WO2007132687A1 - 油圧走行車両 - Google Patents
油圧走行車両 Download PDFInfo
- Publication number
- WO2007132687A1 WO2007132687A1 PCT/JP2007/059454 JP2007059454W WO2007132687A1 WO 2007132687 A1 WO2007132687 A1 WO 2007132687A1 JP 2007059454 W JP2007059454 W JP 2007059454W WO 2007132687 A1 WO2007132687 A1 WO 2007132687A1
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- WO
- WIPO (PCT)
- Prior art keywords
- state
- valve
- travel
- traveling
- hydraulic
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
- B62D11/003—Electric or electronic control systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/10—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of fluid gearing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
- B62D11/005—Hydraulic control systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/06—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of a single main power source
-
- 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
-
- 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
- E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
-
- 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
- E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
-
- 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
- E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
- E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves 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
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2239—Control of flow rate; Load sensing arrangements using two or more pumps with cross-assistance
- E02F9/2242—Control of flow rate; Load sensing arrangements using two or more pumps with cross-assistance 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
- E02F9/225—Control of steering, e.g. for hydraulic motors driving the vehicle tracks
-
- 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
- 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
- F15B11/163—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load for sharing the pump output equally amongst users or groups of users, e.g. using anti-saturation, pressure compensation
-
- 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
- F15B11/17—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors using two or more pumps
-
- 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
- F16H61/4078—Fluid exchange between hydrostatic circuits and external sources or consumers
- F16H61/4139—Replenishing or scavenging pumps, e.g. auxiliary charge pumps
-
- 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
- F16H61/44—Control of exclusively fluid gearing hydrostatic with more than one pump or motor in operation
- F16H61/448—Control circuits for tandem pumps or motors
-
- 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
- F16H61/44—Control of exclusively fluid gearing hydrostatic with more than one pump or motor in operation
- F16H61/456—Control of the balance of torque or speed between pumps or motors
-
- 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
-
- 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
- F15B2211/20576—Systems with pumps with multiple pumps
-
- 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
- F15B2211/3053—In combination with a pressure compensating valve
- F15B2211/30535—In combination with a pressure compensating valve the pressure compensating valve is arranged between pressure source and 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
- F15B2211/32—Directional control characterised by the type of actuation
- F15B2211/329—Directional control characterised by the type of actuation actuated by fluid pressure
-
- 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
- F15B2211/7053—Double-acting output members
-
- 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
- F15B2211/7058—Rotary output members
Definitions
- the present invention relates to a hydraulic traveling vehicle.
- Patent Document 1 JP-A-6-123301
- An object of the present invention is to provide a hydraulic traveling vehicle that can suppress the occurrence of insufficient cornering speed and loss of hydraulic pressure when a sudden turn and a gentle turn are performed.
- a hydraulic travel vehicle includes a right travel motor, a left travel motor, a hydraulic pump unit, a junction / divergence valve, and a travel switching unit.
- the right traveling motor is included in the first hydraulic circuit and is driven by hydraulic pressure.
- the left travel motor is included in the second hydraulic circuit and is driven by hydraulic pressure.
- the hydraulic pump unit includes a first pressure oil supply unit that supplies pressure oil to the first hydraulic circuit, and a second pressure oil supply unit that supplies pressure oil to the second hydraulic circuit.
- the merging / dividing valve switches the merging / dividing flow between the first hydraulic circuit and the second hydraulic circuit.
- the travel switching unit Rotation differs between right travel motor and left travel motor with the divergence state of the divergence valve and the right travel motor and the left travel motor in a state where the right travel motor and the left travel motor are stopped and the other is driven. It is possible to switch between the state of performing a gentle turning run driven by a number.
- the hydraulic traveling vehicle according to the second invention is the hydraulic traveling vehicle according to the first invention, wherein the traveling switching unit identifies whether a quick turning traveling is performed or a gentle turning traveling is performed, and Based on the identification result! /, The merging / separating valve is switched.
- a hydraulic traveling vehicle is the hydraulic traveling vehicle according to the second invention, wherein a right traveling valve, a left traveling valve, a traveling operation unit, a right pressure detecting unit, a left pressure detecting unit, Is further provided.
- the right running valve is included in the first hydraulic circuit and adjusts the pressure oil supplied to the right running motor.
- the left travel valve is included in the second hydraulic circuit and adjusts the pressure oil supplied to the left travel motor.
- the traveling operation unit adjusts the pilot pressure applied to the right traveling valve and the left traveling valve according to the operation amount.
- the right pressure detector detects the pilot pressure applied to the right travel valve.
- the left pressure detection unit detects the norot pressure applied to the left travel valve. Then, the traveling switching unit identifies whether a deviation between the sudden turn traveling and the gentle turn traveling is performed based on the detection results of the right pressure detection unit and the left pressure detection unit.
