
クコンバータＴと歯車装置Ｇとに伝達され，歯車装置Ｇ
へ伝達された出力は，可変容量油圧ポンプPVを駆動す
る。可変容量油圧ポンプPVはサーボシリンダSCを介して
可変容量ポンプ制御バルブpcによって圧油量が制御され
る。バケット操作パイロット弁ALを操作すると，バケッ
トメイン操作弁AVが操作されて，バケットシリンダACを
介してバケットＡが回動した後方にチルトまたは前方に
ダンプされる。またブーム操作パイロット弁BLを操作す
ると，ブームメイン操作弁BVが操作されて，ブームシリ
ンダBCを介してブームＢが回動して上方にリフト，また
は下方にダウンされる。PPはパイロットポンプである。(Prior Art) FIG. 7 shows a work machine control system diagram using a variable displacement hydraulic pump in a conventional wheel loader mainly for loading work. Referring to the figure, the engine E is controlled by the governor gv via the linkage li by operating the accelerator pedal ap. The output of the engine E is transmitted to the torque converter T and the gear device G, and the gear device G
The output transmitted to drives the variable displacement hydraulic pump PV. The variable displacement hydraulic pump PV is controlled in amount of pressure oil by a variable displacement pump control valve pc via a servo cylinder SC. When the bucket operation pilot valve AL is operated, the bucket main operation valve AV is operated, and the bucket A is tilted backward or dumped forward via the bucket cylinder AC. When the boom operation pilot valve BL is operated, the boom main operation valve BV is operated and the boom B is rotated via the boom cylinder BC to be lifted up or down. PP is a pilot pump.

（発明が解決しようとする課題） 上記従来の作業機制御システムにおける可変容量油圧
ポンプの圧力−流量特性図を第８図に示す。図に示すよ
うに最大油圧トルクTX1,またはTX2に相当するポンプ吐
出油圧Ｐに従ってポンプ流量Ｑを変化させることによっ
て，高圧時の油圧トルクを必要かつ十分な量に制限する
ものである。しかし上記第８図に示したような油圧ポン
プPVと，駆動系の動力伝達装置（トルクコンバータＴ）
とがエンジンＥの出力を分配する車両においては，第９
図に示すように油圧による消費出力の減少分は駆動系に
よって吸収されるため，駆動力がその分上昇して作業機
出力に対する駆動系出力の割合が大きくなり，土砂等の
すくい込みを行なう車両においては作業性を損なうとい
う大きい問題点があった。すなわち第８図及び第９図を
参照して， （１） 作業機ポンプの油圧トルク特性をTX1からTX2に
低減すると，トルクコンバータの吸収トルクが逆にTtx1
からTtx2に増加し，油圧出力と駆動出力の配分が逆転し
てしまう。(Problems to be Solved by the Invention) FIG. 8 shows a pressure-flow rate characteristic diagram of the variable displacement hydraulic pump in the conventional work machine control system. As shown in the figure, by changing the pump flow rate Q according to the pump discharge oil pressure P corresponding to the maximum oil pressure torque T X1 or T X2 , the oil pressure torque at high pressure is limited to a necessary and sufficient amount. However, the hydraulic pump PV as shown in FIG. 8 and the power transmission device of the drive system (torque converter T)
In vehicles where and distribute the output of engine E,
As shown in the figure, the decrease in consumption output due to hydraulic pressure is absorbed by the drive system, so the drive force increases accordingly and the ratio of the drive system output to the output of the work machine increases, so that a vehicle that scoops up soil However, there was a big problem that the workability was impaired. That is, referring to FIG. 8 and FIG. 9, (1) When the hydraulic torque characteristic of the work implement pump is reduced from T X1 to T X2 , the absorption torque of the torque converter is reversed to T tx1
To T tx2 , and the distribution of hydraulic output and drive output reverses.

