WO2004061337A1 - 油圧駆動車両 - Google Patents
油圧駆動車両 Download PDFInfo
- Publication number
- WO2004061337A1 WO2004061337A1 PCT/JP2002/013829 JP0213829W WO2004061337A1 WO 2004061337 A1 WO2004061337 A1 WO 2004061337A1 JP 0213829 W JP0213829 W JP 0213829W WO 2004061337 A1 WO2004061337 A1 WO 2004061337A1
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- WO
- WIPO (PCT)
- Prior art keywords
- motor
- reverse
- reverse operation
- traveling
- pressure
- Prior art date
Links
- 238000006073 displacement reaction Methods 0.000 claims abstract description 22
- 239000003921 oil Substances 0.000 claims description 37
- 239000010720 hydraulic oil Substances 0.000 claims description 7
- 230000002265 prevention Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims 4
- 230000001932 seasonal effect Effects 0.000 claims 1
- 238000000034 method Methods 0.000 description 28
- 230000008569 process Effects 0.000 description 28
- 230000007935 neutral effect Effects 0.000 description 27
- 238000010586 diagram Methods 0.000 description 17
- 230000007423 decrease Effects 0.000 description 12
- 230000000994 depressogenic effect Effects 0.000 description 8
- 230000000881 depressing effect Effects 0.000 description 6
- 230000001276 controlling effect Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 230000000875 corresponding effect Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 230000005284 excitation Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 241001634822 Biston Species 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000005347 demagnetization Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/38—Control of exclusively fluid gearing
- F16H61/40—Control of exclusively fluid gearing hydrostatic
- F16H61/4183—Preventing or reducing vibrations or noise, e.g. avoiding cavitations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18036—Reversing
- B60W30/18045—Rocking, i.e. fast change between forward and reverse
-
- 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
- E02F9/226—Safety arrangements, e.g. hydraulic driven fans, preventing cavitation, leakage, overheating
-
- 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
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/38—Control of exclusively fluid gearing
- F16H61/40—Control of exclusively fluid gearing hydrostatic
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/38—Control of exclusively fluid gearing
- F16H61/40—Control of exclusively fluid gearing hydrostatic
- F16H61/4061—Control related to directional control valves, e.g. change-over valves, for crossing the feeding conduits
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/38—Control of exclusively fluid gearing
- F16H61/40—Control of exclusively fluid gearing hydrostatic
- F16H61/4069—Valves related to the control of neutral, e.g. shut off valves
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/38—Control of exclusively fluid gearing
- F16H61/40—Control of exclusively fluid gearing hydrostatic
- F16H61/4148—Open loop circuits
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/38—Control of exclusively fluid gearing
- F16H61/40—Control of exclusively fluid gearing hydrostatic
- F16H61/42—Control of exclusively fluid gearing hydrostatic involving adjustment of a pump or motor with adjustable output or capacity
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/02—Selector apparatus
- F16H59/04—Ratio selector apparatus
- F16H59/06—Ratio selector apparatus the ratio being infinitely variable
- F16H2059/065—Inching pedals for setting the ratio of an hydrostatic transmission
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/36—Inputs being a function of speed
- F16H59/44—Inputs being a function of speed dependent on machine speed of the machine, e.g. the vehicle
- F16H2059/443—Detecting travel direction, e.g. the forward or reverse movement of the vehicle
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/38—Control of exclusively fluid gearing
- F16H61/40—Control of exclusively fluid gearing hydrostatic
- F16H61/42—Control of exclusively fluid gearing hydrostatic involving adjustment of a pump or motor with adjustable output or capacity
- F16H61/423—Motor capacity control by fluid pressure control means
Definitions
- the present invention relates to a hydraulically driven vehicle such as a wheel type hydraulic excavator having a variable displacement traveling motor.
- a motor drive is driven in accordance with a driving pressure of a traveling motor to control a motor displacement.
- the motor capacity increases as the driving pressure increases, and the motor drives at low speed and high torque.
- the motor capacity decreases and the motor drives at high speed and low torque.
- the motor capacity is fixed to a constant capacity (for example, the minimum capacity) in a predetermined range where the motor drive pressure is low, so that a change in the running speed due to a change in the motor drive pressure during traveling on a flat surface or a descending board is suppressed.
- the motor torque is increased in accordance with an increase in the motor driving pressure to increase the rotation torque of the motor during acceleration or climbing.
- the accelerator pedal of a wheel-type hydraulic excavator can be turned in the front-rear direction by, for example, depressing the front side (toe side) and the rear side (heel side).
- the control valve is switched from the neutral position to the forward position or the reverse position by depressing the accelerator pedal forward or rearward, and hydraulic oil is supplied from the hydraulic pump to the traveling motor to generate motor drive pressure.
- the control valve switches to the neutral position, and the supply of hydraulic oil from the hydraulic pump to the traveling motor is cut off.
- the vehicle runs with inertial force, and the running mode changes from the mowing mode to the pump mode.
- the motor drive pressure decreases, the motor capacity decreases when the motor is operated with a large capacity, and the motor capacity maintains that state when the motor is operated with the minimum capacity.
