JP7399822B2 - work equipment - Google Patents

Description

The present invention relates to working machines such as skid steer loaders and compact track loaders.

BACKGROUND ART Conventionally, a technique disclosed in Patent Document 1 has been known as a technique for preventing engine stall in working machines such as skid steer loaders and compact track loaders.
The working machine disclosed in Patent Document 1 includes an engine, an HST pump driven by the power of the engine, a travel operation device that operates the HST pump, and a travel primary side pressure that is the pressure on the primary side of the travel operation device. It includes a pressure control valve and a control device that controls the pressure control valve.

The control device performs anti-stall control to prevent engine stall. Anti-stall control prevents engine stall by controlling the pressure control valve based on the no-load characteristic line, which is adopted when there is no load, and the drop characteristic line, which is adopted when a load above a predetermined level is applied to the engine. is prevented. In other words, by controlling the pressure control valve to rapidly reduce the primary travel pressure when a running load of more than a predetermined level is applied to the work equipment, the drop in engine speed is minimized, thereby preventing engine stall. We are trying to prevent this.

Japanese Patent Application Publication No. 2013-36274

However, in the technology disclosed in Patent Document 1, if the responsiveness of the anti-stall control is poor, a larger engine drop than expected occurs, reducing work efficiency, and a decrease in the flow rate of the HST pump occurs when recovering from an engine drop. There is a possibility that this may lead to a feeling that running power is reduced.
SUMMARY OF THE INVENTION An object of the present invention is to provide a working machine that can prevent a reduction in work efficiency due to excessive engine drop and a feeling that running power is reduced when recovering from engine drop.

The technical means taken by the present invention to solve the above technical problems are characterized by the following points.
A working machine according to one aspect of the present invention includes a prime mover, a traveling pump that operates by the power of the prime mover and discharges hydraulic oil, a traveling motor that can be rotated by the hydraulic oil discharged by the traveling pump, and an operation member. An operation valve that can change the pilot pressure of pilot oil output to the travel pump according to the operation, and an operation that is activated by a control signal and can change the primary pressure that is the pilot pressure of the pilot oil supplied to the operation valve. a valve, a rotation detection device that detects the actual rotation speed of the prime mover, and the control that outputs to the operating valve according to a drop rotation speed that is a difference between the target rotation speed of the prime mover and the actual rotation speed of the prime mover. a control device that sets a signal; the control device includes a calculation unit that calculates a differential value indicating a rate of change of the actual rotation speed with respect to time; and when the drop rotation speed is greater than or equal to a first threshold; Setting the control signal output to the operating valve in order to correct the primary pressure according to the drop rotation speed according to the magnitude of the differential value calculated by the calculation unit with respect to a second threshold value. and a setting change section for changing the settings.

Further, the work equipment is configured to adjust the actual rotation speed when the accelerator for setting the target rotation speed and the drop rotation speed, which is the difference between the target rotation speed and the actual rotation speed, is equal to or higher than the first threshold value. a first line for setting the control signal based on the drop rotation speed; and a second line for setting the control signal to be larger than the first line when the drop rotation speed is less than the first threshold. and, the setting change unit changes the control signal shown on the first line according to the magnitude of the differential value calculated by the calculation unit with respect to the second threshold value. , changing the first line.

Further, the operating valve is an electromagnetic proportional valve that increases the opening degree in proportion to the magnitude of the current value, and the setting change unit is configured to control the operation valve when the differential value is larger in a positive direction than the second threshold value. , the first line is changed in a direction that reduces the primary pressure output from the operating valve.
Further, the operating valve is an electromagnetic proportional valve that increases the opening degree in proportion to the magnitude of the current value, and the setting change section is configured to control the operation valve when the differential value is larger in a negative direction than the second threshold value. , the first line is changed in a direction that increases the primary pressure output from the operating valve.

Moreover, the setting change unit ends the change of the first line when the differential value becomes equal to or less than a third threshold value, which is smaller than the second threshold value.
Moreover, when the setting change unit finishes changing the first line, the setting change unit gradually returns the control signal to the value before the change of the first line.
Further, the setting change section changes the setting of the control signal output to the operating valve based on a correction coefficient set corresponding to the value of the differential value.

Further, the storage unit stores a function that defines a relationship between the differential value and the correction coefficient, and the setting change unit corrects the correction coefficient by substituting the differential value calculated by the calculation unit into the function. Calculate the coefficient.

According to the present invention, it is possible to prevent a reduction in work efficiency due to excessive engine drop and to prevent the feeling of reduced running power when recovering from engine drop.

It is a diagram showing a hydraulic system (hydraulic circuit) of a work machine. It is a figure showing an example of the correspondence between a control signal (instruction current value) and primary pressure. FIG. 3 is a diagram showing an example of a setting line for setting a control signal (primary pressure) to be output to an operating valve based on the actual rotation speed of the prime mover. It is an operation flow showing the flow of operation in which the control device changes the setting of the control signal output to the operating valve. FIG. 7 is a diagram showing an example of a correction function that defines the relationship between a differential value and a correction coefficient. It is a figure which shows an example of the case where an operating valve is provided on the secondary side of an operating valve. FIG. 7 is a diagram showing a modification in which the operating device is changed to an electrically operated operating device such as a joystick. It is a side view showing a track loader which is an example of a work machine.

Hereinafter, preferred embodiments of the working machine according to the present invention will be described with reference to the drawings as appropriate.
FIG. 8 shows a side view of the working machine according to the present invention. In FIG. 8, a compact track loader is shown as an example of a work machine. However, the working machine according to the present invention is not limited to a compact track loader, but may be another type of loader working machine, such as a skid steer loader. Moreover, a work machine other than a loader work machine may be used.

As shown in FIG. 8, the work machine 1 includes a body 2, a cabin 3, a work device 4, and a traveling device 5. In the embodiment of the present invention, the front side of the driver seated in the driver's seat 8 of the work equipment 1 (left side in FIG. 8) is forward, the rear side of the driver (right side in FIG. 8) is rearward, and the left side of the driver (right side in FIG. 8) is the left side, and the driver's right side (the back side of FIG. 8) is the right side. In addition, the horizontal direction, which is a direction perpendicular to the front-rear direction, will be described as the fuselage width direction.