（２） 作業機油圧が高圧になるとX1点,X2点の油圧ト
ルクTX1,TX2からＹ点の油圧トルクTYへ油圧トルクが減
少するため，トルクコンバータの吸収トルクがTtx1,T
tx2からTtyへ増加し，駆動力が過大になる。(2) When the working machine hydraulic pressure becomes high X 1 point, since the hydraulic torque T X1, T X2 of X 2 points hydraulic torque decreases to the hydraulic torque T Y in the Y point, the absorption torque of the torque converter T tx1, T
Increases from tx2 to Tty , resulting in excessive driving force.

（課題を解決するための手段及び作用） この発明は上記問題点を解消するためになされたもの
であって，作業機作動用可変容量油圧ポンプと車両駆動
用トルクコンバータを備えた積み込み作業車両におい
て，エンジン出力特性を段階的に選択可能な電子制御式
ガバナを設け，及び上記可変容量ポンプの最大容量及び
出力トルクを段階的に設定する電磁パイロット弁，ポン
プ容量検出器，油圧検出器を設けることにより，エンジ
ンの出力特性及び可変容量ポンプの出力特性の選択スイ
ッチ（以下においてＭモード操作スイッチと記す）を設
け，エンジン出力特性をコントロールする電子ガバナコ
ントローラと，可変容量ポンプの最大容量及び出力トル
ク特性を選択設定する可変ポンプコントローラとを設
け，前記Ｍモード操作スイッチの選択によって油圧出力
及び駆動出力の大きさと配分を制御し，作業性の改善を
行う。(Means and Actions for Solving the Problem) The present invention has been made to solve the above problems, and provides a loading work vehicle including a variable displacement hydraulic pump for operating a working machine and a torque converter for driving a vehicle. Provide an electronically controlled governor that can select the engine output characteristics stepwise, and provide an electromagnetic pilot valve, pump displacement detector, and hydraulic pressure detector that set the maximum displacement and output torque of the variable displacement pump in stages. Therefore, an electronic output governor controller for controlling the engine output characteristics and a maximum displacement and output torque characteristics of the variable displacement pump are provided with a selection switch for the engine output characteristics and the output characteristic of the variable displacement pump (hereinafter referred to as M mode operation switch). And a variable pump controller for selectively setting the M mode operation switch. Therefore, the size and distribution of hydraulic output and drive output are controlled to improve workability.

また，可変容量油圧ポンプの吐出圧力または出力トル
クに応じて上記電子制御式ガバナの最高回転設定（以下
においてレギュレーション特性と記す），またはエンジ
ントルク設定を低下させることによりトルクコンバータ
の吸収トルク変動幅をおさえて，土砂のすくい込み時の
駆動力の過大な増加を防止する。Further, the absorption torque fluctuation range of the torque converter can be reduced by decreasing the maximum rotation setting (hereinafter referred to as the regulation characteristic) of the electronically controlled governor or the engine torque setting according to the discharge pressure or output torque of the variable displacement hydraulic pump. Hold down to prevent an excessive increase in driving force when scooping earth and sand.

さらに，上記制御装置において可変容量ポンプの吐出
流量のカットオフ圧力の設定を段階的に選択可能な選択
スイッチ（以下においてＬモード操作スイッチと記す）
を設け，該Ｌモード操作スイッチの選択段と，上記Ｍモ
ード操作スイッチの選択段とによって，作業機力と駆動
力との動力配分の選択がマトリックス的に可能になるよ
うにしたものである。Further, in the above control device, a selection switch capable of stepwise selecting the setting of the cutoff pressure of the discharge flow rate of the variable displacement pump (hereinafter referred to as L mode operation switch)
By providing the L-mode operation switch selection stage and the M-mode operation switch selection stage, the power distribution between the working machine force and the driving force can be selected in a matrix manner.

（実施例） 次にこの発明による実施例について図面を用いて説明
する。(Embodiment) Next, an embodiment according to the present invention will be described with reference to the drawings.