- the amount of oil needed to rotate the traction motor is reduced.
- the occurrence of cavitation is suppressed.
- the hydraulic drive vehicle includes a hydraulic pump, a variable displacement traveling hydraulic motor driven by pressure oil from the hydraulic pump, and a motor capacity that changes the capacity of the hydraulic motor in accordance with the drive pressure of the hydraulic motor.
- Control means an operating member for instructing forward running and backward running of the vehicle, control means for driving in accordance with the operation of the operating member, and controlling the flow of hydraulic oil from the hydraulic pump to the hydraulic motor;
- Reverse operation detecting means for detecting reverse operation of the operating member to the opposite side, and operating to prevent the occurrence of cavitation of the hydraulic motor when the reverse operation detecting means detects reverse operation of the operating member.
- Cavitation preventing means for detecting reverse operation of the operating member to the opposite side, and operating to prevent the occurrence of cavitation of the hydraulic motor when the reverse operation detecting means detects reverse operation of the operating member.
- the cavitation prevention means may be configured to suppress an increase in the capacity of the hydraulic motor. An operation signal from the operation member may be blocked. The configuration may be such that the flow of pressure oil from the hydraulic pump to the hydraulic motor is shut off. The driving pressure of the hydraulic motor may be reduced.
- the occurrence of cavitation may be prevented according to the vehicle speed.
- FIG. 1 is a diagram showing an appearance of a wheel type hydraulic excavator to which the present invention is applied.
- FIG. 2 is a traveling hydraulic circuit diagram of the hydraulically driven vehicle according to the first embodiment.
- FIG. 3 is a block diagram of a control circuit for controlling the electromagnetic switching valve of FIG.
- FIG. 4 is a flowchart showing an example of processing in the controller shown in FIG.
- FIG. 5 is a traveling hydraulic circuit diagram of a hydraulically driven vehicle according to a second embodiment.
- FIG. 6 is a traveling hydraulic circuit diagram of a hydraulically driven vehicle according to a third embodiment.
- FIG. 7 is a block diagram of a control circuit for controlling the forward / reverse switching valve in FIG.
- FIG. 8 is a flowchart showing an example of processing in the controller shown in FIG.
- FIG. 9 is a traveling hydraulic circuit diagram of a hydraulically driven vehicle according to a fourth embodiment.
- FIG. 10 is a block diagram of a control circuit for controlling the electromagnetic switching valve of FIG.
- FIG. 11 is a flowchart showing an example of processing in the controller shown in FIG.
- FIG. 12 is a diagram showing a setting example of a reference rotation speed related to switching of the electromagnetic switching valve.
- FIG. 13 is a diagram showing another setting example of the reference rotation speed related to the switching of the electromagnetic switching valve.
- the wheel-type hydraulic excavator includes a traveling unit 1 and a revolving unit 2 that is rotatably mounted on the upper portion of the traveling unit 1.
- the revolving superstructure 2 is provided with a cab 3 and a work front attachment 4 including a boom 4a, an arm 4b, and a baguette 4c.
- the boom 4a is raised and lowered by driving the boom cylinder 4d
- the arm 4b is raised and lowered by driving the arm cylinder 4e
- the bucket 4c is clouded or dumped by driving the bucket cylinder 4f.
- the traveling body 1 is provided with a traveling variable displacement hydraulic motor 5 driven by hydraulic pressure.
- FIG. 2 is a traveling hydraulic circuit diagram of the wheel hydraulic excavator.
- the direction and flow rate of oil discharged from the variable displacement main pump 11 driven by the engine 10 is controlled by the control valve 12, and the variable displacement is passed through the brake valve 14 with a built-in counterbalance valve 13. Supplied to the traction motor 5.
- the rotation of the traveling motor 5 is shifted, for example, by a transmission 7 capable of shifting the gear ratio in two stages, lono-high. Then, the rotation after the speed change is transmitted to the tire 6 via the propeller shaft 8 and the axle 9, and the wheel-type hydraulic excavator runs.
- the tilt amount of the main pump 11 is adjusted by the pump regulator 11 A.
- the pumpleggiyle 11 A has a torque limiter, which feeds the pump discharge pressure and controls horsepower.
- the horsepower control is to control the pump displacement so that the load determined by the pump discharge pressure and the pump displacement does not exceed the engine output.
- a maximum displacement limiting portion is provided at 11 A of the regilleur, and the maximum flow rate of the main pump 11 is determined by the maximum displacement limiting portion.
- the switching direction and stroke amount of the control pulp 12 are controlled by the traveling pilot pressure from the pilot port circuit, and the traveling speed of the vehicle is controlled by adjusting the stroke amount.
- the pilot circuit includes a pilot pump 21, a pair of traveling pilot valves 23 A and 23 B that generate pilot secondary pressure in response to depression of an accelerator pedal 22, and the pilot valve.
- the accelerator pedal 22 can be turned forward and rearward by a front depression operation (front depression) and a rear depression operation (rear depression), respectively.
