WO2004038232A1 - 作業車両の作業機用油圧ポンプの制御方法及び制御装置 - Google Patents
作業車両の作業機用油圧ポンプの制御方法及び制御装置 Download PDFInfo
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- WO2004038232A1 WO2004038232A1 PCT/JP2003/013125 JP0313125W WO2004038232A1 WO 2004038232 A1 WO2004038232 A1 WO 2004038232A1 JP 0313125 W JP0313125 W JP 0313125W WO 2004038232 A1 WO2004038232 A1 WO 2004038232A1
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- WIPO (PCT)
- Prior art keywords
- hydraulic pump
- capacity
- predetermined
- working machine
- control device
- Prior art date
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- 238000000034 method Methods 0.000 title claims description 62
- 238000009412 basement excavation Methods 0.000 claims abstract description 111
- 238000006073 displacement reaction Methods 0.000 claims abstract description 72
- 238000001514 detection method Methods 0.000 claims abstract description 21
- 230000005540 biological transmission Effects 0.000 claims description 15
- 230000007935 neutral effect Effects 0.000 claims description 11
- 235000002595 Solanum tuberosum Nutrition 0.000 claims description 2
- 244000061456 Solanum tuberosum Species 0.000 claims description 2
- 238000005553 drilling Methods 0.000 claims description 2
- 230000008569 process Effects 0.000 description 23
- 230000009467 reduction Effects 0.000 description 13
- 230000007423 decrease Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 6
- 230000008859 change Effects 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 230000000630 rising effect Effects 0.000 description 4
- 238000005259 measurement Methods 0.000 description 3
- 239000002689 soil Substances 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004043 responsiveness Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
- F15B11/165—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load for adjusting the pump output or bypass in response to demand
-
- 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
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/087—Control strategy, e.g. with block diagram
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20546—Type of pump variable capacity
- F15B2211/20553—Type of pump variable capacity with pilot circuit, e.g. for controlling a swash plate
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/255—Flow control functions
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/305—Directional control characterised by the type of valves
- F15B2211/30505—Non-return valves, i.e. check valves
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/305—Directional control characterised by the type of valves
- F15B2211/30525—Directional control valves, e.g. 4/3-directional control valve
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/31—Directional control characterised by the positions of the valve element
- F15B2211/3105—Neutral or centre positions
- F15B2211/3111—Neutral or centre positions the pump port being closed in the centre position, e.g. so-called closed centre
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/315—Directional control characterised by the connections of the valve or valves in the circuit
- F15B2211/3157—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source, an output member and a return line
- F15B2211/31576—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source, an output member and a return line having a single pressure source and a single output member
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/32—Directional control characterised by the type of actuation
- F15B2211/321—Directional control characterised by the type of actuation mechanically
- F15B2211/324—Directional control characterised by the type of actuation mechanically manually, e.g. by using a lever or pedal
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/32—Directional control characterised by the type of actuation
- F15B2211/327—Directional control characterised by the type of actuation electrically or electronically
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/50—Pressure control
- F15B2211/55—Pressure control for limiting a pressure up to a maximum pressure, e.g. by using a pressure relief valve
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/605—Load sensing circuits
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/665—Methods of control using electronic components
- F15B2211/6652—Control of the pressure source, e.g. control of the swash plate angle
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
- F15B2211/7051—Linear output members
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
- F15B2211/7107—Multiple output members, e.g. multiple hydraulic motors or cylinders the output members being mechanically linked
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/76—Control of force or torque of the output member
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/765—Control of position or angle of the output member
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/88—Control measures for saving energy
Definitions
- the present invention relates to a displacement control method and a control device for a hydraulic pump for a working vehicle of a work vehicle, particularly a civil engineering work vehicle. Background technology
- At least one of the following conditions i) the transmission is at the first forward gear position; ii) the work implement is at the excavation position; iii) the vehicle traveling speed is equal to or less than the set speed.
- the condition is satisfied, it is determined that the work vehicle is under excavation work, and the pump is controlled so as to reduce the pump capacity to a predetermined capacity less than the maximum capacity.
- FIG. 13 is a side view of the work machine 70 at the excavation position.
- the base end of a lift arm 72 is swingably attached to the vehicle body 71 by an arm pin 73, and the vehicle body 71 and the lift arm 72 are connected by a lift cylinder 74.
- the lift cylinder 74 When the lift cylinder 74 is expanded and contracted, the lift arm 72 swings around the arm pin 73.
- a bucket 75 is attached to the end of the lift arm 72 by a bucket pin 76 so as to be swingable.
- the vehicle body 71 and the packet 75 are connected to the tilt cylinder 77 and the link device 78. Are connected via When the tilt cylinder 77 is expanded and contracted, the bucket 75 swings around the bucket pin 76.