Cabin 3 is mounted on fuselage 2. The cabin 3 is provided with a driver's seat 8. The working device 4 is attached to the machine body 2. A prime mover 32 is mounted at the rear inside the aircraft body 2. The traveling device 5 is provided outside the fuselage 2. The traveling device 5 includes a first traveling device 5L provided on the left side of the body 2 and a second traveling device 5R provided on the right side of the body 2.

The work device 4 includes a boom 10, a work implement 11, a lift link 12, a control link 13, a boom cylinder 14, and a bucket cylinder 15.
The boom 10 is provided on the right and left sides of the cabin 3 so as to be vertically swingable. The work tool 11 is, for example, a bucket, and the bucket 11 is provided at the tip (front end) of the boom 10 so as to be vertically swingable. The lift link 12 and the control link 13 support the base (rear part) of the boom 10 so that the boom 10 can swing vertically. The boom cylinder 14 moves the boom 10 up and down by expanding and contracting. The bucket cylinder 15 swings the bucket 11 by expanding and contracting.

The front parts of the left and right booms 10 are connected to each other by an irregularly shaped connecting pipe. The bases (rear parts) of each boom 10 are connected to each other by a circular connecting pipe.
The lift link 12, the control link 13, and the boom cylinder 14 are provided on the left and right sides of the fuselage 2, corresponding to the left and right booms 10, respectively.
The lift link 12 is provided vertically at the rear of the base of each boom 10. The upper part (one end side) of this lift link 12 is rotatably supported around a horizontal axis via a pivot shaft 16 (pivot shaft) near the rear of the base of each boom 10. Further, the lower part (the other end side) of the lift link 12 is rotatably supported near the rear of the body 2 via a pivot shaft 17 (pivot shaft) around a horizontal axis. The pivot shaft 17 is provided below the pivot shaft 16.

The upper part of the boom cylinder 14 is rotatably supported around a horizontal axis via a pivot shaft 18 (pivot shaft). The pivot shaft 18 is provided at the base of each boom 10 and at the front of the base. The lower part of the boom cylinder 14 is rotatably supported around a horizontal axis via a pivot shaft 19 (pivot shaft). The pivot shaft 19 is provided near the bottom of the rear portion of the body 2 and below the pivot shaft 18 .

The control link 13 is provided in front of the lift link 12. One end of this control link 13 is rotatably supported around a horizontal axis via a pivot shaft 20 (pivot shaft). The pivot shaft 20 is provided in the body 2 at a position corresponding to the front of the lift link 12. The other end of the control link 13 is rotatably supported around a horizontal axis via a pivot shaft 21 (pivot shaft). The pivot shaft 21 is provided in the boom 10 in front of and above the pivot shaft 17 .

By extending and contracting the boom cylinder 14, each boom 10 swings up and down around the pivot shaft 16 while the base of each boom 10 is supported by the lift link 12 and control link 13, and the tip of each boom 10 moves up and down. do. The control link 13 swings up and down about the pivot shaft 20 as each boom 10 swings up and down. The lift link 12 swings back and forth around the pivot shaft 17 as the control link 13 swings up and down.

Another work tool can be attached to the front of the boom 10 instead of the bucket 11. Examples of other working tools include attachments (preliminary attachments) such as hydraulic crushers, hydraulic breakers, angle brooms, earth augers, pallet forks, sweepers, mowers, and snow blowers.
A connecting member 50 is provided at the front of the boom 10 on the left side. The connecting member 50 is a device that connects the hydraulic equipment installed on the preliminary attachment and a first pipe material such as a pipe provided on the boom 10. Specifically, a first pipe member can be connected to one end of the connecting member 50, and a second pipe member connected to a hydraulic device as a preliminary attachment can be connected to the other end. Thereby, the hydraulic oil flowing through the first pipe material passes through the second pipe material and is supplied to the hydraulic equipment.

The bucket cylinders 15 are arranged near the front of each boom 10, respectively. By expanding and contracting the bucket cylinder 15, the bucket 11 is swung.
In this embodiment, each of the left and right traveling devices 5 (first traveling device 5L, second traveling device 5R) is a crawler type (including a semi-crawler type) traveling device. Note that a wheel-type traveling device having front wheels and rear wheels may be employed.

The prime mover 32 is an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or the like. In this embodiment, prime mover 32 is, but is not limited to, a diesel engine.
Next, the hydraulic system of the working machine 1 will be explained.
The hydraulic system of the working machine 1 shown in FIG. 1 is capable of driving the traveling device 5. The hydraulic system of the work machine 1 includes a first travel pump 53L, a second travel pump 53R, a first travel motor 36L, and a second travel motor 36R.

The first traveling pump 53L and the second traveling pump 53R are pumps driven by the power of the prime mover 32. Specifically, the first traveling pump 53L and the second traveling pump 53R are swash plate type variable displacement axial pumps driven by the power of the prime mover 32. The first travel pump 53L and the second travel pump 53R have a forward pressure receiving portion 53a and a reverse pressure receiving portion 53b, on which pilot pressure acts. The angle is changed. By changing the angle of the slant plate, the output (discharge amount of hydraulic oil) of the first traveling pump 53L and the second traveling pump 53R and the discharge direction of the hydraulic oil can be changed.

The first travel pump 53L and the first travel motor 36L are connected by a circulation oil path 57h, and the hydraulic oil discharged by the first travel pump 53L is supplied to the first travel motor 36L. The second travel pump 53R and the second travel motor 36R are connected by a circulation oil path 57i, and the hydraulic oil discharged by the second travel pump 53R is supplied to the second travel motor 36R.
The first traveling motor 36L is a motor that transmits power to the drive shaft of the traveling device 5 provided on the left side of the aircraft body 2. The first travel motor 36L can be rotated by hydraulic oil discharged from the first travel pump 53L, and the rotational speed (number of revolutions) can be changed depending on the flow rate of the hydraulic oil. A swash plate switching cylinder 37L is connected to the first travel motor 36L, and the rotational speed (rotational speed) of the first travel motor 36L can also be changed by extending or contracting the swash plate switching cylinder 37L to one side or the other side. I can do it. That is, when the swash plate switching cylinder 37L is retracted, the rotation speed of the first travel motor 36L is set to a low speed (first speed), and when the swash plate switching cylinder 37L is extended, the rotation speed of the first travel motor 36L is set to a low speed (first speed). The rotation speed is set to high speed (second speed). In other words, the rotation speed of the first travel motor 36L can be changed between a first speed, which is a low speed, and a second speed, which is a high speed.