- the pilot valve 23 A is driven by the front operation of the accelerator pedal 22, and the pilot valve 23 B is driven by the rear operation.
- a pilot pressure corresponding to the operation amount of the accelerator pedal 22 is generated.
- the pilot pressure is detected by the pressure sensors 41A and 41B as operation signals Pf and Pr of the accelerator pedal 22.
- the governor of the engine 10 is connected to a pulse motor (not shown), and the governor is driven by rotation of the pulse motor. The rotation of the pulse motor is controlled according to the operation amount of the accelerator pedal 22.
- the engine speed increases as the operation amount of the accelerator pedal 22 increases, and the engine speed decreases as the operation amount decreases.
- the engine speed becomes the idle speed.
- the engine speed may be constant regardless of the operation amount of the accelerator pedal 22.
- the traveling motor 5 is provided with a self-pressure tilt control mechanism.
- the capacity is increased as the driving pressure increases, and the drive is performed at a low speed and a high torque. As the driving pressure decreases, the capacity is decreased to increase the speed and a low torque.
- Drive with Note that, in a predetermined range where the motor drive pressure is relatively low, the minimum displacement is maintained without changing the motor capacity even if the motor drive pressure fluctuates, and the motor drive pressure falls within the predetermined range.
- the drive pressure acts from the shuttle valve 16 in the brake pulp 14 to the control piston 17 and the servo piston 18 of the traveling motor 5.
- the main pump 21 connects to one of the pilot ports of the control valve 12.
- the pilot pressure acts on the control valve 12, and the control valve 12 is switched to the F position in accordance with the pilot pressure.
- oil discharged from the main pump 10 is guided to the traveling motor 5 via the control valve 12, the center joint 15, and the brake valve 14, and the pipe pressure is applied to the counter balance valve 13.
- the power counterbalance valve 13 switches from the neutral position.
- the traveling motor 5 is driven, and the wheel hydraulic excavator travels forward.
- the traveling motor 5 changes from a motor operation to a pump operation, and the port B in the drawing suctions and the port A discharges.
- the pressure oil from the traveling motor 5 is throttled by the throttle (neutral throttle) at the neutral position of the counter balance valve 13, so that the pressure between the counter balance valve 13 and the traveling motor 5 increases, and the traveling motor 5 In the evening 5 it acts as brake pressure.
- the traveling motor 5 generates a braking torque to brake the vehicle body.
- the driving pressure (pressure at the B port) of the traveling motor 5 decreases, so when the motor 5 is in a state other than the minimum capacity state, the motor capacity decreases and the motor 5 is in the minimum capacity state.
- the travel motor 5 is replenished with the oil amount from the makeup port 19.
- the maximum brake pressure is regulated by the relief valves 20 A and 20 B. Return oil from the relief valves 2 O A and 20 B is guided to the suction side of the traveling motor 5.
- the traveling motor 5 is driven by the inertial force of the vehicle body, as described above.
- the traveling motor 5 changes from a motor action to a pump action.
- the control pulp 12 is switched to the R position by the reverse operation of the accelerator pedal 22, the drive pressure generated by the main pump 11 on the A port also moves the power balance valve 13 to the right position in the figure.
- the pressure in the A-port-side pipe line rises at once due to the pressure oil discharged from the main motor 11 and the discharge pressure oil of the traveling motor 5 that performs the switching.
- the pipeline pressure (motor driving pressure) on the A port when the accelerator pedal 22 is reversely operated increases, and the high-pressure oil is guided to the pistons 17 and 18 by the shuttle valve 16 so that the motor capacity is increased.
- the amount of suction oil required for rotation of the traveling motor 5 also increases.
- the amount of replenished oil In addition, cavitation may occur.
- the electromagnetic switching valves 25A and 25B are controlled as follows.
- FIG. 3 is a block diagram of a control circuit that controls the electromagnetic switching valves 25A and 25B.
- the pressure switches 41 A and 41 B and a rotation speed sensor 42 for detecting the rotation speed of the traveling motor 5 are connected to the controller 40 composed of a CPU or the like. Based on these input signals, predetermined processing is executed in the controller 40, and control signals are output to the electromagnetic switching valves 25A and 25B. Further, a neutral switch 43 is connected to the electromagnetic switching valve 25. When the neutral switch 43 is turned on, the solenoid-operated directional control valves 25A and 25B are respectively switched to the position b in preference to the control signal from the controller 40.
- FIG. 4 is a flowchart showing an example of processing in the controller 40.
- step S1 it is determined whether or not the rotation speed N of the traveling motor 5 detected by the rotation speed sensor 42 is equal to or less than a predetermined reference rotation speed N1. This is to determine the occurrence of cavitation. That is, since the inertia force of the vehicle increases as the rotation speed of the traveling motor 5 increases, the required amount of oil to be sucked into the traveling motor 5 when the accelerator pedal 22 is reversely operated increases, and cavitation is likely to occur. Become. Therefore, in step S1, the rotation speed of the driving mode 5 where the occurrence of cavitation becomes a problem is set in advance as a reference rotation speed N1 (for example, 100 Or.P.m.). The rotation speed N 1 is compared with the actual rotation speed N.