- the excavation position of the work machine 70 is defined as the excavation position when the lift ham 72 is located below the line Y—Y connecting the arm pin 73 and the bucket bin 76 with the reference.
- the above method has the following problems.
- excavation work is not always performed, and there is a case where the operator is approaching a predetermined place at the first forward speed while operating the work machine. In such a case, the speed of the working machine may be reduced, and the working efficiency may be reduced.
- the work is performed in the second forward speed. At that time, the pump capacity is not reduced, so that power loss occurs.
- the pump capacity is reduced to a predetermined capacity equal to or less than the maximum capacity.
- the pump capacity is reduced, and the work efficiency may decrease due to the slowing down of the work machine speed.
- the transmission is in the first forward speed, the work implement is in the excavation position, and the vehicle traveling speed is equal to or lower than the set speed, the pump capacity is reduced to a predetermined capacity equal to or less than the maximum capacity.
- the present invention has been made in view of the above problems, and reduces the pump capacity after reliably detecting that the work vehicle is in the excavation work state, thereby reducing power loss and reducing work efficiency.
- a control method and a control device for a hydraulic pump for a working machine of a work vehicle which do not cause the operator to feel uncomfortable. It is an object.
- a method of controlling a hydraulic pump for a working machine of a working vehicle includes: a working vehicle having a cylinder that operates the working machine and a hydraulic pump that supplies a predetermined pressure oil to the cylinder; In the method of controlling a hydraulic pump for a working machine, measuring a duration of a state in which a hydraulic pressure on a bottom side of at least one of the cylinders is equal to or less than a predetermined value; When the hydraulic pressure exceeds a predetermined value, it is determined that excavation work has started; the capacity of the hydraulic pump is set to a predetermined capacity reduced from the maximum capacity; control for reducing the capacity of the hydraulic pump to a predetermined capacity is performed; ing.
- control method when the control is performed by reducing the capacity to a predetermined value, it is determined that the excavation operation has been completed when the forward / reverse operation means of the work vehicle switches from the forward position to the neutral or reverse position;
- the control for reducing the capacity of the pump to a predetermined capacity may be stopped;
- the pump displacement reduction control when the operator moves the forward / reverse operating means from the forward position to the neutral or reverse position, it is determined that the excavation operation has been completed, and the pump displacement reduction control is stopped. Therefore, the end of the excavation work is reliably determined, and the operation speed of the work machine is increased after the end of the excavation work.
- control method When the control is performed by reducing the capacity to a predetermined value, when the hydraulic pressure on the bottom side falls below a predetermined value within a predetermined first set time from the start of the excavation work, the excavation work is terminated. Judge; control to reduce the capacity of the hydraulic pump to a predetermined capacity To stop; According to this method, if the hydraulic pressure on the bottom side of the cylinder falls below the predetermined value within the first set time after determining that the excavation work has started, the excavation work is not continued, and the excavation work is completed. And the pump displacement reduction control is stopped. For this reason, the capacity of the hydraulic pump is not reduced to a predetermined capacity during non-excavation work, so that the working machine speed does not decrease and the working efficiency does not decrease.
- the control method When the control is performed with the capacity reduced to the predetermined capacity, the hydraulic pressure on the bottom side becomes lower than the predetermined value, and the hydraulic pressure below the predetermined value exceeds the second predetermined time set from the start of the excavation work.
- the control for reducing the capacity of the hydraulic pump to a predetermined capacity may be stopped.
- the hydraulic pressure on the port and tom sides of the cylinder becomes equal to or less than a predetermined value, and when the state exceeds the second set time, it is judged that the excavation operation has been completed, and the pump capacity is reduced. Stop control. Therefore, for example, even if the pump displacement reduction control is started by an erroneous signal, it is determined that the signal is an erroneous signal in a short time, and the control for reducing the displacement of the hydraulic pump is stopped.
- control method When the height of the bucket of the working machine is equal to or more than a predetermined value during the control by reducing the capacity to a predetermined capacity, it is determined that the excavation work is completed; control for reducing the capacity of the hydraulic pump to the predetermined capacity. May be stopped; According to this method, during the excavation operation, when the cylinder is operated, the packet is lifted, the object is swept up, and when more objects are scooped into the bucket, the bucket ascends faster, There is no danger that workability will decrease.
- a first configuration of a control device for a hydraulic pump for a working machine of a working vehicle includes: a working machine for a working vehicle having a cylinder that operates the working machine and a variable displacement hydraulic pump that supplies a predetermined pressure oil to the cylinder.