- a hydraulic traveling vehicle is the hydraulic traveling vehicle according to any one of the first to third aspects of the invention, which is included in the first hydraulic circuit or the second hydraulic circuit and is driven by hydraulic pressure. Further equipped with industrial machines. Then, the traveling switching unit is configured such that the merging / separating valve is brought into the diverted state, the gentle turning travel is performed and the work machine is driven, the state, the merging / dividing valve is brought into the joined state, and the gentle turning traveling is performed. The state in which the work machine is driven can be switched.
- the loss of hydraulic pressure can be reduced in a state where the merge / divergence valve is in a diverted state, the vehicle travels slowly and the work machine is not driven.
- a part of the pressure oil supplied to one of the travel motors is taken away by the work machine. It is possible to suppress the occurrence of bias in the pressure oil supplied to. For this reason, the occurrence of understeer and oversteer can be suppressed.
- FIG. 1 is a side view of a hydraulic traveling vehicle.
- FIG. 3 is a diagram showing a determination logic of a driving state of a traveling motor.
- FIG. 4 is a diagram showing a determination logic for driving determination.
- FIG. 5 is a diagram showing determination logic for determining a sudden turn.
- FIG. 6 is a diagram showing determination logic for determining a sudden turn.
- FIG. 7 is a diagram showing a determination logic for turning determination.
- FIG. 8 is a diagram showing the determination logic of the blade operating state.
- FIG. 9 is a flowchart of switching control of the junction / divergence valve.
- FIG. 10 is a flowchart of switching control of the junction / divergence valve.
- FIG. 11 is a flowchart of switching control of the junction / divergence valve.
- FIG. 12 is a table showing the state of the junction / divergence valve for each operating state.
- FIG. 13 is a time chart showing switching of the junction / divergence valve by changing the operation state.
- FIG. 14 is a time chart showing switching of the junction / divergence valve by changing the operation state.
- FIG. 15 is a time chart showing switching of the junction / divergence valve by changing the operation state. Explanation of symbols
- FIG. 1 shows a hydraulic traveling vehicle 1 that works on one embodiment of the present invention.
- the hydraulic traveling vehicle 1 is a hydraulic excavator, and includes a lower traveling body 2, an upper turning body 3, and working machines such as a boom 4 and a blade 5.
- the lower traveling body 2 has driving wheels A and idle wheels B mounted on both ends of the track frame 6, and a crawler belt 7 is mounted between the driving wheels A and idle wheels B. In this case, the crawler belt 7 is driven to rotate by rotating the driving wheel A by the driving motors 18 and 19 described later.
- the upper revolving unit 3 is placed on the lower traveling unit 2 and is provided so as to be rotatable with respect to the lower traveling unit 2.
- the upper swing body 3 is provided with drive system equipment such as an engine and a hydraulic pump (not shown) and a cap 8 (driver's seat).
- the boom 4 is provided on the upper swing body 3 and is driven by a boom cylinder 9.
- the base end of the boom 4 is attached to the upper swing body 3, and the arm 10 is attached to the tip of the boom 4.
- the arm 10 is driven by the arm cylinder 11.
- a packet 12 is attached to the tip of the arm 10 and is driven by a bucket cylinder 13.
- the blade 5 is a working machine for performing leveling work or the like, and is attached to the lower traveling body 2.
- the blade 5 includes a blade body 14, an attachment frame 15 for attaching the blade body 14 to the lower traveling body 2, and a blade cylinder 16 (see FIG. 2) for driving the blade body 14.
- the blade body 14 is rotatably supported by a mounting frame 15, and can be rotated up and down by a blade cylinder 16 with the base end of the mounting frame 15 as a fulcrum.
- FIG. 2 shows a configuration of a hydraulic circuit provided in the hydraulic traveling vehicle 1.
- This hydraulic circuit supplies hydraulic oil discharged from the hydraulic pump unit 17 to hydraulic actuators such as the right traveling motor 18, the left traveling motor 19, the boom cylinder 9, the blade cylinder 16, and the like. It is possible to carry out operations such as 1 traveling, leveling and excavation.
- This hydraulic circuit has two circuit systems: a first hydraulic circuit 20 including a right traveling motor 18 and a second hydraulic circuit 21 including a left traveling motor 19, a boom cylinder 9 and a blade cylinder 16. By opening and closing the diversion valve 23, the merging and diversion between the first hydraulic circuit 20 and the second hydraulic circuit 21 can be switched.
- the hydraulic pump unit 17 is a variable displacement pump that can control the discharge amount of pressure oil by using the engine as a drive source and controlling the tilt angle by the regulator 24.
- the hydraulic pump unit 17 has a first pressure oil supply port 25 for supplying pressure oil to the first hydraulic circuit 20 and a second pressure oil supply port 26 for supplying pressure oil to the second hydraulic circuit 21.
- the right traveling motor 18 and the left traveling motor 19 are hydraulic motors driven by hydraulic pressure, the right traveling motor 18 drives the crawler belt 7 disposed on the right side of the track frame 6, and the left traveling motor 19 is a track. Drives crawler belt 7 located on the left side of frame 6.
- the left and right here means the left and right direction as seen from the operator inside the cab 8.
- the direction and flow rate of the pressure oil supplied to the right travel motor 18 are adjusted by the right travel valve 27.