第１図はこの発明による積み込み作業車両の制御シス
テムの一実施例であって，上記第７図について説明した
従来の制御システムと同様な作用をする装置には同一の
符号を付してある。そしてエンジンＥには出力特性を段
階的に選択可能な電子制御式ガバナ10を装着し，電子カ
バナコントローラ11を設けて，次の（１）〜（４）の入
力信号に応じて電子制御式ガバナ10をコントロールす
る。FIG. 1 is an embodiment of a control system for a loading work vehicle according to the present invention, in which devices having the same functions as those of the conventional control system described with reference to FIG. The engine E is equipped with an electronically controlled governor 10 capable of selecting output characteristics stepwise, an electronic cabana controller 11 is provided, and an electronically controlled governor is provided in accordance with the following input signals (1) to (4). Control 10

（１） 歯車装置Ｇに設けた回転センサ12によるエンジ
ン回転数NE （２） 可変ポンプコントローラ41からの可変容量ポン
プPVの制御情報（を入力信号として受け取るとともに，
電子ガバナコントローラ11から可変容量ポンプコントロ
ーラ41へ情報を送る） （３） 電子ペダル41からの踏角信号θＡ （４） Ｍモード操作スイッチ２からのＭモード選択信
号 可変ポンプコントローラ41は電子ガバナコントローラ
11との間で信号の受授をすると同時に，次の（５）〜
（８）の入力信号に応じて，電磁パイロットバルブ46へ
該バルブ46を切換える。(1) Engine speed N E by the rotation sensor 12 provided in the gear unit G (2) Control information of the variable displacement pump PV from the variable pump controller 41 (while receiving as input signal,
(Information is sent from the electronic governor controller 11 to the variable displacement pump controller 41) (3) Stepping angle signal θ A from the electronic pedal 41 (4) M mode selection signal from the M mode operation switch 2 The variable pump controller 41 is an electronic governor controller
At the same time as sending and receiving signals to and from 11, the following (5)-
The electromagnetic pilot valve 46 is switched to the electromagnetic pilot valve 46 according to the input signal (8).

（５） Ｍモード操作スイッチ42からのＭモード選択信
号 （６） Ｌモード操作スイッチ43からのＬモード選択信
号 （７） 可変容量ポンプPVの吐出油路に設けて吐出圧を
検出する圧力検出器44からの油圧信号 （８） 可変容量ポンプPVのポンプ容量を検出するポン
プ容量検出器45からの圧油吐出量信号 次に作用について説明する。(5) M mode selection signal from the M mode operation switch 42 (6) L mode selection signal from the L mode operation switch 43 (7) Pressure detector provided in the discharge oil passage of the variable displacement pump PV to detect the discharge pressure Hydraulic signal from 44 (8) Pressure oil discharge amount signal from pump displacement detector 45 for detecting pump displacement of variable displacement pump PV Next, the operation will be described.

（Ａ）第２図は可変容量ポンプPVの圧力−流量特性曲線
の一実施例であって,Mモード操作スイッチ42を操作する
ことにより,M1モード,M2モード,M3モードのような複数
個のＭモードを段階的に設定可能とし，それに合わせて
電子制御式ガバナ10によりエンジンＥのトルク特性を第
３図（イ），（ロ），（ハ）においてそれぞれM1,M2,M3
モード時エンジントルク曲線で示したように設定する
し，またＬモード操作スイッチ43を操作することによ
り，作業機最高油圧力をL1モード,L2モード,L3モードの
ような複数個のＬモードを段階的に設定可能とする。(A) FIG. 2 shows an embodiment of the pressure-flow rate characteristic curve of the variable displacement pump PV. By operating the M mode operation switch 42, a plurality of M1 mode, M2 mode, M3 mode The M mode can be set in stages, and the torque characteristics of the engine E are changed to M1, M2, M3 in FIGS. 3 (a), (b) and (c) by the electronically controlled governor 10 accordingly.
By setting as shown by the engine torque curve in the mode and operating the L mode operation switch 43, the maximum hydraulic pressure of the working machine can be set in a plurality of L modes such as L1 mode, L2 mode and L3 mode. Can be set manually.