- Pressure control device for detecting the oil ffi on the bottom side of at least one of the cylinders; a displacement control device for controlling the displacement of a variable displacement hydraulic pump;
- the capacity of the hydraulic pump is reduced to the predetermined capacity when the predetermined time has elapsed while the hydraulic pressure on the bottom side of the cylinder is equal to or less than the predetermined value, and thereafter exceeds the predetermined value. That is, since it is possible to reliably detect that the work vehicle is excavating and reduce the pump capacity to the predetermined capacity, it is possible to effectively reduce power loss and obtain a work vehicle that can work efficiently.
- the controller inputs a detection signal from operation position detecting means for detecting an operation position of the forward / reverse operation means provided on the work vehicle, and the operation position is switched from the forward position to the neutral or reverse position.
- the transmission of the capacity control signal to the capacity control device is stopped.
- the transmission of the capacity control signal for reducing the capacity of the hydraulic pump is stopped when the operation position of the forward / reverse operation means is neutral or reverse. Therefore, the end point of excavation work can be reliably detected, and the pump capacity does not decrease during non-excavation work. Therefore, a work vehicle that does not have a risk of lowering work efficiency can be obtained.
- control device When the controller determines that the excavation operation has started, and when the detection value from the potom pressure detector falls below a predetermined value within a predetermined first set time,
- the controller determines that the excavation operation has started and the detected value from the bottom pressure detector becomes equal to or less than a predetermined value, and the state of being equal to or less than the predetermined value exceeds a predetermined second set time, Judgment of the excavation work is completed, and the capacity control signal to the capacity control device is Stop sending calls;
- the capacity control signal to the capacity control device is Stop sending calls;
- the control device equipped with a bucket height detector that detects the height of the bucket of the work equipment; the controller determines the start of excavation work, inputs the bucket height from the packet height detector, and When is greater than or equal to a predetermined value, it is determined that excavation work has been completed, and transmission of the capacity control signal to the capacity control device is stopped.
- the controller determines the start of excavation work, inputs the bucket height from the packet height detector, and When is greater than or equal to a predetermined value, it is determined that excavation work has been completed, and transmission of the capacity control signal to the capacity control device is stopped.
- the second configuration of the control device for the hydraulic pump for the working machine of the working vehicle includes: a cylinder for operating the working machine; a variable displacement hydraulic pump for supplying a predetermined pressure oil to the cylinder; and a predetermined cylinder in the cylinder.
- Control device for a working machine hydraulic pump of a working vehicle having a control valve for controlling the flow rate of pressurized oil supplied to the working machine and a working machine operating lever; detecting the hydraulic pressure on the potom side of at least one of the predetermined cylinders And a capacity for controlling the capacity of the variable displacement hydraulic pump such that the load sensing differential pressure, which is the differential pressure between the load pressure of a predetermined cylinder and the discharge pressure of the variable displacement hydraulic pump, becomes constant.
- a control device and a detection value from the bottom pressure detector is input, and when a predetermined time has elapsed with the detection value being equal to or less than the predetermined value and thereafter the detection value exceeds the predetermined value, excavation work is started. Disconnection, and the strike opening over click of the control valve to the maximum stroke of the working machine operating lever, and a controller to reduce to a small predetermined scan Bok stroke than the maximum stroke; have a.
- FIG. 1 is a side view of a wheel loader as an example of a work vehicle having a control device according to Embodiment 1 of the present invention.
- FIG. 2 is a side view of the working machine having the wheel opening shown in FIG.
- FIG. 3 is a graph showing an example of a change in hydraulic pressure generated on the pottom side of the lift cylinder in each step of excavation and loading work of the wheel loader of FIG.
- FIG. 4 is a system diagram of the control device of the first embodiment.
- FIG. 5 is a flowchart for explaining the control method of the first embodiment.
- FIG. 6 is a side view of the front part of the wheel loader according to Embodiment 2 of the present invention.
- FIG. 7 is a system diagram of the control device of the second embodiment.
- FIG. 8 is a flowchart for explaining the control method of the second embodiment.
- FIG. 9 is a system diagram of a control device according to Embodiment 3 of the present invention.
- FIG. 10 is a graph for explaining the control method of the third embodiment.
- FIG. 11 is a graph for explaining a modification of the control method of the third embodiment.
- FIG. 12 is a graph for explaining another modified example of the control method of the third embodiment.
- FIG. 13 is a side view showing an excavation position of a working machine of a conventional work vehicle. BEST MODE FOR CARRYING OUT THE INVENTION
- FIG. 1 shows an example of a work vehicle FIG.
- a work vehicle 1 includes a cab 2, an engine room 3, a rear body 5 having rear wheels 4, 4, and a front frame 7 having front wheels 6, 6.