- the right travel valve 27 is a direction control valve that adjusts the flow direction and flow rate of the pressure oil supplied to the right travel motor 18 in accordance with the pilot pressure received from the right travel pilot valve 28.
- the right travel valve 27 switches to the first state 30 when a predetermined pilot pressure is applied to the first pilot chamber 29, and switches to the second state 32 when a predetermined pilot pressure is applied to the second pilot chamber 31.
- the first state is a state in which pressure oil is supplied in the direction in which the right traveling motor 18 is rotated forward.
- the second state is a state in which pressure oil is supplied in the direction in which the right traveling motor 18 is reversed.
- the right travel pilot valve 28 has a right travel lever 34 disposed in the cap 8, and a PPC that adjusts the pilot pressure applied to the right travel valve 27 according to the operation amount of the right travel lever 34. It is a valve (pressure proportional control valve).
- the direction and flow rate of the pressure oil supplied to the left travel motor 19 are adjusted by the left travel valve 35.
- the left travel valve 35 is a direction control valve that adjusts the direction and flow rate of the pressure oil supplied to the left travel motor 19 in accordance with the pilot pressure received from the left travel pilot valve 36.
- the left travel valve 35 switches to the first state 38 when a predetermined pilot pressure is applied to the first pilot chamber 37, and switches to the second state 40 when a predetermined pilot pressure is applied to the second pilot chamber 39.
- the first state 38 is a state in which pressure oil is supplied in the direction in which the left traveling motor 19 is rotated forward.
- the second state 40 is a state in which pressure oil is supplied in the direction in which the left traveling motor 19 is reversed.
- the row pilot valve 36 is a PPC valve that has a left traveling lever 42 disposed in the cap 8 and adjusts the pilot pressure applied to the left traveling valve 35 according to the operation amount of the left traveling lever 42.
- the boom cylinder 9 and the blade cylinder 16 are hydraulic cylinders driven by hydraulic pressure.
- the blade cylinder 16 contracts, the blade 5 is raised, and when the blade cylinder 16 is extended, the blade 5 is lowered.
- the boom cylinder 9 is extended, the boom 4 is raised, and when the boom cylinder 9 is contracted, the boom 4 is lowered.
- the direction and flow rate of the pressure oil supplied to the boom cylinder 9 are adjusted by the boom valve 43.
- the boom valve 43 is a direction control valve that adjusts the flow direction and flow rate of the pressure oil supplied to the boom cylinder 9 according to the pilot pressure received from the boom pilot valve 44.
- the boom valve 43 switches to the first state 46 when a predetermined pilot pressure acts on the first pilot chamber 45, and switches to the second state 48 when a predetermined pilot pressure acts on the second pilot chamber 47.
- the first state 46 is a state in which pressure oil is supplied in the direction in which the boom cylinder 9 is extended.
- the second state 48 is a state in which pressure oil is supplied in a direction in which the boom cylinder 9 is contracted.
- the boom pilot valve 44 is a PPC valve that has a boom operation lever 50 disposed in the cap 8 and adjusts the pilot pressure applied to the boom valve 43 according to the operation amount of the boom operation lever 50.
- the direction and flow rate of the pressure oil supplied to the blade cylinder 16 are adjusted by a blade valve 51.
- the blade valve 51 adjusts the direction and flow rate of the pressure oil supplied to the blade cylinder 16 according to the pilot pressure received from the blade pilot valve 52.
- the blade valve 51 switches to the first state 54 when a predetermined pilot pressure acts on the first pilot chamber 53, and switches to the second state 56 when a predetermined pilot pressure acts on the second pilot chamber 55.
- pressure oil is supplied in the direction to extend the blade cylinder 16. It is a state to do.
- the second state 56 is a state in which pressure oil is supplied in a direction in which the blade cylinder 16 is contracted.
- the blade pilot valve 52 is a PPC valve that has a blade operation lever 57 disposed in the cap 8 and adjusts the pilot pressure applied to the blade valve 51 according to the operation amount of the blade operation lever 57.
- boom cylinder 9 and the boom valve 43 are included in the second hydraulic circuit 21 and are provided in parallel to the left travel motor 19 and the left travel valve 35.
- the blade cylinder 16 and the blade valve 51 are also included in the second hydraulic circuit 21 and are provided in parallel with the left travel motor 19 and the left travel valve 35.
- flow control valves 60, 59, 58, and 61 are respectively provided on the upstream side of the right travel valve 27, the left travel valve 35, the boom valve 43, and the blade valve 51.
- the merging / dividing valve 23 is provided in a merging passage 62 that connects the first hydraulic circuit 20 and the second hydraulic circuit 21, and a merging state 63 that connects the merging passage 62 and a divergence state that blocks the merging passage 62. By switching to 64, the merging and splitting of the first hydraulic circuit 20 and the second hydraulic circuit 21 can be switched.
- the merging / dividing valve 23 is connected to the merging / dividing pilot valve 65, and switches between the merging state 63 and the merging state 64 according to the pilot pressure received from the merging / dividing pilot valve 65.