それによって，例えばM1モードとL1モード,M2モード
とL2モード,M3モードとL3モードを各々組合せた場合，
最大トルク点はB1,B2,B3,その油圧トルクはそれぞれ
TB1,TB2,TB3となり，その時のトルクコンバータの吸収
トルク点がそれぞれ第３図（イ），（ロ），（ハ）の
B1′,B2′,B3′となって，油圧トルクの大小関係TB1＞T
B2＞TB3と，駆動力（トルクコンバータの吸収トルク
量）の大小関係（B1′点のトルク）＞（B2′点のトル
ク）＞（B3′点のトルク）とを合わせることが可能とな
る。Therefore, for example, when combining M1 mode and L1 mode, M2 mode and L2 mode, M3 mode and L3 mode respectively,
The maximum torque points are B 1 , B 2 , B 3 , and their hydraulic torques are
T B1 , T B2 , T B3 , and the absorption torque points of the torque converter at that time are shown in Fig. 3 (a), (b), and (c), respectively.
B 1 ′, B 2 ′, B 3 ′, and the magnitude relation of hydraulic torque T B1 > T
B2 > T B3 can be combined with the magnitude relationship of the driving force (absorption torque amount of the torque converter) (torque at B 1 ′ point)> (torque at B 2 ′ point)> (torque at B 3 ′ point). It will be possible.

（Ｂ）可変容量ポンプPVの吐出圧力が高圧時（この実施
例ではPA以上）で，第２図に示したように油圧トルクが
油圧に比例しなくなると，トルクコンバータの吸収トル
ク変動を少なくするため，第３図（イ），（ロ），
（ハ）に示すように電子制御式ガバナ10によりエンジン
Ｅの最高回転数（オールスピードガバナのレギュレーシ
ョン）をNC1,NC2,NC3からそれぞれNC1′,NC2′,NC3′に
変更する。たとえば第２図，第３図（イ），（ロ），
（ハ）の実施例では油圧PAの油圧トルクTA1,TA2,TA3前
後でエンジンの最高回転を切替えており，油圧トルクT
A1,TA2,TA3の時がトルクコンバータの吸収トルクがそれ
ぞれA1′,A2′,A3′になる。また、第２図の同一油圧ト
ルク点A4,A5,A6とB4,B5,B6とでは，それぞれ第３図
（イ），（ロ），（ハ）におけるA4′,A5′,A6′と
B4′,B5′,B6′とにトルクコンバータの吸収トルク量を
変化させている。このようにすることで可変容量油圧ポ
ンプPVの吐出圧が高圧時に，油圧トルクが変動しても，
第３図（イ），（ロ），（ハ）におけるB4′,B5′,B6′
のようにトルクコンバータの吸収トルク変動幅をおさえ
ることができ，土砂のすくい込み時の駆動力の過大な増
加を防ぐことができるものである。(B) When the discharge pressure of the variable displacement pump PV is high (P A or higher in this embodiment) and the hydraulic torque is no longer proportional to the hydraulic pressure as shown in FIG. 2, the absorption torque fluctuation of the torque converter is reduced. In order to do so,
As shown in (c), the maximum speed of engine E (regulation of all speed governor) is changed from N C1 , N C2 , N C3 to N C1 ′, N C2 ′, N C3 ′ by electronically controlled governor 10. To do. For example, Figure 2, Figure 3 (a), (b),
In the example of (C), the maximum engine speed is switched before and after the hydraulic torque T A1 , T A2 , T A3 of the hydraulic pressure P A.
When A1 , T A2 , T A3 , the absorption torque of the torque converter is A 1 ′, A 2 ′, A 3 ′, respectively. Also, at the same hydraulic torque points A 4 , A 5 , A 6 and B 4 , B 5 , B 6 in FIG. 2, A 4 ′, B in FIG. A 5 ′, A 6 ′
The absorbed torque amount of the torque converter is changed to B 4 ′, B 5 ′, B 6 ′. By doing so, even if the hydraulic torque fluctuates when the discharge pressure of the variable displacement hydraulic pump PV is high,
B 4 ′, B 5 ′ and B 6 ′ in Fig. 3 (a), (b) and (c)
As described above, the fluctuation range of the absorption torque of the torque converter can be suppressed, and an excessive increase in the driving force at the time of scooping of earth and sand can be prevented.