- the work machine 10 is mounted on the front frame 7. That is, a bucket 12 is swingably attached to the distal end of the lift arm 11 whose base end is swingably attached to the front frame 7.
- the front frame 7 and the lift arm 11 are connected by a pair of lift cylinders 13, 13, and the lift arms 11 swing by expanding and contracting the lift cylinders 1 ′ 3, 13.
- a substantially central portion of the tilt arm 14 is swingably supported by the lift arm 11, and one end of the tilt arm 14 is connected to the front frame 7 by a tilt cylinder 15. The other end of the tilt arm 14 and the bucket 12 are connected by a tilt rod 16, and when the tilt cylinder 15 is extended or contracted, the bucket 12 swings.
- a power unit 20 is mounted on the rear body 5.
- the power unit 20 includes an engine 21, a torque converter 22, a transmission 23 capable of switching between forward and backward and a plurality of gear stages, and a distributor.
- the engine 21 drives a variable displacement hydraulic pump 26 that supplies pressure oil to the lift cylinders 13 and the tilt cylinders 15. Forward / backward operation means in cab 2
- a pair of lift cylinders 13 and 13 and a tilt cylinder 15 constitute a cylinder 60 for operating the work machine 10.
- the cylinder 60 is not limited to this, and may be a general cylinder having a function of “operating a work machine of a work vehicle”.
- Unloading process Dump the packet 12 at a predetermined position and load the target object on the bed of the dump truck.
- FIG. 2 is a side view showing a state where the bucket 12 is excavating.
- the vehicle 1 is advanced in the direction of arrow A, the blade of the packet 12 is pushed into the object Z and tilted back, a force is applied to the baguette 12 in the directions of arrows B and C. Therefore, high hydraulic pressure is generated on the bottom side of the lift cylinder 13 and the tilt cylinder 15. Further, depending on the working posture, a force in the direction of arrow D is applied to the bucket 12, and in this case, a high oil pressure is generated on the head side of the tilt cylinder 15. These hydraulic pressures are clearly different between excavation work and non-excavation work.
- the reference value of the lift cylinder bottom pressure can be determined, and it can be reliably determined whether or not excavation is being performed.
- a high oil pressure is generated also on the bottom side of the tilt cylinder 15, it is possible to determine a reference value of the tilt cylinder pot pressure and reliably determine whether or not excavation is being performed.
- FIG. 3 is a graph showing an example of a change in hydraulic pressure generated on the bottom side of the lift cylinder 13 in each step of excavation and loading work of the wheel loader 1 described above.
- the vertical axis in FIG. 3 is the hydraulic pressure on the bottom side of the lift cylinder 13, and the horizontal axis is time.
- the bottom pressure of the lift cylinder 13 is low in the forward process, increases in the excavation process, and decreases as the excavation is completed and the vehicle moves in reverse.
- a predetermined pressure P is set, the bottom pressure of the lift cylinder 13 will be lower than P throughout the entire forward process. However, in the excavation process, it is much higher than P over the whole area, and the difference is clear.
- the time of the forward process always exists for several seconds (for example, 5 seconds). Therefore, by detecting when the bottom pressure of the lift cylinder 13 is lower than the predetermined pressure P for a predetermined time (for example, 1 second) and then higher than P, the excavation work is reliably started. The time can be detected. It is the most efficient to perform the excavation work end when the forward / backward operation means 30 is set to reverse, and to perform the capacity reduction control of the hydraulic pump in the excavation process between the excavation work start point and the excavation work end point.
- FIG. 4 is a system diagram showing an example of the control device 40.
- a displacement control device 41 is connected to the variable displacement hydraulic pump 26.
- a tilt operation valve 43 connected to the tilt cylinder 15 and a lift operation valve 44 connected to the lift cylinder 13 are interposed.
- a bottom pressure detector 45 is provided on the pot side 13 A of the lift cylinder 13.
- the bottom pressure detector 45 is, for example, a pressure switch.
- the capacity control device 41 and the bottom pressure detector 45 are connected to the controller 50, respectively.
- the controller 50 is connected to the operation position detection means 31 for detecting the operation position of the forward / reverse operation means 30 and detects whether the transmission 23 is in the forward, neutral or reverse position. .
- step 101 the controller 50 inputs the detection result from the potom pressure detector 45 and determines whether or not the lift cylinder bottom pressure is equal to or lower than a predetermined pressure P. If NO in step 101, the process returns to step 101. If YES in step 101, the process proceeds to step 102, and the controller 50 starts time measurement. In step 103, the controller 50 determines whether or not the state in which the lift cylinder potom pressure is equal to or lower than the predetermined pressure P has continued for a predetermined time (for example, 1 second). If N is 0 in step 103, the process returns to step 103.