- a reference rotation speed N1 for example, 100 Or.P.m.
- step S1 If it is determined in step S1 that the motor rotation speed N is larger than the reference rotation speed N1, the process proceeds to step S2, and the value of the flag is determined.
- the flag is set to 0 in the initial state, and is set to 1 when the motor speed N exceeds the reference speed N1.
- step S3 it is determined from the signal from the pressure switch 41A whether or not the accelerator pedal 22 has been operated forward.
- step S3 is affirmed, the process proceeds to step S4, in which a control signal is output to the solenoid of the solenoid-operated switching valve 25B, and the solenoid-operated switching valve 25B is switched to the position b.
- step S5 the flag is set to 1 and the routine returns.
- step S3 the process proceeds to step S6, and it is determined whether or not the accelerator pedal 22 is operated rearward based on the signal from the pressure switch 41B.
- step S6 the process proceeds to step S7, and when denied, the process returns.
- step S7 a control signal is output to the solenoid of the electromagnetic switching valve 25A to switch the electromagnetic switching valve 25A to the position b, and the process proceeds to step S5.
- step S1 If it is determined in step S1 that the motor rotation speed N is equal to or less than the reference rotation speed N1, the process proceeds to step S8.
- step S8 a control signal is output to the solenoids of the electromagnetic switching valves 25A and 25B to switch the electromagnetic switching valves 25A and 25B to the position a. Then, the flag is set to 0 in step S9, and the routine returns.
- the electromagnetic switching valves 25 A and 25 B are switched according to the control signal from the controller 40. Since the motor rotation speed N is 0 when the vehicle is stopped, the electromagnetic switching valves 25A and 25B are switched to the position a, and the flags are set to 0 (steps S8 and S9).
- the control valve 12 switches to the F position, and the hydraulic oil from the main pump 11 flows into the B port side pipeline. I will As a result, the traveling motor 5 is driven, and the vehicle starts traveling forward.
- step S4 When the rotation speed of the traveling motor 5 exceeds the reference rotation speed N1, the electromagnetic switching valve 25B is switched to the position b, and the flag is set to 1 (step S4, step S5).
- the pilot port of the control valve 12 is connected to the tank via the electromagnetic switching valve 25B.
- the accelerator pedal 22 is operated in reverse (backward depressing operation)
- the hydraulic oil from the pie port pump 21 is shut off by the electromagnetic switching valve 25 B, so the pie port to the control port valve 1 2
- the cut pressure supply is blocked and control valve 12 switches to position N.
- step S8 When the motor rotation speed falls below the reference rotation speed N1, the solenoid-operated directional control valves 25A and 25B are respectively switched to the position a (step S8).
- the pilot pressure acts on the control valve 12, the control valve 12 is switched to the R position, and the pressure oil from the main pump 11 is led to the A port side pipeline.
- the driving pressure guided to the pistons 17 and 18 increases, and the motor capacity increases.
- the reverse displacement of the accelerator pedal 22 increases the motor capacity.However, since the motor rotation speed N is low, the required suction oil amount of the traveling motor 5 does not increase so much, and the shortage of suction oil amount is reduced. Replenishment from upport 19 can fully resolve the problem.
- the traveling motor 5 is reversely rotated at a high torque immediately after the traveling motor 5 stops. can do.
- the vehicle traveling direction can be switched more efficiently than when the accelerator pedal 22 is depressed rearward after the traveling motor 5 stops.
- the electromagnetic switching valves 25 A and 25 B are provided in the traveling pilot circuit, and when the rotation speed of the traveling motor 5 is larger than the reference rotation speed N 1, the accelerator pedal 22 is operated. The generation of travel pilot pressure due to reverse operation has been prevented. As a result, the control pulp 12 is switched to the neutral position to prevent an increase in motor capacity, thereby preventing the occurrence of cavitation. In addition, when the rotation speed of the traveling motor 5 becomes equal to or less than the reference rotation speed N1, generation of the traveling pilot pressure by the reverse operation of the accelerator pedal 22 is allowed. It can be done efficiently. Since the electromagnetic switching valves 25A and 25B are provided in the traveling pilot circuit, the electromagnetic switching valve for low pressure can be used, and an inexpensive hydraulic circuit can be provided.
- a neutral switch 43 for commanding the neutral state of travel is provided, and when the neutral state is commanded, the electromagnetic switching valves 25A and 25B are not switched by the control of the controller 40. A stable running neutral state can be maintained.
- FIG. 5 is a traveling hydraulic circuit diagram of the wheel hydraulic excavator according to the second embodiment.
- the same parts as those in FIG. 2 are denoted by the same reference numerals, and the differences will be mainly described below.
- a pair of electromagnetic switching valves 25 A and 25 B are provided in the traveling pilot circuit.
- a further pair of electromagnetic switching valves 25 A and 25 B is provided between the control valve 12 and the brake valve 14.
- a pair of electromagnetic switching valves 26 A and 26 B are provided.