次にこの制御方法の実施例を第４図（イ）及び（ロ）
に示すフローチャートで説明する。Next, an embodiment of this control method is shown in FIGS.
It will be described with reference to the flowchart shown in FIG.

第４図（イ）は作業機油圧がPA1（またはPA2,PA3）以
上でのポンプ容量カットオフ時，油圧トルクがTA1（ま
たはTA2,TA3）以下となるとエンジン最高回転セットを
減少させるときの電子制御式ガバナ10の制御フローを示
し，第４図（ロ）は作業機油圧がPB1（またはPB2,PB3）
以上でのポンプ容量カットオフ時，油圧トルクがT
B1（またはTB2,TB3）以下となると，作業機油圧に従っ
て目標エンジン回転数を制御するときの電子制御式ガバ
ナ10の制御フローである。Fig. 4 (a) shows the maximum engine speed set when the hydraulic torque becomes T A1 (or T A2 , T A3 ) or less at the pump capacity cutoff when the work equipment hydraulic pressure is P A1 (or P A2 , P A3 ) or more. Fig. 4 (b) shows the control flow of the electronically controlled governor 10 when decreasing the engine pressure. Fig. 4 (b) shows that the work equipment hydraulic pressure is P B1 (or P B2 , P B3 ).
At the pump capacity cutoff above, the hydraulic torque is T
Below B1 (or T B2 , T B3 ) is the control flow of the electronically controlled governor 10 when controlling the target engine speed according to the working machine hydraulic pressure.

また，以上の作用は可変容量ポンプPVの油圧トルクの
大きさに応じて，エンジントルクを低下させても同様の
効果が得られるものである。In addition, the above-described actions have the same effect even when the engine torque is reduced according to the magnitude of the hydraulic torque of the variable displacement pump PV.

これを第５図を用いて説明する。上記第２図に示した
ポンプ吐出圧力PA以上で，ポンプ油圧トルクがTA1より
低下した場合，例えば第２図のB4点の油圧トルクT
B4（＝TA4）ではｋ（TA1−TB4）分だけエンジントルク
を低減させると,A4′点をB4′点へ移動させることがで
きるものである。This will be described with reference to FIG. When the pump hydraulic pressure torque is lower than T A1 above the pump discharge pressure P A shown in FIG. 2, for example, the hydraulic torque T at B 4 point in FIG.
For B4 (= T A4 ), if the engine torque is reduced by k (T A1 −T B4 ), point A 4 ′ can be moved to point B 4 ′.

（Ｃ）このように作業機油圧の高圧時のトルクコンバー
タの吸収トルク量の変動を少なくし，エンジン出力選択
段での油圧トルクと駆動トルクの大小関係を合わせるよ
うにしたこと，及び可変容量ポンプPVの吐出流量をカッ
トオフ圧力を段階的に選択可能としたことにより，第６
図（イ）に示すように作業機油圧力の選択段によって決
まる作業機力L1,L2,L3と，エンジン出力選択段によって
バランスする駆動力M1,M2,M3との動力配分の選択がマト
リックス的に可能になる。なお，第６図（ロ）は作業機
装置における作業機油圧力Ｌと駆動力Ｍの作用を説明す
る図面である。(C) As described above, the fluctuation of the absorption torque amount of the torque converter when the working machine hydraulic pressure is high is reduced, and the magnitude relationship between the hydraulic torque and the driving torque at the engine output selection stage is matched, and the variable displacement pump. By making it possible to select the cutoff pressure of the PV discharge flow rate in stages,
As shown in Fig. (A), the selection of the power distribution between the working machine forces L1, L2, L3 determined by the working machine oil pressure selection stage and the driving forces M1, M2, M3 balanced by the engine output selection stage is matrix-like. It will be possible. 6 (b) is a drawing for explaining the action of the working machine oil pressure L and the driving force M in the working machine device.