- a predetermined time for example, 1 second
- step 104 the controller 50 sets the lift cylinder potom pressure to the predetermined pressure P Is determined. If NO in step 104, return to step 104. If YES in step 104, the process proceeds to step 105, and the controller 50 determines that excavation work has started.
- ⁇ is, for example, a coefficient determined according to the magnitude of the traveling driving force and the hydraulic pressure when the wheel loader 1 works, but the soil quality at the site where the wheel loader 1 works (soil, rock, etc.) May be a coefficient determined by the type, density, viscosity, etc., and is usually 0.5 to 0.9. Therefore, for example, if ⁇ is 0.7, the predetermined capacity Q is set to 0.7 times the maximum capacity Q max.
- step 107 the controller 50 outputs a control signal to the displacement control device 41, and reduces the displacement of the variable displacement hydraulic pump 26 to a predetermined displacement.
- the driver operates the forward / reverse operating means 30 in step 108 to switch the transmission 23 to neutral or reverse.
- step 109 the controller 50 receives the detection signal from the operation position detection means 31 and determines whether the transmission 23 is in the neutral or reverse position. If NO in step 109, return to step 108. If YES in step 109, the process proceeds to step 110, the controller 50 determines that the excavation operation has been completed, and proceeds to step 111. In step 1 1 1, the controller 50 stops the pump displacement control, and returns the displacement of the variable displacement hydraulic pump 26 to the value before the control.
- Step 113 the controller 50 determines whether or not the time during which the lift cylinder pressure exceeds the predetermined pressure P exceeds a predetermined first set time (for example, 1 second). Steps 112, 113 are performed in parallel with steps 106, 107. If NO in step 113, the controller 50 determines that the excavation work is not being continued, and proceeds to step 110 to determine that the excavation work is completed. When YES is determined in step 113, the controller 50 determines that the excavation work is being continued, and proceeds to step 108. During this time, the hydraulic pump capacity reduction system Your control is taking place.
- a predetermined first set time for example, 1 second
- Step 114 the controller 50 determines in Step 114 whether the lift cylinder potom pressure has dropped below a predetermined pressure P. If NO in step 114, return to step 114. If YES in step 114, the controller 50 starts time measurement in step 115. In step 1 16, the controller 50 determines whether or not the time during which the lift cylinder potom pressure falls below the predetermined pressure P has continued for a predetermined second set time (for example, 0.5 seconds). I do. Steps 114 to 116 are advanced in parallel with steps 106 and 107. If NO in step 1 16, go back to step 1 16. In step 1 16, the controller 50 determines that the excavation operation is not underway at Y E S, and proceeds to step 110 to determine that the excavation operation is completed.
- a predetermined pressure P for example, 0.5 seconds.
- a potom pressure detector 45 is provided on the potato side 13 A of the lift cylinder 13, and the hydraulic pressure of the bottom side 13 A of the lift cylinder 13 is lower than a predetermined value for a predetermined time, and then the predetermined value is set. When it exceeds, the work vehicle determines that excavation work has started, and reduces the capacity of the pump to a predetermined capacity smaller than the maximum capacity, but is not limited to this.
- a bottom pressure detector is provided at the bottom 15 A of the tilt cylinder 15, and when the hydraulic pressure of the bottom 15 A of the tilt cylinder 15 is lower than a predetermined value for a predetermined time and then exceeds a predetermined value, The work vehicle may determine that excavation work has started, and reduce the capacity of the pump to a predetermined capacity smaller than the maximum capacity. It goes without saying that a similar action and effect can be obtained by this.
- FIG. 6 differs from FIG. 1 in that the wheel loader 1 is provided with a bucket height detector 32.
- FIG. 7 is a system diagram showing an example of the control device 40A.
- the control device 4 OA is different from the control device 40 of FIG. 4 in that a packet height detector 32 is provided.
- FIG. 8 differs from FIG. 5 in that steps 118 are added. Therefore, in the description with reference to FIGS. 6 to 8, the same parts as those described with reference to FIGS. 1 to 5 are denoted by the same reference numerals, and description thereof will be omitted. As shown in FIG.
- the front frame 7 is provided with a bucket height detector 32 for detecting the position of the upper surface of the base end of the lift 11 with respect to the front frame 7.
- a bucket 12 is swingably attached to a front end of a lift arm 11 whose base end is swingably attached to the front frame 7 by a bucket hinge pin 12P.
- a signal is transmitted from the packet height detector 32. That is, the bucket height detector 32 generates a signal when the height of the packet 12 of the work machine 10 is equal to or greater than a predetermined value.
- the bucket height detector 32 is, for example, a proximity sensor.