- the merging / dividing valve 23 is urged toward the merging state 63 by an urging member such as a panel, and is switched to the divergence state 64 when the pilot pressure is supplied from the merging / dividing pilot valve 65.
- the merge / separate pilot valve 65 is an electromagnetic valve controlled by a control signal from the controller 66, which will be described later.
- the pilot state is supplied to the merge / divide valve 23, and the pilot pressure is not supplied to the merge / divide valve 23. It is possible to switch to the shut-off state 65b.
- the joining / dividing pilot valve 65 is urged toward the shut-off state 65b by an urging member such as a panel, and is switched to the communication state 65a when excited.
- unload valves 67 and 68 and a relief valve 69 are provided on the upstream side of the merge passage 62.
- pilot pressure from pilot valves 28, 36, 44, 52 is detected.
- a pilot pressure detector 73, 76, 79 is provided for each pilot valve 28, 36, 44, 52.
- the right pressure detection unit 70 includes a first right pressure sensor 71 and a second right pressure sensor 72, and detects the pilot pressure applied from the right traveling pilot valve 28 to the right traveling valve 27.
- the first right pressure sensor 71 detects the pilot pressure applied to the first pilot chamber 29 of the right travel valve 27, and the second right pressure sensor 72 is the pilot pressure applied to the second pilot chamber 31 of the right travel valve 27. Is detected.
- the left pressure detection unit 73 includes a first left pressure sensor 74 and a second left pressure sensor 75, and detects the pilot pressure applied from the left traveling pilot valve 36 to the left traveling valve 35.
- the first left pressure sensor 74 detects the pilot pressure applied to the first pilot chamber 37 of the left travel valve 35
- the second left pressure sensor 75 is the pilot pressure applied to the second pilot chamber 39 of the left travel valve 35. Is detected.
- the boom pressure detection unit 76 includes a first boom pressure switch 77 and a second boom pressure switch 78, and detects the pilot pressure applied from the boom pilot valve 44 to the boom valve 43.
- the first boom pressure switch 77 detects the pilot pressure when a predetermined pilot pressure is applied to the first pilot chamber 45 of the boom valve 43.
- the second boom pressure switch 78 detects the pilot pressure when a predetermined pilot pressure is applied to the second pilot chamber 47 of the boom valve 43.
- the blade pressure detection unit 79 includes a first blade pressure sensor 80 and a second blade pressure sensor 81, and detects the pilot pressure applied from the blade pilot valve 52 to the blade valve 51.
- the first blade pressure sensor 80 detects the pilot pressure applied to the second pilot chamber 55 of the blade valve 51
- the second blade pressure sensor 81 detects the pilot pressure applied to the first pilot chamber 53 of the blade valve 51. Is detected.
- Each of the pilot pressure detectors 70, 73, 76, and 79 is connected to the controller 66 through a communication line, and transmits a pilot pressure signal indicating the detected pilot pressure to the controller 66.
- the controller 66 is composed of a microcomputer, memory, etc. Based on various information, the hydraulic traveling vehicle 1 is controlled.
- the controller 66 receives a pilot pressure signal from the pilot pressure detectors 70, 73, 76, 79 described above.
- the control port 66 functions as a travel switching unit that identifies the traveling state and the operating state of the work implement based on the pilot pressure signal, and switches the junction / divergence valve 23 based on the identification result.
- the controller 66 can identify the traveling state and the operating state of the work implement based on the pilot pressure signal described above, and can appropriately switch the merging / dividing valve 23 based on the identification result. it can.
- the traveling state of the hydraulic vehicle 1 includes a straight traveling, a sudden turn traveling, a slow turning traveling, and a stop state, and the driving state forces of the right traveling motor 18 and the left traveling motor 19 are also grasped in these traveling states. . That is, when the right traveling motor 18 and the left traveling motor 19 are driven in the same direction and at the same rotation speed, the vehicle travels straight, and one of the right traveling motor 18 and the left traveling motor 19 is stopped and the other is driven. If it is, a sharp turn is performed. In addition, when the right traveling motor 18 and the left traveling motor 19 are driven in the same direction at different rotational speeds, the gentle traveling is performed.
- the controller 66 can grasp the driving state of the right traveling motor 18 and the left traveling motor 19 by the magnitude force of the pilot pressure supplied to the right traveling valve 27 and the left traveling valve 35.
- the magnitude of the pilot pressure supplied to the right travel valve 27 and the left travel valve 35 corresponds to the required flow rate of the pressure oil of the right travel motor 18 and the left travel motor 19, and the required flow rate of pressure oil is the right travel motor. This is because the driving amount of the left traveling motor 19 and the left traveling motor 19 correspond to the rotational speed.
- the driving state of the traveling motors 18 and 19 based on the norot pressure is ascertained as follows. That is, as shown in FIG. 3, the pilot pressure PR1 detected from the first right pressure sensor 71, the pilot pressure PR2 detected from the second right pressure sensor 72, It is determined whether the pilot pressure PLl detected from the first left pressure sensor 74 and the pilot pressure PL2 detected from the second left pressure sensor 75 have reached predetermined threshold values P1 to P4.