The second traveling motor 36R is a motor that transmits power to the drive shaft of the traveling device 5 provided on the right side of the aircraft body 2. The second travel motor 36R can be rotated by hydraulic oil discharged from the second travel pump 53R, and the rotation speed (number of revolutions) can be changed depending on the flow rate of the hydraulic oil. A swash plate switching cylinder 37R is connected to the second travel motor 36R, and the rotational speed (rotation number) of the second travel motor 36R can also be changed by extending or contracting the swash plate switching cylinder 37R to one side or the other side. I can do it. That is, when the swash plate switching cylinder 37R is retracted, the rotation speed of the second travel motor 36R is set to a low speed (first speed), and when the swash plate switching cylinder 37R is extended, the rotation speed of the second travel motor 36R is set to a low speed (first speed). The rotation speed is set to high speed (second speed). In other words, the rotation speed of the second travel motor 36R can be changed between a first speed, which is a low speed, and a second speed, which is a high speed.

As shown in FIG. 1, the hydraulic system of the working machine includes a travel switching valve 34. The travel switching valve 34 switches the rotational speed (rotational speed) of the travel motors (first travel motor 36L, second travel motor 36R) between a first state in which the rotational speed is a first speed and a second state in which the rotation speed is a second speed. It is possible. The travel switching valve 34 includes first switching valves 71L, 71R and a second switching valve 72.
The first switching valve 71L is a two-position switching valve that is connected to the swash plate switching cylinder 37L of the first travel motor 36L via an oil passage and switches to a first position 71L1 and a second position 71L2. The first switching valve 71L contracts the swash plate switching cylinder 37L when it is in the first position 71L1, and extends the swash plate switching cylinder 37L when it is in the second position 71L2.

The first switching valve 71R is a two-position switching valve that is connected to the swash plate switching cylinder 37R of the second travel motor 36R via an oil passage and switches to a first position 71R1 and a second position 71R2. The first switching valve 71R contracts the swash plate switching cylinder 37R when in the first position 71R1, and extends the swash plate switching cylinder 37R when in the second position 71R2.
The second switching valve 72 is a solenoid valve that switches between the first switching valve 71L and the first switching valve 71R, and is a two-position switching valve that can be switched between a first position 72a and a second position 72b by excitation. The second switching valve 72, the first switching valve 71L, and the first switching valve 71R are connected by an oil passage 41. The second switching valve 72 switches the first switching valve 71L and the first switching valve 71R to the first positions 71L1 and 71R1 when the second switching valve 72 is in the first position 72a, and switches the first switching valve 71L and the first switching valve 71R to the first position 71L1 and 71R1 when the second switching valve 72 is in the second position 72b. The first switching valve 71R is switched to the second position 71L2, 71R2.

That is, when the second switching valve 72 is in the first position 72a, the first switching valve 71L is in the first position 71L1, and the first switching valve 71R is in the first position 71R1, the travel switching valve 34 is in the first state, The rotation speed of the travel motors (first travel motor 36L, second travel motor 36R) is set to the first speed. When the second switching valve 72 is in the second position 72b, the first switching valve 71L is in the second position 71L2, and the first switching valve 71R is in the second position 71R2, the travel switching valve 34 is in the second state, and the travel motor The rotational speeds of (the first travel motor 36L and the second travel motor 36R) are set to the second speed.

Therefore, the travel switching valve 34 can switch the travel motors (first travel motor 36L, second travel motor 36R) between a first speed, which is a low speed, and a second speed, which is a high speed.
The hydraulic system of the working machine includes a first hydraulic pump P1, a second hydraulic pump P2, and an operating device 54. The first hydraulic pump P1 is a pump driven by the power of the prime mover 32, and is a constant displacement gear pump. The first hydraulic pump P1 can discharge hydraulic oil stored in the tank 22. In particular, the first hydraulic pump P1 discharges hydraulic oil mainly used for control. For convenience of explanation, the tank 22 that stores hydraulic oil may be referred to as a hydraulic oil tank. Further, among the hydraulic oil discharged from the first hydraulic pump P1, the hydraulic oil used for control may be referred to as pilot oil, and the pressure of the pilot oil may be referred to as pilot pressure.

The second hydraulic pump P2 is a pump driven by the power of the prime mover 32, and is a constant displacement gear pump. The second hydraulic pump P2 is capable of discharging hydraulic oil stored in the tank 22, and supplies the hydraulic oil to, for example, an oil path of a working system. For example, the second hydraulic pump P2 supplies hydraulic oil to the boom cylinder 14 that operates the boom 10, the bucket cylinder 15 that operates the bucket, and the control valve (flow control valve) that controls the preliminary hydraulic actuator that operates the preliminary hydraulic actuator. do.

The operating device 54 is a device that operates the traveling pumps (first traveling pump 53L, second traveling pump 53R), and can change the angle of the swash plate (swash plate angle) of the traveling pump. The operating device 54 includes an operating member 59 and a plurality of operating valves 55.
The operating member 59 is an operating lever 59 that is supported by the operating valve 55 and swings in the left-right direction (body width direction) or in the front-rear direction. The operating lever 59 can be operated rightward and leftward from the neutral position N, as well as forward and backward from the neutral position N. In other words, the operating lever 59 can swing in at least four directions based on the neutral position N. For convenience of explanation, the forward and backward directions, that is, the front-rear direction will be referred to as the first direction. In addition, the right and left directions, that is, the left-right direction (body width direction) may be referred to as a second direction.

Further, the plurality of operation valves 55 are operated in common, that is, by one operation lever 59. The plurality of operating valves 55 are operated based on the swinging of the operating lever 59. A discharge oil passage 40 is connected to the plurality of operation valves 55, and hydraulic oil (pilot oil) from the first hydraulic pump P1 can be supplied through the discharge oil passage 40. The discharge oil passage 40 is an oil passage that connects the operating valve 55 and the operating valve 67.