- the bucket height detector 32 is connected to the controller 50. As will be described later, the controller 50 receives a signal from the packet height detector 32 and determines whether or not the bucket 12 has reached a predetermined height.
- the tilt cylinder 15 is operated to tilt back the bucket 12, and the object is scooped into the bucket 12.
- the object By operating the lift cylinder 13 and raising the bucket 12 in the direction of the arrow Y, the object may be lifted up and more objects may be scooped into the bucket 12.
- the displacement control of the hydraulic pump is still performed, the extension speed of the lift cylinder 13 is slow because the discharge amount of the hydraulic pump is small, and therefore, the rising speed of the bucket 12 is slow, and the work efficiency is low. Decreases. Therefore, in the present embodiment, when the bucket 12 has reached a predetermined height, the displacement control of the hydraulic pump is stopped, and the rising speed of the packet 12 is increased.
- step 118 determines in step 118 whether the height of the bucket 12 has exceeded a predetermined value based on a signal from the bucket height detector 32. Is determined. Step 118 is performed in parallel with steps 106 and 107. If YES in step 1 18, the controller 50 It is determined that the work is not being continued, and the flow proceeds to Step 110 to determine that the excavation work is completed, and proceeds to Step 11. If NO in step 118, the controller 50 determines that the excavation work is continuing, and proceeds to step 108. During this time, the hydraulic pump capacity reduction control is being performed.
- the lift cylinder 13 is operated to raise the bucket 12, and the objects are lifted up so that more objects are bucketed. Scoop inside.
- the pump capacity control is stopped. Therefore, the rising speed of the bucket 12 is increased, and there is no possibility that the workability is reduced.
- the packet height detector 32 is a proximity sensor as an example, but is not limited to this.
- the height of the bucket hinge pin 12 P of the bucket 12 may be detected by detecting the angle of the lift arm 11.
- the height of the bucket hinge pin 12 P of the bucket 12 may be detected by detecting the stroke of the lift cylinder 13. '
- FIG. 9 is a system diagram showing an example of the control device 40B.
- control device 40B the same portions as control device 40 described in FIG. 4 and control device 40A described in FIG. 7 will be assigned the same reference numerals and description thereof will be omitted.
- a displacement control device 41B is connected to the variable displacement hydraulic pump 26B.
- a tilt operation valve 43 connected to the tilt cylinder 15 and a lift operation valve 44 B connected to the lift cylinder 13 are interposed.
- the lift operation valve 44 B is an electromagnetic proportional control valve, is connected to the controller 50 B, and operates according to the magnitude of the lift operation valve signal from the controller 50 B.
- the lift cylinder operation lever 55 which is the work machine operation lever, is connected to the controller 50B.
- the lift cylinder operation signal is transmitted to the controller 50B.
- Sent to. Controller 5 0 B The lift operation valve signal is output to the lift operation valve 4 4 B according to the lift cylinder operation signal from the lift cylinder operation lever 5 5, but the electric command value i of the lift operation valve signal is output during normal operation and during excavation work. The value is changed and output.
- a load sensing circuit 42 AL detecting the discharge pressure of the variable displacement hydraulic pump 26 B branches off, and the load sensing circuit 42 AL controls the displacement.
- the outlet pressure detection circuit 42BL of the lift operation valve 44B branches from the outlet circuit 42B of the lift operation valve 44B, and the outlet pressure detection circuit 42BL is a capacity control device 41B.
- the displacement control device 41 B is a load sensing device that is a differential pressure between the discharge pressure of the variable displacement hydraulic pump 26 B and the outlet pressure of the lift operation valve 44 B (load pressure of the lift cylinder 13).
- a so-called load sensing control for controlling the displacement of the variable displacement hydraulic pump 26B is performed so that the differential pressure ⁇ P becomes constant. Therefore, regardless of the magnitude of the load pressure of the lift cylinder 13, a flow rate corresponding to the opening area of the lift operation valve 44B can be secured, and efficient work can be performed.
- the control content of this embodiment is the same as the control flow of FIGS. 5 and 8, but the method of setting the pump reduction capacity in step 106 is different.
- the controller 50 B responds to the lift cylinder operation signal (stroke of the lift cylinder operation lever 55) as shown in FIG.
- the electric command value i of the lift control valve signal from is changed as shown by the solid line. That is, at the maximum value LS max of the lift cylinder operation signal that maximizes the stroke of the lift cylinder operating lever 55, the electric command value i becomes ima X.
- step 106 the controller 50B sets the pump reduction capacity. That is, when the driver operates the lift cylinder operation lever 55 in the excavation work start state, the electric command value i changes as shown by the broken line as shown in FIG.