（発明の効果） この発明は以上詳述したようにして成るので，可変容
量油圧ポンプの高圧時に油圧トルクが変動してもトルク
コンバータの吸収トルク変動幅をおさえることができ，
土砂のすくい込み時の駆動力の過大な増加を防止でき
て，すくい込み作業が容易に，かつ効率良く実施でき，
また，さらに作業機力と駆動力の動力配分の選択がマト
リックス的に可能となるので，多様な作業形態に容易に
対応できるという大きい効果を奏するものである。(Effects of the Invention) Since the present invention is configured as described above in detail, the absorption torque fluctuation range of the torque converter can be suppressed even if the hydraulic torque fluctuates when the variable displacement hydraulic pump is at a high pressure.
It is possible to prevent an excessive increase in driving force when scooping earth and sand, making scooping work easy and efficient,
Further, since the power distribution of the working machine power and the driving force can be selected in a matrix manner, it is possible to easily cope with various working modes, which is a great effect.

【図面の簡単な説明】[Brief description of drawings]

第１図はこの発明による積み込み作業車両の制御システ
ムの一実施例，第２図は可変容量ポンプPVの圧力−流量
特性曲線の説明図，第３図（イ），（ロ），（ハ）はＭ
モードとＬモードの組合せによるパワー配分の説明図，
第４図（イ），（ロ）はこの発明による作業機制御方法
のフローチャート，第５図は油圧トルクに応じてエンジ
ントルク設定を低下させる制御方法の説明図，第６図
（イ），（ロ）は作業機油圧力Ｌと駆動力Ｍとの間の動
力配分マトリックスを説明する図面，第７図，第８図，
及び第９図は従来のものの説明用図面である。 10……電子制御式ガバナ 11……電子ガバナコントローラ 12……回転センサ、14……電気ペダル 41……可変ポンプコントローラ 41……Ｍモード操作スイッチ 43……Ｌモード操作スイッチ 44……圧力検出器、45……ポンプ容量検出器 46……電磁パイロットバルブFIG. 1 is an embodiment of a control system for a loading work vehicle according to the present invention, and FIG. 2 is an explanatory view of a pressure-flow rate characteristic curve of a variable displacement pump PV, and FIGS. 3 (a), (b) and (c). Is M
Explanatory drawing of power distribution by combination of mode and L mode,
FIGS. 4 (a) and 4 (b) are flowcharts of the work machine control method according to the present invention, FIG. 5 is an explanatory view of a control method for lowering the engine torque setting according to the hydraulic torque, and FIGS. 6 (a) and 6 (b). (B) is a drawing for explaining a power distribution matrix between the working machine oil pressure L and the driving force M, FIG. 7, FIG.
9 and FIG. 9 are explanatory drawings of the conventional one. 10 …… Electronic control type governor 11 …… Electronic governor controller 12 …… Rotation sensor, 14 …… Electric pedal 41 …… Variable pump controller 41 …… M mode operation switch 43 …… L mode operation switch 44 …… Pressure detector , 45 …… Pump capacity detector 46 …… Electromagnetic pilot valve

Claims (3)