The plurality of operating valves 55 are an operating valve 55A, an operating valve 55B, an operating valve 55C, and an operating valve 55D. The operation valve 55A is operated to output an output according to the operation amount (operation) of the previous operation when the operation lever 59 is swung forward (on one side) in the front-rear direction (first direction) (when the operation lever 59 is pre-operated). Oil pressure changes. The operation valve 55B is operated to output an output according to the amount of operation (operation) of the rear operation when the operation lever 59 is swung backward (on the other side) in the front-rear direction (first direction) (when the rear operation is performed). Oil pressure changes. In the left-right direction (second direction), when the operating lever 59 is swung to the right (one side) (when operated to the right), the operating valve 55C outputs an output according to the amount of operation (operation) of the right operation. Hydraulic oil pressure changes. When the operating lever 59 is swung to the left (the other side) in the left-right direction (second direction) (when the operating lever 59 is operated to the left), the operating valve 55D outputs an output according to the operation amount (operation) of the left operation. The pressure of the hydraulic fluid changes.

The operating valve 55 can change the pilot pressure of pilot oil output to the traveling pumps (first traveling pump 53L, second traveling pump 53R) according to the operation of the operating lever (operating member) 59. The plurality of operating valves 55 and the traveling pumps (first traveling pump 53L, second traveling pump 53R) are connected by a traveling oil path 45. In other words, the traveling pumps (the first traveling pump 53L, the second traveling pump 53R) can be operated by the hydraulic oil output from the operating valves 55 (the operating valves 55A, 55B, 55C, and 55D). It is a device. The traveling oil passage 45 is an oil passage that connects the operation valve 55 and the traveling pumps (first traveling pump 53L, second traveling pump 53R).

The oil passage 45 includes a first oil passage 45a, a second oil passage 45b, a third oil passage 45c, a fourth oil passage 45d, and a fifth oil passage 45e. The first traveling oil passage 45a is an oil passage connected to the forward pressure receiving portion 53a of the traveling pump 53L. The second traveling oil passage 45b is an oil passage connected to the reverse pressure receiving portion 53b of the traveling pump 53L. The third traveling oil passage 45c is an oil passage connected to the forward pressure receiving portion 53a of the traveling pump 53R. The fourth traveling oil passage 45d is an oil passage connected to the reverse pressure receiving portion 53b of the traveling pump 53R. The fifth oil passage 45e is an oil passage that connects the operation valve 55, the first oil passage 45a, the second oil passage 45b, the third oil passage 45c, and the fourth oil passage 45d.

When the operating lever 59 is swung forward (in the direction of arrow A1 in FIG. 1), the operating valve 55A is operated and pilot pressure is output from the operating valve 55A. This pilot pressure acts on the pressure receiving part 53a of the first running pump 53L via the first running oil passage 45a, and acts on the pressure receiving part 53a of the second running pump 53R via the third running oil passage 45c. As a result, the swash plate angles of the first travel pump 53L and the second travel pump 53R are changed, the first travel motor 36L and the second travel motor 36R rotate normally (forward rotation), and the work implement 1 moves straight forward. .

Further, when the operating lever 59 is swung rearward (in the direction of arrow A2 in FIG. 1), the operating valve 55B is operated and pilot pressure is output from the operating valve 55B. This pilot pressure acts on the pressure receiving part 53b of the first running pump 53L via the second running oil passage 45b, and acts on the pressure receiving part 53b of the second running pump 53R via the fourth running oil passage 45d. As a result, the swash plate angles of the first travel pump 53L and the second travel pump 53R are changed, the first travel motor 36L and the second travel motor 36R are reversed (backward rotation), and the work implement 1 moves straight backward.

Further, when the operating lever 59 is swung to the right (in the direction of arrow A3 in FIG. 1), the operating valve 55C is operated and pilot pressure is output from the operating valve 55C. This pilot pressure acts on the pressure receiving part 53a of the first running pump 53L via the first running oil passage 45a, and acts on the pressure receiving part 53b of the second running pump 53R via the fourth running oil passage 45d. As a result, the swash plate angles of the first travel pump 53L and the second travel pump 53R are changed, the first travel motor 36L rotates in the normal direction, the second travel motor 36R rotates in the reverse direction, and the work machine 1 turns to the right.

Further, when the operating lever 59 is swung to the left (in the direction of arrow A4 in FIG. 1), the operating valve 55D is operated and pilot pressure is output from the operating valve 55D. This pilot pressure acts on the pressure receiving part 53a of the second running pump 53R via the third running oil passage 45c, and also acts on the pressure receiving part 53b of the first running pump 53L via the second running oil passage 45b. As a result, the swash plate angles of the first travel pump 53L and the second travel pump 53R are changed, the first travel motor 36L rotates in reverse, and the second travel motor 36R rotates in the forward direction, causing the work implement 1 to turn to the left.

Furthermore, when the operating lever 59 is swung in a diagonal direction, the rotational direction and rotational speed of the first travel motor 36L and the second travel motor 36R are changed due to the differential pressure between the pilot pressures acting on the pressure receiving portion 53a and the pressure receiving portion 53b. The working machine 1 turns to the right or to the left while moving forward or backward.
That is, when the operating lever 59 is swung diagonally forward to the left, the work implement 1 moves forward and rotates to the left at a speed corresponding to the oscillating angle of the operating lever 59, and when the operating lever 59 is swung diagonally forward to the right, the work implement 1 rotates to the left at a speed corresponding to the oscillating angle of the operating lever 59. When the work machine 1 moves forward at a speed corresponding to the swing angle of the operating lever 59 and turns to the right, and when the operating lever 59 is swung diagonally backward to the left, the work machine 1 moves at a speed corresponding to the swing angle of the operating lever 59. When the working machine 1 turns to the left while moving backward and swings the control lever 59 diagonally backward to the right, the working machine 1 turns to the right while moving backward at a speed corresponding to the swing angle of the control lever 59.

Switching between the first speed and the second speed of the travel motors (first travel motor 36L, second travel motor 36R) can be performed by a switching section. The switching unit is, for example, a changeover switch 61 connected to the control device 60, and can be operated by an operator or the like. The switching unit (switch 61) is configured to increase the speed by switching from the first speed (first state) to the second speed (second state), and from the second speed (second state) to the first speed (first state). Can be switched to either deceleration or toggle.