- the electromagnetic switching valves 25 A and 25 B are not connected to the controller 40 but are connected only to the neutral switch 43, and are switched according to the operation of the neutral switch 43. That is, the electromagnetic switching valves 25 A and 25 B are respectively switched to the position b by turning on the neutral switch 43, and are respectively switched to the position a by turning off the neutral switch 43.
- the electromagnetic switching valves 26 A and 26 B are switched by the processing in the controller 40 in the same manner as in the first embodiment. That is, when the motor rotation speed N exceeds the reference rotation speed N1 by the front operation of the accelerator pedal 22, the electromagnetic switching valve 26 B is switched to the position b, and the motor rotation speed is operated by the rear operation of the accelerator pedal 22. When N exceeds the reference rotation speed N1, the electromagnetic switching valve 26A is switched to the position b. When the motor speed N becomes equal to or lower than the reference speed N1 when the accelerator pedal 22 is operated in reverse, the electromagnetic switching valves 26A and 26B are switched to the positions a.
- the motor when the accelerator pedal 22 is depressed forward, the motor is turned.
- the accelerator pedal 22 When the accelerator pedal 22 is operated in reverse by depressing the accelerator pedal 22 with the speed exceeding the reference speed N1, the pilot pressure acts on the control valve 12 and the control valve 12 moves from position F to position R. Switch.
- the electromagnetic switching valve 26 B since the electromagnetic switching valve 26 B is switched to the position b, the pressure oil from the main pump 11 is not supplied to the brake valve 14, and the counter balance pulp 13 maintains the neutral position. Acts in the same way as a normal deceleration operation, and the motor drive pressure drops. As a result, the increase in the motor capacity is suppressed, and the occurrence of cavitation can be prevented.
- the electromagnetic switching valves 26 A and 26 B are provided between the control valve 12 and the brake valve 14, and the rotation speed of the traveling motor 5 is larger than the reference rotation speed N 1.
- the supply of the pressure oil to the brake valve 14 by the reverse operation of the accelerator pedal 22 is prevented, and the supply of the pressure oil is permitted at the allowable reference speed N 1 or less.
- the occurrence of caption can be effectively prevented.
- FIG. 6 is a traveling hydraulic circuit diagram of the wheel hydraulic excavator according to the third embodiment.
- the same parts as those in FIG. 2 are denoted by the same reference numerals, and the differences will be mainly described below.
- the difference between the third embodiment and the first embodiment lies in the configuration of the traveling pilot circuit. That is, in the first embodiment, a pair of pilot valves 23 A and 23 B and a slow return valve 24 A and 24 B are provided, and the pilot port is operated by the front and rear steps of the accelerator pedal 22. In the third embodiment, a single pilot valve 23 and a slow return valve 24 are provided, and the pilot valve 23 is operated by operating the accelerator pedal 22. Operate the mouth valve 23.
- a forward / reverse switching valve 27 is provided following the slow return valve 24. Before and after The forward switching valve 27 is switched to position F by excitation of the solenoid 27F, and is switched to position R by excitation of the solenoid 27R, and to position N by demagnetization of the solenoids 27F and 27R. Can be switched.
- the forward / reverse selector valve 27 is switched to the position F or R with the accelerator pedal 22 depressed, the pilot pressure acts on the pilot port of the control valve 12 and the control pulp 12 Or switches to the R position.
- the forward / reverse selector valve 27 is switched to the position N, the control valve 12 is switched to the N position without the pilot pressure acting on the control valve 12.
- FIG. 7 is a block diagram of a control circuit for controlling the forward / reverse switching valve 27.
- a speed sensor 42 and a forward / reverse switching switch 51 are connected to the controller 50.
- the forward / reverse switching switch 51 is provided in the driver's cab 3, and is operated by one of F, N, and R to output forward, backward, and neutral commands of the vehicle.
- the F contact of the forward / reverse switching switch is connected to the solenoid 27 F of the forward / reverse switching valve 27 via the relay 52, and the R contact is connected to the solenoid 27 R via the relay 53.
- the controller 50 performs the following processing and outputs a control signal to the coils of the relays 52 and 53.
- FIG. 8 is a flowchart showing an example of processing in the controller 50.
- the flow advances to step S14 to determine whether the position of the forward / reverse switching switch 51 is F or not.
- step S14 is affirmed, the process proceeds to step S15, and the coil of the relay 53 is energized. As a result, the relay 53 is switched to the contact “b” side, and the solenoid 27 R is prevented from being excited.
- step S14 is denied, the process proceeds to step S17, and it is determined whether or not the position of the forward / reverse switching switch 51 is R.
- step S17 If step S17 is affirmed, the process proceeds to step S18 to energize the coil of the relay 52. As a result, the relay 52 is switched to the contact b side, and the solenoid 27F is prevented from being excited. When the position of the switch 51 is N, step S17 is negated and the routine returns.
- step S1 If it is determined in step S1 that the motor speed is equal to or less than the reference speed N1, the process proceeds to step S19.
- step S19 the power supply to the coils of the relays 52 and 53 is stopped. As a result, the relays 52 and 53 are switched to the contact a side.