- MRF1 indicates a determination result of whether or not the right traveling motor 18 is driven in the forward rotation direction. That is, when MRF1 is “ON”, the right traveling motor 18 is driven in the forward direction, and when MRF1 is “OFF”, the right traveling motor 18 is driven in the forward direction. Show the state! / Note that the threshold differs when MRF1 is changed from “OFF” to “ON” and when it is changed from “ON” to “OFF”. The threshold when MRF1 is changed from “ON” to “OFF” is P1 and PK P2.
- MRF2 when the pilot pressure PR1 is equal to or higher than the threshold value P4, MRF2 is changed from “OFF” to “ON”.
- P2 ⁇ P4, and MRF2 indicates a determination result of whether or not the right traveling motor 18 is driven at a high output in the forward rotation direction! /. That is, when MRF2 is “ON”, the right traveling motor 18 is driven at a high output in the forward rotation direction, and when MRF2 is “OFF”, the right traveling motor 18 is rotating forward. The direction is not driven at high output.
- the threshold differs when MRF2 is changed from “OFF” to “ON” and when it is changed from “ON” to “OFF”.
- the threshold when MRF2 is changed from “ON” to “OFF” is P3, and P3 ⁇ P4.
- P1 ⁇ P2 ⁇ P3 ⁇ P4 and MRF2 is “0 N”
- MRF1 is naturally “ON”.
- This MRF1 and MRF2 correspond to the difference in the amount of operation of the right travel lever 34. That is, when the right travel lever 34 is operated in the forward rotation direction, that is, in the forward direction, to an intermediate position (for example, about 20% of the fully opened state), the force MRF1 is “ON” MRF2 is “OFF”. When the right travel lever 34 is operated in the forward direction to the fully open state, both MRF1 and MRF2 are “ON”.
- MRR1 indicates a determination result of whether or not the right traveling motor 18 is driven in the reverse direction, that is, the reverse direction.
- MLF1 the left drive motor 19 is driven in the forward direction.
- MLR1 indicates the determination result of whether or not the left traveling motor 19 is driven in the reverse direction.
- Fig. 3 (c) shows a list that summarizes the judgment contents of MRF1, MRR1, MLF1, MLR1, MRF2, MRR2, MLF2, and MLR2.
- ON / OFF of MRF1 or the like is determined based on the pilot pressure PR1 or the like, and the driving direction of the traveling motors 18 and 19 and the degree of output are grasped from the determination result.
- the controller 66 Based on the determination result of the driving state of the right traveling motor 18 and the left traveling motor 19 described above, the controller 66 performs traveling determination and sudden turn determination according to the determination logic shown in FIGS.
- the traveling determination it is determined whether the hydraulic traveling vehicle 1 is traveling or in a power stop state.
- the traveling determination is determined to be “ON”. This indicates that at least one of the right traveling motor 18 and the left traveling motor 19 is driven in the forward direction or the reverse direction, and the hydraulic traveling vehicle 1 is in the traveling state.
- the traveling determination is determined as “OFF”. In this case, the right traveling motor 18 and the left traveling motor 19 are not driven in either the forward direction or the reverse direction, indicating that the hydraulic traveling vehicle 1 is stopped.
- the controller 66 determines whether the right traveling motor 18 and the left traveling motor 19 are driven, based on the determination result of the right front sudden turn judgment, the right rear sudden turn judgment, the left front sudden turn judgment, and the left rear sudden turn. A determination is made, and a sharp turn determination is made based on the determination result.
- MLF2 is “ON” and both MRF1 and MRLR1 are “OFFJ”, it is determined to be “ON”, otherwise it is determined to be “OFF”. It is done.
- the left traveling motor 19 When the right forward sudden turn determination is “ON”, the left traveling motor 19 is driven at a high output in the forward rotation direction and the right traveling motor 18 is not driven. It shows the state to do. Similarly to the right front sudden turn determination, the right rear sudden turn determination, the left front sudden turn determination, and the left rear sudden turn determination are performed. If the right rear sudden turn determination is “ON”, the left traveling motor 19 is driven at a high output in the reverse direction and the right traveling motor 18 is not driven. It shows a sudden turn. When the left front sudden turn determination is “ON”, the right traveling motor 18 is driven at a high output in the forward rotation direction and the left traveling motor 19 is not driven. In this state, the vehicle turns sharply. When the left rear sudden turn determination is “ON”, the right traveling motor 18 is driven at a high output in the reverse direction and the left traveling motor 19 is not driven. However, it shows a state of rapid rotation.
- a sudden turn determination is performed from these determination results.
- the sudden turn judgment is judged to be ⁇ ON '' when any of the right front sudden turn judgment, right rear sudden turn judgment, left front sudden turn judgment, or left rear sudden turn judgment is ⁇ ON ''. Is determined to be “OFF”. If the sudden turn determination is “ON”, it means that the sudden turn traveling is being performed, and if the sudden turn determination is “OFF”, it means that the sudden turn traveling is not being performed.