- the electric command value i is reduced to i ⁇ (for example, 0.7 times imax), and the stroke of the lift operation valve 44 B is reduced. It is VS of the stroke (for example, 0.7 times V Smax).
- the displacement control device 41B is operated so that the pressure sensing differential pressure ⁇ P becomes a predetermined constant value, and the pump swash plate angle 0 becomes a pump swash plate angle smaller than S max 0 ⁇
- the control is performed so that As a result, the pump capacity of the variable displacement hydraulic pump 26 mm becomes Qa which is smaller than the maximum displacement Qmax.
- the controller 50 B sends the electric command value i to the lift operation valve 44 B as shown by a solid line (normal time) as shown in FIG. Revert to changing patterns. Accordingly, when the stroke of the lift cylinder operation lever 55 is the maximum (the maximum value L Smax), the electric command value i becomes i max. As a result, the stroke of the lift operation valve 44 B becomes V Sma x, so that the opening area of the lift operation valve 44 B becomes the maximum value, and the capacity control device 4 so that the load sensing differential pressure ⁇ P becomes a constant value. 1 B is activated, and control is performed so that the pump swash plate angle S becomes 0 i ⁇ ax. As a result, the pump displacement control is stopped, and the displacement of the variable displacement hydraulic pump 26 B returns to before the control.
- the displacement control of the pump is stopped when the operator moves the forward / reverse operation means to the neutral or reverse position, and ii) after determining that the excavation work has started, Hydraulic pressure on the pot cylinder side of the lift cylinder within the first set time If the pressure falls below the specified value, it is determined that excavation work is not being continued and the pump capacity reduction control is stopped.iii) After determining that excavation has started, the hydraulic pressure on the bottom side of the lift cylinder It is determined that the excavation operation has been completed when the value falls below the value and the state exceeds the predetermined second set time, and the pump displacement reduction control is stopped.iv) During the excavation operation, the lift cylinder 13 To move packet 12 up, scrape up objects, and scoop more objects into packet 12.If packet 12 is at or above a certain height, pump The capacity control is stopped in the same manner as in the first and second embodiments.
- the control contents of the present embodiment other than those described above are the same as those of the first and second embodiments.
- Fig. 11 shows the case where the electric command value i of the lift operation valve signal for the stroke of the lift cylinder operation lever 55 is set to a pattern like a solid line (normal) and a pattern like a broken line (during excavation work). is there.
- the response in the middle range of the stroke of the lift cylinder operation lever 55 is lowered, and the response in the fine control range becomes insensitive, Fine control of the lift cylinder 13 can be facilitated.
- FIG. 12 shows a case in which the maximum value of the electric command value i of the lift operation valve signal for the stroke of the lift cylinder operation lever 55 during excavation work is peaked.
- the maximum capacity of the variable displacement hydraulic pump 26 B is reduced, and the responsiveness of the lift cylinder operation lever 55 in the middle of the stroke is maintained without changing the stroke of the lift cylinder operation lever 55. It is also possible to keep the response in the middle range of the same unchanged. As a result, the responsiveness in the fine control range does not change, and the speed at which the lift cylinder 13 moves does not change, so that the driver does not feel uncomfortable.
- the present invention can reliably detect that a drilling operation is in progress, reduce power loss, INDUSTRIAL APPLICABILITY
- the present invention is useful as a control method and a control device for a hydraulic pump for a working machine of a working vehicle, which does not reduce work efficiency and does not give a sense of discomfort to a worker.