- the relays 52, 53 are set to the position a. It is switched, and solenoid 27F is excited (step S19).
- the forward / reverse switching valve 27 is switched to the position F, the pilot pressure acts on the control valve 12, and the control valve 12 is switched to the F position.
- the pressure oil from the main pump 11 is guided to the traveling motor 5, and the vehicle starts traveling forward.
- step S15 When the rotation speed of the traveling motor 5 exceeds the reference rotation speed N1, the relay 53 is switched to the position b, and the power to the solenoid 27R is blocked (step S15). In this state, even if the forward / reverse switching switch 51 is operated to R, that is, if the switch 51 is reversely operated, the solenoid 27 R is not excited, and the forward / reverse switching valve 27 is switched to the position N. As a result, the generation of travel pilot pressure is prevented, the control valve 12 is switched to the neutral position, the counterbalance valve 13 is also in the neutral position, and the motor drive pressure is increased by the normal braking action. The decrease and the increase of the motor capacity are prevented.
- Step S 19 When the forward / reverse switching switch 51 is operated to R as described above, when the rotational speed of the traveling motor 5 becomes equal to or lower than the reference rotational speed N1, the relay 53 is switched to the position a, and the solenoid 27R is excited. (Step S 19). As a result, the forward / reverse switching valve 27 is switched to the position R, and the control valve 12 is switched to the R position. As a result, the motor drive pressure increases and the motor capacity increases, but no cavitation occurs because the motor speed N is low.
- the traveling pilot circuit is provided with the forward / reverse switching valve 27 that can be switched by a switch operation, and the rotational speed of the traveling motor 5 is larger than the reference rotational speed N 1.
- the switching of the forward / reverse switching valve 27 by the reverse operation of the switch 51 is prohibited to prevent the generation of travel pilot pressure. This prevents an increase in the motor capacity and prevents cavitation.
- FIG. 9 is a traveling hydraulic circuit diagram of a wheel type excavator according to the fourth embodiment. is there.
- the same parts as those in FIG. 2 are denoted by the same reference numerals, and the differences will be mainly described below.
- a pair of solenoid-operated switching valves 25A and 25B are provided in the traveling pipe line, but in the fourth embodiment, the control valve 1 7,
- An electromagnetic switching valve 28 is provided in the drive pressure supply line to the servo piston 18.
- the electromagnetic switching valve 28 is switched to the position a, the driving pressure is guided to the pistons 17 and 18, and the motor capacity becomes a value corresponding to the driving pressure.
- the electromagnetic switching valve 28 is switched to the position b, the supply of the driving pressure from the shuttle valve 16 to the pistons 17 and 18 is stopped, and the motor capacity is minimized.
- the electromagnetic switching valves 25 A and 25 B are not connected to the controller 60 and are switched by operating the neutral switch 43 as in the second embodiment.
- FIG. 10 is a block diagram of a control circuit that controls the electromagnetic switching valve 28.
- the same parts as those in FIG. 3 are denoted by the same reference numerals.
- the controller 60 is connected with a rotation speed sensor 42 and pressure switches 41A and 41B.
- the controller 60 executes the following processing according to the input signals from these, and outputs a control signal to the solenoid of the electromagnetic switching valve 28.
- FIG. 11 is a flowchart illustrating an example of processing in the controller 60.
- the same parts as those in FIG. 4 are denoted by the same reference numerals, and the differences will be mainly described below.
- step S1 is denied, the process proceeds to step S21, and the value of the F flag is determined.
- the F flag is set to 1 when the motor rotation speed exceeds the reference rotation speed N1 by the front operation of the accelerator pedal 22 (step S24). If it is determined in step S21 that the F flag is 0, the process proceeds to step S22, and the value of the R flag is determined.
- the R flag is set to 1 when the motor rotation speed exceeds the reference rotation speed N1 by the rear depressing operation of the accelerator pedal 22 (step S26). If it is determined in step S22 that the R flag is 0, the process proceeds to step S23.
- step S23 it is determined from the signal from the pressure switch 41A whether or not the accelerator pedal 22 has been depressed forward. If step S23 is affirmative, the process proceeds to step S24, where the F flag is set to 1 and the process returns. When step S23 is rejected, the process proceeds to step S25, where the signal from the pressure switch 41B is used to execute the error. It is determined whether the rear pedal 22 has been depressed rearward. When step S25 is affirmed, the process proceeds to step S26, and when denied, the process returns. In step S26, the R flag is set to 1 and the routine returns.
- step S21 If it is determined in step S21 that the F flag is 1, the process proceeds to step S27, and it is determined whether or not the accelerator pedal 22 is operated rearward based on a signal from the pressure switch 41B. If step S27 is affirmed, the process proceeds to step S29, in which a control signal is output to the solenoid of the electromagnetic switching valve 28 to switch the electromagnetic switching valve 28 to the position b. If step S27 is denied, the process proceeds to step S30, in which a control signal is output to the solenoid of the electromagnetic switching valve 28 to switch the electromagnetic switching valve 28 to the position a.