(57)【特許請求の範囲】(57) [Claims] 【請求項１】作業機作動用可変容量油圧ポンプと車両駆
動用トルクコンバータを備えた積み込み作業車両におい
て，出力特性を段階的に選択可能な電子制御式ガバナを
備えたエンジンと；作業機作動用の可変容量油圧ポンプ
の最大容量及び出力トルクを段階的に設定する手段と；
ポンプ容量及び油圧を検出する手段と；を設け，エンジ
ンの出力特性選択スイッチと，該選択スイッチによって
選択された出力特性に制御するガバナコントローラと；
該選択スイッチによって選択されたエンジン出力特性に
合わせ，可変容量油圧ポンプの最大容量及び出力トルク
特性を選択設定するポンプコントローラを設けたことを
特徴とする積み込み車両の制御装置。1. A loading work vehicle equipped with a variable displacement hydraulic pump for operating a working machine and a torque converter for driving a vehicle, and an engine having an electronically controlled governor capable of stepwise selection of output characteristics; Means for stepwise setting the maximum displacement and output torque of the variable displacement hydraulic pump of
Means for detecting pump capacity and hydraulic pressure; and an output characteristic selection switch of the engine, and a governor controller for controlling the output characteristic selected by the selection switch;
A control device for a loading vehicle, comprising a pump controller for selectively setting a maximum displacement and an output torque characteristic of a variable displacement hydraulic pump according to an engine output characteristic selected by the selection switch. 【請求項２】上記請求項第１項における制御装置におい
て，可変容量油圧ポンプの吐出圧力または出力トルクに
応じて，上記電子制御式ガバナの最高回転設定（レギュ
レーション特性），またはエンジントルク設定を低下さ
せることを特徴とする積み込み車両のエンジン及び可変
容量油圧ポンプの制御方法。2. The control device according to claim 1, wherein the maximum rotation setting (regulation characteristic) or engine torque setting of the electronically controlled governor is lowered according to the discharge pressure or output torque of the variable displacement hydraulic pump. A method for controlling an engine of a loading vehicle and a variable displacement hydraulic pump, the method comprising: 【請求項３】上記請求項第１項における制御装置におい
て，可変容量油圧ポンプの吐出流量のカットオフ圧力の
設定を段階的に選択可能な選択スイッチを設け，該カッ
トオフ圧力選択スイッチの選択段と上記請求項第１項に
おける最大容量及び出力トルクの選択スイッチの選択段
とによって，可変容量油圧ポンプの吐出流量−吐出圧力
特性を決定するように制御することを特徴とする，可変
容量油圧ポンプの制御方法。3. The control device according to claim 1, further comprising a selection switch capable of stepwise selecting the setting of the cutoff pressure of the discharge flow rate of the variable displacement hydraulic pump, and the selection stage of the cutoff pressure selection switch. And a selection stage of the maximum capacity and output torque selection switch according to claim 1 for controlling so as to determine a discharge flow rate-discharge pressure characteristic of the variable capacity hydraulic pump. Control method.
JP2187869A 1990-07-18 1990-07-18 Control method and apparatus for loading work vehicle Expired - Fee Related JP2520771B2 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2187869A JP2520771B2 (en) 1990-07-18 1990-07-18 Control method and apparatus for loading work vehicle
EP91912321A EP0539589B1 (en) 1990-07-18 1991-07-16 Method and unit for controlling vehicle for loading operation
DE69123971T DE69123971T2 (en) 1990-07-18 1991-07-16 METHOD AND DEVICE FOR CONTROLLING A VEHICLE FOR LOADING OPERATION
PCT/JP1991/000948 WO1992001869A1 (en) 1990-07-18 1991-07-16 Method and unit for controlling vehicle for loading operation

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2187869A JP2520771B2 (en) 1990-07-18 1990-07-18 Control method and apparatus for loading work vehicle

Publications (2)

Publication Number Publication Date
JPH0476126A JPH0476126A (en) 1992-03-10
JP2520771B2 true JP2520771B2 (en) 1996-07-31

Family

ID=16213642

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2187869A Expired - Fee Related JP2520771B2 (en) 1990-07-18 1990-07-18 Control method and apparatus for loading work vehicle

Country Status (4)

Country Link
EP (1) EP0539589B1 (en)
JP (1) JP2520771B2 (en)
DE (1) DE69123971T2 (en)
WO (1) WO1992001869A1 (en)

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Also Published As

Publication number Publication date
DE69123971D1 (en) 1997-02-13
EP0539589A1 (en) 1993-05-05
EP0539589B1 (en) 1997-01-02
EP0539589A4 (en) 1995-03-22
JPH0476126A (en) 1992-03-10
DE69123971T2 (en) 1997-04-30
WO1992001869A1 (en) 1992-02-06

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