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Operation Control Of Excavators (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10393484T DE10393484B4 (de) | 2002-10-23 | 2003-10-14 | Verfahren und Vorrichtung zur Steuerung einer Hydraulikpumpe für ein Arbeitsgerät eines Arbeitsfahrzeuges |
US10/529,821 US7637039B2 (en) | 2002-10-23 | 2003-10-14 | Method and apparatus for controlling hydraulic pump for working machine of working vehicle |
SE0500802A SE527911C2 (sv) | 2002-10-23 | 2005-04-12 | Metod och anordning för reglering av en hydraulpump till ett lastaggregat på ett arbetsfordon |
Applications Claiming Priority (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2002-307834 | 2002-10-23 | ||
JP2002307834 | 2002-10-23 | ||
JP2003-022319 | 2003-01-30 | ||
JP2003022319 | 2003-01-30 | ||
JP2003-297034 | 2003-08-21 | ||
JP2003297034A JP4223893B2 (ja) | 2002-10-23 | 2003-08-21 | 作業車両の作業機用油圧ポンプの制御方法と制御装置 |
Publications (1)
Publication Number | Publication Date |
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WO2004038232A1 true WO2004038232A1 (ja) | 2004-05-06 |
Family
ID=32180293
Family Applications (1)
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PCT/JP2003/013125 WO2004038232A1 (ja) | 2002-10-23 | 2003-10-14 | 作業車両の作業機用油圧ポンプの制御方法及び制御装置 |
Country Status (6)
Country | Link |
---|---|
US (1) | US7637039B2 (ja) |
JP (1) | JP4223893B2 (ja) |
DE (1) | DE10393484B4 (ja) |
ES (1) | ES2294912B2 (ja) |
SE (1) | SE527911C2 (ja) |
WO (1) | WO2004038232A1 (ja) |
Families Citing this family (19)
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JP4890243B2 (ja) * | 2004-05-13 | 2012-03-07 | 株式会社小松製作所 | 旋回制御装置、旋回制御方法、および建設機械 |
SE533161C2 (sv) * | 2005-10-14 | 2010-07-13 | Komatsu Mfg Co Ltd | Anordning och metod för att styra motor och hydraulpump hos ett arbetsfordon |
WO2008120546A1 (ja) * | 2007-03-29 | 2008-10-09 | Komatsu Ltd. | 作業車両 |
US7726125B2 (en) * | 2007-07-31 | 2010-06-01 | Caterpillar Inc. | Hydraulic circuit for rapid bucket shake out |
US7905089B2 (en) * | 2007-09-13 | 2011-03-15 | Caterpillar Inc. | Actuator control system implementing adaptive flow control |
CN102037194B (zh) * | 2008-03-21 | 2013-12-04 | 株式会社小松制作所 | 作业车辆、作业车辆的控制装置以及作业车辆的液压油量控制方法 |
KR101078341B1 (ko) * | 2009-02-12 | 2011-11-01 | 볼보 컨스트럭션 이큅먼트 에이비 | 후방 감시수단이 구비된 건설장비 |
US8435010B2 (en) | 2010-04-29 | 2013-05-07 | Eaton Corporation | Control of a fluid pump assembly |
JP5485007B2 (ja) * | 2010-05-07 | 2014-05-07 | 日立建機株式会社 | 作業車両の油圧制御装置 |
KR20120072729A (ko) * | 2010-12-24 | 2012-07-04 | 두산인프라코어 주식회사 | 상이한 컷오프 압력을 구비한 유압 펌프를 포함하는 휠로더 |
JP5562893B2 (ja) * | 2011-03-31 | 2014-07-30 | 住友建機株式会社 | ショベル |
JP5622121B2 (ja) * | 2012-11-12 | 2014-11-12 | 株式会社栗本鐵工所 | 油圧機械 |
KR102289821B1 (ko) * | 2014-10-23 | 2021-08-13 | 삼성전자주식회사 | 수송 장치 및 이를 이용하는 수송 방법 |
US10407867B2 (en) * | 2016-06-22 | 2019-09-10 | Caterpillar Inc. | Hydraulic lift cylinder mounting arrangement for track-type tractors |
JP6749885B2 (ja) * | 2017-12-28 | 2020-09-02 | 日立建機株式会社 | ホイールローダ |
US10927523B2 (en) | 2019-02-19 | 2021-02-23 | Caterpillar Inc. | Cross-members and pin couplers for lift arms |
US11530525B2 (en) * | 2019-10-31 | 2022-12-20 | Deere & Company | Load-based adjustment system of implement control parameters and method of use |
CN115342091A (zh) * | 2021-05-12 | 2022-11-15 | 哈威油液压技术(无锡)有限公司 | 液压控制系统 |
CN114132243B (zh) * | 2021-12-20 | 2023-01-24 | 中联重科股份有限公司 | 自卸车举升系统及其方法 |
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- 2003-10-14 US US10/529,821 patent/US7637039B2/en not_active Expired - Fee Related
- 2003-10-14 ES ES200550026A patent/ES2294912B2/es not_active Expired - Fee Related
- 2003-10-14 WO PCT/JP2003/013125 patent/WO2004038232A1/ja active IP Right Grant
- 2003-10-14 DE DE10393484T patent/DE10393484B4/de not_active Expired - Fee Related
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Also Published As
Publication number | Publication date |
---|---|
ES2294912B2 (es) | 2009-01-01 |
SE527911C2 (sv) | 2006-07-11 |
DE10393484B4 (de) | 2008-04-24 |
SE0500802L (sv) | 2005-06-23 |
JP4223893B2 (ja) | 2009-02-12 |
JP2004251441A (ja) | 2004-09-09 |
ES2294912A1 (es) | 2008-04-01 |
US7637039B2 (en) | 2009-12-29 |
US20060099081A1 (en) | 2006-05-11 |
DE10393484T5 (de) | 2005-10-13 |
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