- step S22 determines whether or not the accelerator pedal 22 has been operated forward by a signal from the pressure switch 41A.
- step S28 is affirmed, the process proceeds to step S29, and when denied, the process proceeds to step S30.
- step S31 a control signal is output to the solenoid of the electromagnetic switching valve 28 to switch the electromagnetic switching valve 28 to the position a.
- step S32 the F flag is set to 0 in step S32, and the R flag is set to 0 in step S33.
- the control valve 12 is switched to the F position, and the traveling motor 5 is rotated by the pressure oil from the main pump 11. I do.
- the electromagnetic switching valve 28 is switched to the position a by the above-described processing (step S31), the driving pressure is guided to the pistons 17 and 18, and the motor displacement becomes a value corresponding to the driving pressure.
- step S2 4 when the motor speed exceeds the reference speed N1, the F flag is set to 1 (step S2 4), but the solenoid-operated switching valve 28 remains at the position a unless the accelerator pedal 22 is operated in reverse. It remains switched (step S30). In this state, when the accelerator pedal 22 is operated in reverse, the electromagnetic switching valve 28 is switched to the position b (step S29). As a result, the supply of the driving pressure to the pistons 17 and 18 is cut off, the motor capacity is minimized, and the occurrence of cavitation is prevented.
- step S31 If the motor speed drops below the reference speed N1 when the accelerator pedal 22 is operated in reverse.
- the electromagnetic switching valve 28 is switched to the position a (step S31). As a result, the driving pressure is supplied to the bistons 17 and 18 and the motor capacity is increased.
- the electromagnetic switching valve 28 is provided in the drive pressure supply line from the shuttle valve 16 to the pistons 17 and 18 so that the rotation speed of the traveling motor 5 is equal to the reference rotation speed N. If the accelerator pedal 22 was operated reversely when it was greater than 1, the supply of drive pressure to the pistons 17 and 18 was prohibited, so that the motor capacity did not increase. Thereby, occurrence of cavitation can be prevented.
- the increase in the motor capacity according to the rotation speed of the traveling motor 5 was allowed or prohibited, but the inertia force of the vehicle correlated not only with the motor rotation speed but also with the road surface gradient and the vehicle weight. Having. Therefore, in order to accurately prevent the occurrence of cavitation, it is preferable to set the reference rotation speed N1 in consideration of these factors.
- an inclination sensor is mounted on the vehicle to detect the gradient of the road surface.
- a target rotation speed NA of the traveling motor 5 according to the inclination angle during the downhill traveling is calculated using a predetermined relationship as shown in FIG. 13 (a). Then, based on the relationship shown in Fig. 13 (b), it is determined that the larger the difference between the target speed NA and the actual speed N is, the heavier the vehicle weight is. It may be set small.
- a physical quantity having a correlation with the motor rotation speed may be detected.
- the rotation speed of the output shaft of the transmission 7 is detected, and depending on whether the detected value exceeds the reference rotation speed N1, the solenoid-operated directional control valves 25A, 25B, 26A, 26B, 28 and The relays 52 and 53 may be switched.
- the reference rotation speed N1 of the output shaft may be set according to the gear ratio of the gear. That is, the reference speed should be set lower when the gear is low (high gear ratio) than when the gear is high (low gear ratio).
- the forward or reverse travel is commanded by operating the accelerator pedal 22 forward or backward or by operating the accelerator pedal 22 and the forward / reverse switching switch 51, but the command is made using another operating member (for example, a lever). May be.
- the reverse operation of the accelerator pedal 22 is detected by the pressure switch 41A, 41B or the forward / reverse switching switch 51, but the reverse operation of the accelerator pedal 22 may be detected by a limit switch or the like. it can.
- the electromagnetic switching valves 25A, 25B and the like are switched on and off, but the switching is gradually performed according to the motor rotation speed. You may.
- the motor capacity is kept at the minimum capacity in a predetermined range where the motor drive pressure is relatively low, but the predetermined range is not provided, and the motor drive pressure is adjusted according to the motor drive pressure.
- the motor capacity may be changed.
- a wheel-type hydraulic excavator has been described as an example.
- the present invention can also be applied to construction machines such as a wheel loader and a truck crane, and other hydraulically driven vehicles.