The control device 60 is comprised of semiconductors such as a CPU and MPU, electrical and electronic circuits, and the like. The control device 60 switches the travel switching valve 34 between a first state and a second state based on the switching operation of the changeover switch 61.
As shown in FIG. 1, an accelerator 65 and a rotation detection device 66 are connected to the control device 60. The accelerator 65 is a member that sets the target rotation speed of the prime mover 32. The accelerator 65 is provided near the driver's seat 8. The accelerator 65 includes a swingably supported accelerator lever, a swingably supported accelerator pedal, a rotatably supported accelerator volume, a slidably supported accelerator slider, and the like. Note that the accelerator 65 is not limited to the example described above. The rotation detection device 66 is a sensor or the like that detects the actual number of rotations of the prime mover 32 (actual number of rotations of the prime mover).

The control device 60 performs control to prevent the prime mover 32 from stopping, that is, control to prevent engine stall (anti-stall control). For example, in anti-stall control, the control device 60 determines that the difference between the target rotation speed set by the accelerator 65 and the actual rotation speed detected by the rotation detection device 66 (drop rotation speed) is a threshold value (hereinafter referred to as a "first threshold value"). ''), engine stall is prevented by reducing the output of the traveling pumps (first traveling pump 53L, second traveling pump 53R).

The anti-stall control will be explained in detail below.
As shown in FIG. 1, the hydraulic system of the working machine 1 includes an operating valve 67.
The operating valve 67 is a valve that can change the pilot pressure of pilot oil that operates the traveling pumps (first traveling pump 53L, second traveling pump 53R). The operating valve 67 is provided in the discharge oil passage 40 through which pilot oil flows, and by changing the opening degree, the operating valve 67 adjusts the pilot pressure (receiving pressure) of the pilot oil that operates the traveling pumps (first traveling pump 53L, second traveling pump 53R). (operating pilot pressure acting on portions 53a, 53b).

The actuation valve 67 is actuated by a control signal (eg, voltage, current, etc.) from the control device 60. Hereinafter, a case will be described in which the control signal of the control device 60 is a current, and the current value output as the control signal of the control device 60 will be referred to as an "instruction current value." The operating valve 67 is an electromagnetic proportional valve whose opening degree can be changed based on a control signal from the control device 60. The electromagnetic proportional valve that constitutes the operating valve 67 can increase its opening in proportion to the magnitude of the command current value.

The control device 60 changes the pilot pressure (primary pressure) directed from the operating valve 67 to the operating device 54 by outputting a control signal and energizing the solenoid 67a of the operating valve 67. As a result, the pilot pressure (primary pressure) for operating the traveling pumps (first traveling pump 53L, second traveling pump 53R) is changed.
As described above, the control device 60 outputs a control signal to change the pilot pressure (primary pressure) output to the operating valve 55. In other words, the primary pressure is determined according to the control signal output from the control device 60. In the case of this embodiment, the opening degree of the operating valve 67 is determined according to the instruction current value that is a control signal output from the control device 60, and the primary pressure is determined according to the opening degree of the operating valve 67. More specifically, when the command current value increases, the opening degree of the operating valve 67 increases and the primary pressure increases, and when the command current value decreases, the opening degree of the operating valve 67 decreases and the primary pressure decreases. In other words, there is a proportional relationship or a correspondence (correlation) close to a proportional relationship between the indicated current value and the primary pressure (see FIG. 2). Therefore, the control device 60 can determine the primary pressure that is output to the operating valve 55 by determining the command current value that is the control signal that is output to the operating valve 67.

As shown in FIG. 1, a pressure detection device 68 that detects pilot pressure (secondary pressure) output from the operating valve 55 is connected to the control device 60. The pressure detection device 68 is a pressure sensor or the like, and detects the pilot pressure ( secondary pressure). That is, the pressure detection device 68 detects the pilot pressure of the running oil passage (second oil passage) 45 as a secondary pressure.

As shown in FIG. 1, the control device 60 includes a storage section 260A, a calculation section 260B, a setting change section 2
Equipped with 60C.
The storage unit 260A is a nonvolatile memory. The calculation unit 260B and the setting change unit 260C are electric circuits/electronic circuits provided in the control device 60, programs stored in the control device 60, and the like.

The storage unit 260A stores the correspondence between the control signal (instruction current value) output by the control device 60 to the operating valve 67 and the primary pressure (see FIG. 2). Based on this correspondence relationship, the primary pressure is determined according to the control signal (instruction current value).
A setting line 80 for setting the primary pressure based on the actual rotation speed of the prime mover 32 is stored in the storage unit 260A. The setting line 80 is set based on the relationship between the actual rotation speed and the primary pressure when the operating valve 55 is at a certain position (for example, a fully open position). FIG. 3 is a map (anti-stall map) showing an example of the setting line 80. The setting line 80 includes a first line 80A and a second line 80B.

As described above, the magnitude of the command current value, which is the control signal output by the control device 60 to the operating valve 67, and the primary pressure have a corresponding relationship such as a proportional relationship (see FIG. 2). Therefore, the setting lines (first line 80A and second line 80B) shown in FIG. I can do it. Therefore, in FIG. 3, the vertical axis can be called "primary pressure" or "control signal (instruction current value)."

The first line 80A sets a control signal (instruction current value) based on the actual rotation speed when the difference (drop rotation speed) between the target rotation speed and the actual rotation speed of the prime mover 32 is equal to or higher than the first threshold value. It's a line.
The second line 80B sets a control signal (instruction current value) based on the actual rotation speed when the difference between the target rotation speed and the actual rotation speed of the prime mover 32 (drop rotation speed) is less than the first threshold value. It's a line. The second line 80B is a line that sets the control signal (instruction current value) to be larger than the first line 80A.

The calculation unit 260B calculates a differential value indicating the rate of change in the actual rotational speed of the prime mover 32 (rate of change with respect to time).
The setting change section 260C changes the setting of the control signal output to the operating valve 67 based on the differential value calculated by the calculation section 260B. Specifically, the setting change unit 260C changes the first line 80A when the differential value becomes larger than the second threshold. The setting change unit 260C does not change the first line 80A when the differential value is less than or equal to the second threshold. Hereinafter, the second threshold will also be referred to as a "differential threshold."

The setting change unit 260C changes the first line 80A by changing the control signal indicated on the first line 80A. For example, by increasing the command current value I10, which is a control signal set based on the actual rotation speed M10, the first line 80A is moved upward (see arrow D1 in FIG. 3). Alternatively, a change is made in which the first line 80A is moved downward by decreasing the command current value I10, which is a control signal set based on the actual rotation speed M10 (see arrow D2 in FIG. 3).