- the controller 66 performs a turning determination for determining whether or not the hydraulic traveling vehicle 1 has a turning force.
- the controller 66 performs a right front turn determination, a right rear turn determination, a left front turn determination, and a left rear turn determination. Based on the determination results, the controller 66 shown in Fig. 7 (b) Turn judgment is performed.
- the difference in pilot pressure detected from the first left pressure sensor 74 and the first right pressure sensor 71 and the second is calculated, Depending on whether or not the difference between these pilot pressures reaches a predetermined threshold,
- NZOFF is judged. Specifically, as shown in Fig. 7 (a), PL1-PR1, PR1-PL1, PL2-PR2, PR2-PL2 are calculated, and it is determined whether or not predetermined threshold values PI and P2 are reached. The For example, if PL1-PR1 is greater than or equal to the threshold value P2 while the right front turn determination is “OFF”, the right front turn determination is changed to “ON”. In addition, when PL1 ⁇ PR1 is equal to or less than the threshold value PI with the right front turning determination being “0 N”, the right front turning determination is changed to “OFF”.
- both the left traveling motor 19 and the right traveling motor 18 are driven, and the left traveling motor 19 is rotated in the forward direction at a higher rotational speed than the right traveling motor 18. It shows a state of being driven and turning while moving forward with a forward force.
- the right rear turn determination, the left front turn determination, and the left rear turn determination are determined in the same manner as the right front turn determination.
- the right rear turning judgment is “ON”
- the left traveling motor 19 is driven in the reverse direction at a higher rotational speed than the right traveling motor 18 and is turning while moving backward to the right. Indicates the state.
- the left front turning determination is “ON” indicates that the right traveling motor 18 is driven in the forward rotation direction at a higher rotational speed than the left traveling motor 19 and is turning while moving forward to the left.
- the left rear turning determination is “ON” indicates that the right traveling motor 18 is driven in the reverse direction at a higher rotational speed than the left traveling motor 19 and is turning while moving backward to the left rear.
- the same threshold value PI, P2 used for running determination is used as the threshold value. A different threshold value may be used.
- the turn judgment is determined to be “ON” when any of the right front turn judgment, right rear turn judgment, left front turn judgment, and left rear turn judgment S is "ON". Is judged.
- the turning judgment is “ON” means that the vehicle is turning regardless of whether the turning is slow or slow, and the turning judgment is “OFF” means that the turning is being performed. Indicates that there is no state, that is, the vehicle is running straight or is stopped.
- straight traveling and gentle turning traveling can be determined from the determination results of traveling determination, sudden turning determination, and turning determination.
- the travel judgment is “ON” and the turning judgment is “OFF”
- the hydraulic traveling vehicle 1 is in a traveling state and is turned. This indicates that the vehicle has not been turned, that is, the vehicle is traveling straight.
- the traveling judgment is “ON”
- the turning judgment is “ON”
- the sudden turning judgment is “OFF”
- the hydraulic traveling vehicle 1 is in a traveling state and a turning that is not a sudden turning is performed. This shows that the vehicle is in a closed state, that is, the vehicle is turning slowly.
- the controller 66 recognizes whether the hydraulic traveling vehicle 1 is traveling straight, traveling rapidly, traveling slowly, or stopped based on the pilot pressure. be able to.
- the controller 66 can identify the operating state of the blade 5 and the boom 4 by detecting the pilot pressure supplied to the blade cylinder 16 and the boom cylinder 9.
- the magnitude of the pilot pressure supplied to the blade cylinder 16 and the boom cylinder 9 corresponds to the required flow rate of pressure oil to the blade cylinder 16 and the boom cylinder 9, and the required flow rate of pressure oil corresponds to the blade cylinder 16 and This is because it corresponds to the drive amount of the boom cylinder 9.
- BDU1 indicates the result of the determination as to whether or not the blade 5 has been raised.
- BDU1 is “ON”, blade 5 is being raised, and when BDU1 is “OFF”, blade 5 is not being raised.
- ONZOFF of BDD 1 is determined by the nolot pressure PBD2.
- BDD1 shows the result of determining whether blade 5 is being lowered.
- BDU2 when the pilot pressure PBD1 is equal to or higher than the threshold value P8, the BDU2 is changed from “OFF” to “ON”. When the pilot pressure PBD1 is less than or equal to the threshold value P7, BDU2 is changed from “ON” to “OFF”. BDU2 blade 5 The determination result of whether or not the raising operation is performed at high output is shown. When BDU2 is “0 N”, blade 5 is being raised at high power, and when BDU2 is “OFF”, blade 5 is not being raised at high power. . Similarly, ON / OFF of BDD2 is determined by the pilot pressure PBD2. BDD2 shows the result of determining whether or not the power of the lowering operation of blade 5 is performed at high output. Note that P 5 P P6 P P7 ⁇ P8.
- FIG. 8 (c) shows a list that summarizes the determination contents of BDU1, BDU2, BDD1, and BDD2.