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Operation Control Of Excavators (AREA)
- Fluid-Pressure Circuits (AREA)
- Control Of Fluid Gearings (AREA)
Abstract
Description
Claims
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP02792057A EP1580466B1 (en) | 2002-12-27 | 2002-12-27 | Hydraulically driven vehicle |
AT02792057T ATE378533T1 (de) | 2002-12-27 | 2002-12-27 | Hydraulisch betriebenes fahrzeug |
US10/540,857 US7506717B2 (en) | 2002-12-27 | 2002-12-27 | Hydraulically driven vehicle |
CNB028301048A CN100419311C (zh) | 2002-12-27 | 2002-12-27 | 液压驱动的车辆 |
PCT/JP2002/013829 WO2004061337A1 (ja) | 2002-12-27 | 2002-12-27 | 油圧駆動車両 |
JP2004564450A JP4440116B2 (ja) | 2002-12-27 | 2002-12-27 | 油圧駆動車両 |
DE60223606T DE60223606T2 (de) | 2002-12-27 | 2002-12-27 | Hydraulisch betriebenes fahrzeug |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2002/013829 WO2004061337A1 (ja) | 2002-12-27 | 2002-12-27 | 油圧駆動車両 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2004061337A1 true WO2004061337A1 (ja) | 2004-07-22 |
Family
ID=32697340
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2002/013829 WO2004061337A1 (ja) | 2002-12-27 | 2002-12-27 | 油圧駆動車両 |
Country Status (7)
Country | Link |
---|---|
US (1) | US7506717B2 (ja) |
EP (1) | EP1580466B1 (ja) |
JP (1) | JP4440116B2 (ja) |
CN (1) | CN100419311C (ja) |
AT (1) | ATE378533T1 (ja) |
DE (1) | DE60223606T2 (ja) |
WO (1) | WO2004061337A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20100263361A1 (en) * | 2006-08-09 | 2010-10-21 | Katsuaki Kodaka | Travel Control Device for Hydraulically Driven Vehicle |
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DE102006011804A1 (de) * | 2006-03-15 | 2007-09-20 | Zf Friedrichshafen Ag | Hydrostatgetriebe eines hydrostatisch-mechanischen Leistungsverzweigungsgetriebes |
EP2123947B1 (en) * | 2006-12-28 | 2012-12-05 | Hitachi Construction Machinery Co., Ltd | Travel control device for hydraulic traveling vehicle |
KR101112137B1 (ko) | 2009-07-29 | 2012-02-22 | 볼보 컨스트럭션 이큅먼트 에이비 | 하이브리드식 건설기계의 엔진회전수 변화저감 제어시스템 및 방법 |
US8763388B2 (en) * | 2009-10-13 | 2014-07-01 | Caterpillar Inc. | Hydraulic system having a backpressure control valve |
US8157033B2 (en) * | 2010-01-27 | 2012-04-17 | Les Produits Gilbert Inc. | Steering system for a tracked vehicle |
JP5228000B2 (ja) * | 2010-05-26 | 2013-07-03 | 日立建機株式会社 | ハイブリッド式建設機械 |
US20140041619A1 (en) * | 2011-04-27 | 2014-02-13 | Nissan Motor Co., Ltd. | Lubrication control apparatus for vehicle in-wheel motor unit |
DE102012020984A1 (de) * | 2012-10-25 | 2014-04-30 | Liebherr-Hydraulikbagger Gmbh | Vorrichtung zur Fahrgeschwindigkeitssteuerung/-regelung eines Arbeitsfahrzeugs und Verfahren hierzu |
JP6089665B2 (ja) * | 2012-12-13 | 2017-03-08 | コベルコ建機株式会社 | 建設機械の油圧制御装置 |
US20140196449A1 (en) * | 2013-01-11 | 2014-07-17 | Gerry Petty | Hydraulic Drive Circuit |
WO2015034499A1 (en) * | 2013-09-05 | 2015-03-12 | Volvo Construction Equipment Ab | Hydrostatic transmission for construction vehicle |
FR3026811B1 (fr) * | 2014-10-03 | 2016-12-09 | Poclain Hydraulics Ind | Procede d'assistance hydraulique de l'entrainement d'un vehicule a basse vitesse |
JP6634363B2 (ja) * | 2016-11-16 | 2020-01-22 | 日立建機株式会社 | 作業機械 |
EP4031718A1 (en) | 2019-09-19 | 2022-07-27 | Clark Equipment Company | Drive motor displacement control |
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- 2002-12-27 US US10/540,857 patent/US7506717B2/en not_active Expired - Fee Related
- 2002-12-27 CN CNB028301048A patent/CN100419311C/zh not_active Expired - Fee Related
- 2002-12-27 WO PCT/JP2002/013829 patent/WO2004061337A1/ja active IP Right Grant
- 2002-12-27 DE DE60223606T patent/DE60223606T2/de not_active Expired - Lifetime
- 2002-12-27 AT AT02792057T patent/ATE378533T1/de not_active IP Right Cessation
- 2002-12-27 EP EP02792057A patent/EP1580466B1/en not_active Expired - Lifetime
- 2002-12-27 JP JP2004564450A patent/JP4440116B2/ja not_active Expired - Fee Related
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Also Published As
Publication number | Publication date |
---|---|
US20060083622A1 (en) | 2006-04-20 |
JP4440116B2 (ja) | 2010-03-24 |
CN1717554A (zh) | 2006-01-04 |
EP1580466B1 (en) | 2007-11-14 |
EP1580466A4 (en) | 2006-03-29 |
DE60223606T2 (de) | 2008-10-23 |
ATE378533T1 (de) | 2007-11-15 |
JPWO2004061337A1 (ja) | 2006-05-11 |
DE60223606D1 (de) | 2007-12-27 |
EP1580466A1 (en) | 2005-09-28 |
US7506717B2 (en) | 2009-03-24 |
CN100419311C (zh) | 2008-09-17 |
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