In the case of this embodiment, when the differential value is larger in the positive direction than the second threshold (differential value threshold), the setting change unit 260C changes the direction in which the primary pressure output from the operating valve 67 decreases (indicated current value The first line 80A is changed in the direction in which the number decreases. When the differential value is larger in the negative direction than the second threshold (differential value threshold), the setting change unit 260C changes the primary pressure output from the operating valve 67 in the direction in which it increases (in the direction in which the indicated current value increases). The first line 80A is changed.

In FIG. 3, the first line 80A after the primary pressure is changed in the direction of increasing is shown by a dashed-dotted line 80A1, and the first line 80A after the primary pressure is changed in the direction of decreasing is shown by the two-dot chain line 80A2. . That is, the setting change unit 260C changes the initial first line 80A shown by the solid line to the first line 80A1 shown by the dashed-dotted line or the first line 80A2 shown by the dashed-double line based on the differential value.

As described above, the setting change unit 260C enters the correction mode when the differential value becomes equal to or greater than the second threshold (differential value threshold). In the correction mode, when the differential value is larger in the positive direction than the second threshold (differential value threshold) (i.e., when the engine drop is fast), by changing the first line 80A in the direction in which the primary pressure becomes smaller. , it is possible to suppress excessive engine drop. In addition, if the differential value is larger in the negative direction than the second threshold (differential value threshold) (at the time of recovery from engine drop), the setting change unit 260C continues the correction mode and changes the primary pressure in the direction of increasing the primary pressure. By changing the first line 80A, a feeling of reduced running power occurs when the engine returns from a drop (as the flow rate of the running pumps 53L, 53R decreases, the pressure (running pressure) in the circulation oil passages 57h, 57i ) can be suppressed.

Further, after entering the correction mode, the setting change unit 260C ends the correction mode when the differential value becomes equal to or less than a third threshold value, which is smaller than the second threshold value. When the setting change unit 260C is not in the correction mode, the setting change unit 60C does not change the first line 80A.
FIG. 4 is an operation flow for changing the first line 80A in the control device 60. Note that the calculation unit 160B calculates the drop rotation speed by subtracting the actual rotation speed from the target rotation speed based on the target rotation speed set by the accelerator 65 and the actual rotation speed detected by the rotation detection device 66, and calculates the drop rotation speed. is less than the first threshold, the setting change unit 160C sets the control signal (instruction current value) based on the second line 80B. The setting change unit 160C sets a control signal (instruction current value) based on the first line 80A when the drop rotation speed is equal to or higher than the first threshold value.

As shown in FIG. 4, when setting the control signal (instruction current value) based on the first line 80A, the setting change unit 260C indicates the rate of change (rate of change with respect to time) of the actual rotation speed of the prime mover 32. A differential value is calculated (S1). The setting change unit 260C determines whether the differential value is greater than or equal to a second threshold (differential value threshold) (S2). If the differential value is less than the second threshold (S2, No), the setting change unit 260C sets the control signal (instruction current value) based on the initial first line 80A stored in the storage unit 260A (S3). . That is, if the differential value is less than the second threshold, the setting change unit 260C does not change the initial first line 80A.

If the differential value is greater than or equal to the second threshold (S2, Yes), the setting change unit 260C refers to a control map showing the relationship between the differential value and the correction coefficient, as shown in FIG. 5, and sets the correction coefficient. (S4). In setting the correction coefficient, the setting change unit 260C sets the correction coefficient based on the line L10 on the plus side, and sets the correction coefficient based on the line L11 on the minus side in the correction mode. For example, the setting change unit 260C sets the correction coefficient to 0.7 based on the line L10. For example, the setting change unit 260C sets the correction coefficient to 1.2 based on the line L11. The setting change unit 260C changes the setting of the value of the control signal indicated by the first line 80A, that is, the first line 80A, based on the correction coefficient (S5). Here, if the differential value is larger in the positive direction than the second threshold value, the correction coefficient decreases, so the setting change unit 260C changes the first line (initial first line) 80A in the direction in which the primary pressure decreases (Fig. 3) in the direction of arrow D2). If the differential value is larger than the second threshold in the negative direction, the correction coefficient is large, so the setting change unit 260C changes the first line (initial first line) 80A in the direction in which the primary pressure increases (arrow D1 in FIG. 3). direction).

In other words, the setting change unit 260C multiplies the reference value for setting the control signal of the first line (initial first line) 80A by a correction coefficient, thereby changing the first line (initial first line) 80A. , to the first lines 80A1 and 80A2.
Furthermore, after correcting the first lines 80A1 and 80A2, the setting change unit 260C checks whether the differential value is less than or equal to the third threshold (S6). If the differential value is not equal to or less than the third threshold (S6, No), the setting change unit 260C returns to the process S4 and sets the correction coefficient again. On the other hand, if the differential value is less than or equal to the third threshold (S6, Yes), the setting change unit 260C ends the correction mode, thereby ending the change of the first lines 80A1 and 80A2. That is, after entering the correction mode (S2: differential value≧second threshold), the setting change unit 260C continues changing the first lines 80A1 and 80A2 until the differential value becomes equal to or less than the third threshold. Note that after the correction mode ends, the control signal is slowly returned to the value corresponding to the second line 80B by gradually returning the correction coefficient (gain) to 1.0.

Note that, as shown in FIG. 5, the second threshold value and the third threshold value can be arbitrarily changed by operation or the like. Therefore, if the line L12 indicating the second threshold intersects with the sloped part of the line L10, that is, if the second threshold is set closer to the sloped part of the line L12, the correction mode is set. It becomes possible to set the correction coefficient immediately after entering the correction coefficient according to the second threshold value. Furthermore, it is also possible to set the upper limit value of the correction coefficient by changing the position of the line L13 indicating the third threshold value.

Hereinafter, a specific example of a changing method when the setting changing section 260C changes the setting of the control signal output to the operating valve 67 will be described.
The setting change unit 260C can change the setting of the control signal output to the operating valve 67 based on a correction coefficient (gain) set corresponding to the differential value. The storage unit 260A stores a function (hereinafter referred to as a "correction function") that defines the relationship between the generated differential pressure and a correction coefficient.