- the “pilot pressure” column in Fig. 8 (c) shows the pilot pressure used for the judgment.
- the “operation direction” column the operation direction of the blade 5 is shown.
- Pilot pressure PBM1 is the pilot pressure detected from the first boom pressure switch 77 force.
- Pilot pressure PBM2 is a pilot pressure detected from second boom pressure switch 78. If either pilot pressure PBM1 or PBM2 is detected, it indicates that boom 4 is being driven. In particular, when pilot pressure PBM1 is detected, it indicates that boom 4 is raised, and when pilot pressure PBM2 is detected, it indicates that boom 4 is lowered. If both pilot pressures PBM1 and PBM2 are not detected, this indicates that boom 4 is not driven and is at rest.
- the operating states of the other work machines (for example, the arm 10 and the packet 12) other than the blade 5 and the boom 4 are determined in the same manner as the identification of the operating state of the boom 4.
- the controller 66 identifies the traveling state and the operating state of the work implement as described above, and performs switching control of the junction / divergence valve 23 based on the result. This switching control of the junction / divergence valve 23 is shown in the flowchart in FIG.
- pilot pressures PL1, PL2, PR1, PR2, PBD1, PBD2, PBM1, PBM2 are detected.
- step S2 it is determined whether or not the driving determination is "OFF". If the travel determination is “OFF”, the process proceeds to step 14 of step S14. . If the running judgment is not “OFF”, the process proceeds to the third step S3.
- step S3 it is determined whether or not the turning determination is “OFF”. If turn determination is OFF, go to 4th step S4. If the turn determination is not “OFF”, proceed to Step S7.
- step S4 it is determined whether or not the working machine except the blade 5 is in a stopped state. If the work equipment other than blade 5 is in a stopped state, proceed to the fifth step S5. When the work machine except for the blade 5 is not in a stopped state, that is, when the work machine other than the blade 5 is driven, the process proceeds to the 14th step S14, and the merging / dividing valve 23 is set to the merging state 63.
- step S5 it is determined whether or not BDU1 is “OFF”.
- BDU1 is “0 FF”, that is, when the raising operation of the blade 5 is not performed
- the process proceeds to the sixth step S6.
- BDU1 is not “OFF”, that is, when the raising operation of the blade 5 is performed
- the process proceeds to the 14th step S14, and the merging / dividing valve 23 is set to the merging state 63.
- step S6 it is determined whether or not BDD1 is “OFF”.
- BDD1 is “0 FF”, that is, when the lowering operation of the blade 5 is not performed, the process proceeds to the thirteenth step S13 and the diversion valve 23 is set to the diversion state 64.
- BDD1 is not “OFF”, that is, when the blade 5 is being lowered, the process proceeds to the 14th step S14, and the merging / dividing valve 23 is set to the merging state 63.
- step S7 it is determined whether or not the work machine other than the blade 5 is in a stopped state. If the work equipment other than blade 5 is in a stopped state, the process proceeds to the eighth step S8. When the work machine except for the blade 5 is not in a stopped state, that is, when the work machine other than the blade 5 is driven, the process proceeds to the 14th step S14, and the merging / dividing valve 23 is set to the merging state 63.
- step S8 it is determined whether or not BDU2 is “OFF”.
- BDU2 is “0 FF”, that is, when the raising operation of the blade 5 is not performed at a high output
- the process proceeds to the ninth step S9.
- BDU2 is not “OFF”, that is, when the raising operation of the blade 5 is performed at a high output
- the process proceeds to the 14th step S14, and the merging / dividing valve 23 is set to the merging state 63.
- step S9 it is determined whether or not BDD2 is “OFF”.
- BDD2 is ⁇ 0 If it is “FF”, that is, if the lowering operation of the blade 5 is not performed at a high output, the process proceeds to the tenth step S10.
- BDD2 is not “OFF”, that is, when the lowering operation of the blade 5 is performed at a high output, the process proceeds to the 14th step S14, and the merging / dividing valve 23 is set to the merging state 63.
- a tenth step S 10 it is determined whether or not the force of the sudden turn determination being “OFF”. If the sudden turn determination is not “OFF”, that is, if a sudden turn is being performed, the process proceeds to the 14th step S14, where the merging / dividing valve 23 is set to the merging state 63. If the sudden turn determination is “OFF”, proceed to the 11th step SI1.
- the 10th step S10 is based on the assumption that the turning determination is “ON” in the 3rd step S3. Therefore, the sudden turning determination is “OFF” in the 10th step S10. The case indicates that the vehicle is turning slowly.
- step S11 it is determined whether or not the first turning switching flag is “OFF”.
- ONZOFF of the first turning switching flag is determined by the flowchart shown in FIG.
- the determination of the trigger A in the 22nd step S22, it is determined whether or not the turning determination is "OFF”. If the turning determination is not "OFF”, the trigger A is not established in the 23rd step S23. The first turning switch flag is kept “ON”. If the turning determination is “OFF”, trigger A is established in the 24th step S24, and the first turning switching flag is changed to “OFF”.