FIG. 5 shows an example of a correction function stored in the setting change unit 260C. As shown in FIG. 5, the correction coefficient monotonically decreases as the differential value increases in the positive direction (the direction in which negative values decrease and positive values increase). The correction coefficient increases as the negative value of the differential value increases, and decreases as the positive value of the differential value increases. For example, the correction coefficient is greater than 1 when the differential value is 0. The correction coefficient is larger than 1 when the differential value is a negative value, and increases approximately linearly as the negative value of the differential value increases. When the differential value is a positive value, the correction coefficient decreases approximately linearly from a value greater than 1 to a value less than 1 as the positive value of the differential value increases.

The setting change unit 260C calculates a correction coefficient by substituting the differential value calculated by the calculation unit 260B into the correction function.
The setting change unit 260C changes the setting of the control signal output to the operating valve 67 based on the calculated correction coefficient. Specifically, the command current value, which is the control signal output to the operating valve 67, is changed by multiplying the command current value of the control signal shown on the first line 80A by the calculated correction coefficient. As a result, the first line 80A is changed.

When the correction coefficient is 1, the command current value is not changed even if multiplied by the correction coefficient, so the first line 80A is not changed. When the correction coefficient is less than 1, the command current value decreases when multiplied by the correction coefficient, so the first line 80A is changed in a direction in which the primary pressure output from the operating valve 67 becomes smaller. That is, in FIG. 3, the first line 80A is changed in the direction indicated by the arrow D2. When the correction coefficient exceeds 1, since the command current value increases when multiplied by the correction coefficient, the first line 80A is changed in a direction in which the primary pressure output from the operating valve 67 increases. That is, in FIG. 3, the first line 80A is changed in the direction indicated by the arrow D2.

The method by which the setting change unit 260C changes the setting of the control signal output to the operating valve 67 is not limited to the method using the correction coefficient described above. For example, the setting change unit 260C may be configured to change the setting value of the control signal (instruction current value) output to the operating valve 67 by changing the anti-stall map according to the differential value. Specifically, a plurality of different anti-stall maps (anti-stall maps with different first lines 80A) corresponding to a plurality of different differential values are stored in advance in the storage unit 260A, and the setting changing unit 260C changes the anti-stall maps according to the differential values. Select the anti-stall map corresponding to the generated differential pressure and change the set value of the control signal (instruction current value) output to the operating valve 67 based on the first line 80A shown in the anti-stall map. It may be configured as follows.

In the embodiment described above, the operating valve 67 was provided upstream of the operating valve 55 (discharge oil path 40), but instead of this, the operating valve 67 is provided, for example, in the middle of the fifth running oil path 45e. An operating valve 67 may also be provided.
Alternatively, as shown in FIG. 6, the operating valve 67 may be provided in the traveling oil passage 45 connected to the traveling pumps (left traveling pump 53L, right traveling pump 53R). Specifically, the oil passage 51 is branched from each of the first oil passage 45a, the second oil passage 45b, the third oil passage 45c, and the fourth oil passage 45d, and the oil passage 51 is provided with a variable relief valve, An operating valve 67 such as an electromagnetic proportional valve may be provided, and the opening degree of the operating valve 67 may be controlled by a first control signal and a second control signal.

In the embodiment described above, the traveling operation device 54 is a hydraulic type that changes the pilot pressure acting on the traveling pumps (first traveling pump 53L, second traveling pump 53R) using the operation valve 55, but as shown in FIG. As such, the driving operation device 54 may be an electrically operated device.
As shown in FIG. 7, the traveling operation device 54 includes an operation member 59 that swings in the left-right direction (body width direction) or the front-rear direction, and operation valves 55 (operation valves 55A, 55B, 55C) that are composed of electromagnetic proportional valves. , 55D). An operation detection sensor that detects the amount and direction of operation of the operation member 59 is connected to the control device 60 . The control device 60 controls the operation valves 55 (operation valves 55A, 55B, 55C, and 55D) based on the operation amount and operation direction detected by the operation detection sensor.

When the operating member 59 is operated forward (A1 direction, see FIG. 1), the control device 60 outputs a control signal to the operating valve 55A and the operating valve 55C, and controls the first traveling pump 53L and the second traveling pump 53R. Swing the swash plate in the normal (forward) direction.
When the operating member 59 is operated backward (A2 direction, see FIG. 1), the control device 60 outputs a control signal to the operating valve 55B and the operating valve 55D, and controls the first traveling pump 53L and the second traveling pump 53R. Swing the swash plate in the reverse (reverse) direction.

When the operating member 59 is operated to the right (A3 direction, see FIG. 1), the control device 60 outputs a control signal to the operating valve 55A and the operating valve 55D, and causes the swash plate of the first traveling pump 53L to rotate in the normal direction. The swash plate of the second traveling pump 53R is swung in the reverse direction.
When the operating member 59 is operated to the left (direction A4, see FIG. 1), the control device 60 outputs a control signal to the operating valve 55B and the operating valve 55C, and rotates the swash plate of the first traveling pump 53L in the reverse direction. The swash plate of the second traveling pump 53R is swung in the direction of normal rotation.

The work machine 1 includes a prime mover 32, traveling pumps 53L, 53R that are operated by the power of the prime mover 32 and discharge hydraulic oil, and traveling motors 36L, 36R that can be rotated by the hydraulic oil discharged by the traveling pumps 53L, 53R. A control valve 55 that can change the pilot pressure of the pilot oil output to the travel pumps 53L, 53R according to the operation of the control member 59, and a primary control valve that is actuated by a control signal and is the pilot pressure of the pilot oil supplied to the control valve. The control device 60 includes an operating valve 67 that can change the pressure, a rotation detection device 66 that detects the actual rotation speed of the prime mover 32, and a control device 60 that sets a control signal to be output to the operating valve 67. A calculation unit 260B that calculates a differential value indicating the rate of change of rotation speed with respect to time; and a setting change unit 260C that changes settings of the control signal output to the operating valve 67 based on the differential value calculated by the calculation unit 260B. It has .

According to this, the control device 60 can change the setting of the control signal output to the operating valve 67 based on the differential value indicating the rate of change of the actual rotational speed with respect to time by the setting change unit 60C. Therefore, it is possible to change the primary pressure, which is the pilot pressure of the pilot oil that the operating valve 67 supplies to the operating valve 55, based on the differential value. By making this change, even if the responsiveness of anti-stall control (follow-up ability of secondary pressure to primary pressure) is poor, work efficiency will be reduced due to excessive engine drop, and running will be prevented when recovering from engine drop. It is possible to prevent the feeling of a decrease in force from occurring.

Further, the work equipment 1 uses an accelerator 65 that sets the target rotation speed of the prime mover 32, and sets a control signal based on the actual rotation speed when the difference between the target rotation speed and the actual rotation speed is a first threshold value or more. A storage unit 260A that stores the first line 80A and a second line 80B that sets the control signal to be larger than the first line 80A when the difference between the target rotation speed and the actual rotation speed is less than the first threshold; The setting change unit 260C changes the first line 80A by changing the control signal shown in the first line 80A based on the differential value.

According to this, when the load on the prime mover 32 is low (the difference between the target rotation speed and the actual rotation speed is less than the first threshold) and when the load on the prime mover 32 is high load (the difference between the target rotation speed and the actual rotation speed is The setting of the control signal output to the operating valve 67 can be appropriately changed based on the differential value in accordance with the two cases in which the difference with the number is greater than or equal to the first threshold value).
Further, the setting change unit 260 changes the first line 80A based on the relationship between the differential value and the second threshold. According to this, the first line 80A is changed based on the relationship, such as how close or far from the second threshold value the differential value indicating the rate of change of the actual rotational speed with respect to time is. It becomes easier to set the direction and amount of change.

Further, the operating valve 67 is an electromagnetic proportional valve that increases the opening degree in proportion to the magnitude of the current value, and the setting change unit 260C controls the operating valve 67 to operate when the differential value is larger in the positive direction than the second threshold value. The first line 80A is changed in a direction in which the primary pressure output from the valve 67 becomes smaller.
According to this, when the differential value is larger in the positive direction than the second threshold value, the first line is changed in a direction in which the primary pressure output from the operating valve 67 is decreased, thereby causing excessive engine drop. can be suppressed to suppress a decline in work efficiency.

Moreover, the setting change unit 260C ends the change of the first line 80A when the differential value becomes equal to or less than the third threshold value, which is smaller than the second threshold value. According to this, it is possible to continue changing the first line 80A until the differential value reaches the third threshold value, which is smaller than the second threshold value.
Moreover, when the setting change unit 260C finishes changing the first line 80A, it gradually returns the control signal to the value before the change of the first line 80A. According to this, the control signal output to the operating valve 67 can be gradually returned to the first line 80A before the change from the control signal set by changing the first line 80A, and the change of the first line 80A is completed. It is possible to suppress sudden pressure fluctuations in the secondary pressure (primary pressure) at different times.

Further, the setting change unit 260C changes the setting of the control signal output to the operating valve 67 based on the correction coefficient set corresponding to the value of the differential value.
According to this, the setting of the control signal output to the operating valve 67 can be changed using the correction coefficient set corresponding to the value of the differential value. The setting of the control signal output to the valve 67 can be easily and appropriately changed.

Furthermore, the storage unit 260A stores a function that defines the relationship between the differential value and the correction coefficient, and the setting change unit 260C calculates the correction coefficient by substituting the differential value calculated by the calculation unit 260A into the function.
According to this, the correction coefficient can be easily and accurately calculated using the function that defines the relationship between the differential value and the correction coefficient.

Although the embodiments of the present invention have been described above, the embodiments disclosed this time should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is indicated by the claims rather than the above description, and it is intended that all changes within the meaning and range equivalent to the claims are included.

1 Work equipment 32 Prime mover 36L, 36R Travel motor 53L, 53R Travel pump 55 Operation valve 59 Operation member 60 Control device 260A Storage section 260B Calculation section 260C Setting change section 65 Accelerator 66 Rotation detection device 67 Operation valve 80A 1st line 80B 2nd line

Claims (8)

prime mover and
a traveling pump that is operated by the power of the prime mover and discharges hydraulic oil;
a travel motor rotatable by hydraulic oil discharged by the travel pump;
an operating valve capable of changing pilot pressure of pilot oil output to the travel pump according to operation of an operating member;
an operating valve that is operated in response to a control signal and is capable of changing a primary pressure that is a pilot pressure of pilot oil supplied to the operating valve;
a rotation detection device that detects the actual rotation speed of the prime mover;
a control device that sets the control signal to be output to the operating valve according to a drop rotation speed that is a difference between a target rotation speed of the prime mover and an actual rotation speed of the prime mover ;
Equipped with
The control device includes a calculation unit that calculates a differential value indicating a rate of change of the actual rotation speed with respect to time, and a calculation unit that calculates the differential value calculated by the calculation unit when the drop rotation speed is equal to or higher than a first threshold value. a setting changing unit that changes the setting of the control signal output to the operating valve in order to correct the primary pressure according to the drop rotation speed according to the magnitude with respect to a second threshold value. working equipment. an accelerator for setting the target rotation speed;
a first line for setting the control signal based on the actual rotation speed when the drop rotation speed, which is the difference between the target rotation speed and the actual rotation speed, is greater than or equal to the first threshold; and a first line for setting the control signal based on the actual rotation speed; is less than the first threshold, a second line that sets the control signal to be larger than the first line;
Equipped with
The setting change unit changes the control signal indicated on the first line according to the magnitude of the differential value calculated by the calculation unit with respect to the second threshold value, thereby changing the control signal on the first line. The work machine according to claim 1, wherein the working machine changes: The operating valve is an electromagnetic proportional valve that increases the opening degree in proportion to the magnitude of the current value,
The setting change unit changes the first line in a direction in which the primary pressure output from the operating valve becomes smaller when the differential value is larger in a positive direction than the second threshold value. work equipment. The operating valve is an electromagnetic proportional valve that increases the opening degree in proportion to the magnitude of the current value,
The setting change unit changes the first line in a direction in which the primary pressure output from the operating valve increases when the differential value is larger in a negative direction than the second threshold value. work equipment. The operation according to any one of claims 2 to 4, wherein the setting change unit finishes changing the first line when the differential value becomes equal to or less than a third threshold smaller than the second threshold. machine The working machine according to claim 5, wherein the setting change unit gradually returns the control signal to the value before the change of the first line when the change of the first line is finished. 7. The setting change unit changes the setting of the control signal output to the operating valve based on a correction coefficient set corresponding to the value of the differential value. work equipment. The storage unit stores a function that defines a relationship between the differential value and the correction coefficient,
The work machine according to claim 7 , wherein the setting change section calculates the correction coefficient by substituting the differential value calculated by the calculation section into the function.

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