- step 27 S27 it is determined whether or not the turning determination is “ON”. If the turning determination is not “ON”, that is, “OFF”, In step S28, trigger B is not established, and the first turn switch flag remains “OFF”. If the turning determination flag is “ON” in the 27th step S27, the process proceeds to the 29th step S29. In 29th step S29, the work equipment except blade 5 is driven. Whether or not BDU2 is “ON” is determined whether or not BDD2 is “ON”. If any one of these three conditions is satisfied, trigger B is established in the 30th step S30, and the first turning switch flag is set to “ON”. If none of the three conditions is satisfied in the 29th step S29, the trigger B is not established in the 28th step S28, and the first turn switching flag is kept “OFF”.
- a twelfth step S12 it is determined whether or not the second turning switching flag is “OFF”.
- ONZOFF of the second turning switching flag is determined by the flow shown in FIG.
- the process proceeds to the 34th step S34.
- the thirty-fourth step S34 it is determined whether or not BDU1 is “OFF”. If BDU1 is not “OFF”, trigger C is not established in the 33rd step S33, and the second rotation switching flag remains “ON”. If BDU1 is “OFF”, proceed to 35th step S35. In the 35th step S35, it is determined whether or not BDD1 is “OFF”.
- the trigger D determines whether or not the turning determination is "OFF” in the 39th step S39. Is judged. If the turning determination is not “OFF”, the trigger D is determined not to be established in the 40th step S40, and the second turning switching flag is kept “OFF”. If the turning determination is “OFF” in the 39th step S39, the process proceeds to the 41st step S41. In the forty-first step S41, it is determined whether or not BDU1 is “OFF” and whether or not BDD1 force S is “OFF”. If at least one of these two conditions is satisfied, the trigger D is established in the forty-second step S42, and the second turn switching flag is set to “ON”. If one of the two conditions is not satisfied in the 41st step S41, the 2nd turning switch flag remains “OFF” because the trigger D is not established in the 40th step S40! Is done.
- the controller 66 can switch the junction / divergence valve 23 in accordance with the change in the operating state by determining the switching of the junction / divergence valve 23 according to the control flow described above.
- Figure 12 shows a table summarizing the state of the junction / divergence valve 23 for each operating state. In FIG. 12, until the first operating state force is also in the 11th operating state, the work machines (boom 4, arm 10, knot 12 etc.) except blade 5 are not driven and are in a stopped state.
- First operation state When the vehicle is stopped and the blade 5 is not driven, the junction valve 23 is set to the junction state 63.
- the case where the blade 5 is not driven is a state in which both the raising operation and the lowering operation of the blade 5 are performed in the identification of the operation state of the blade 5 described above.
- Second driving state When the vehicle is in a stopped state and the blade 5 is in a high output state, the merging / dividing valve 23 is set to the merging state 63. As a result, the pressure oil can be sufficiently supplied to the blade 5, and insufficient output at the blade 5 can be prevented.
- the blade 5 is in a high output state means that the blade 5 is being raised or lowered at a high output.
- the above-described BDU2 is “ON”.
- Third operation state When the vehicle is stopped and the blade 5 is in a low output state, the merging / dividing valve 23 is set to the merging state 63. As a result, the pressure oil can be sufficiently supplied to the blade 5.
- the case where the blade 5 is in a low output state means that the blade 5 is being raised or lowered in the above-described identification of the operation state of the blade 5, but is not in a high output state.
- the above-described BDU1 is “ON” but BD U2 is “OFF”.
- the merging / dividing valve 23 is set to the merging state 63.
- the pressure oil can be sufficiently supplied to the blade 5
- the pressure oil can be sufficiently supplied to one of the traveling motors, and the turning traveling speed can be improved.
- the blade 5 may be in a state of deviation between a high output state and a low output state.
- Ninth operation state When the gentle turning traveling is performed and the blade 5 is in a high output state, the merging / dividing valve 23 is set to the merging state 63. As a result, the right running motor 18 and the left running The bias of the pressure oil supplied to the row motor 19 can be reduced, and the occurrence of understeer and bar steer can be prevented.
- Tenth operation state When the gentle turning traveling is performed and the blade 5 is not driven, the merging / dividing valve 23 is normally set to the diversion state 64. In this case, the hydraulic pressure loss can be suppressed by reducing the hydraulic pressure supplied to one traveling motor in the hydraulic pump unit 17. However, when the state changes from the ninth operating state to the tenth operating state, the merging / dividing valve 23 is maintained in the merging state 63 instead of the divergence state 64. Then, when the state shifts to the fourth operation state thereafter, the merging / dividing valve 23 is set to the diversion state 64.
- the merging / dividing valve 23 is maintained in the merging without being in the divergence state 64. As a result, switching from merging to splitting is not performed, and it is possible to prevent the occurrence of shock due to switching.
- Twelfth operation state When the working machine other than the blade 5 is driven, the merging / dividing valve 23 is set to the merging state 63 regardless of the traveling state and the driving state of the blade 5. As a result, sufficient pressure oil can be supplied to the boom 4. [0099] ⁇ Features>
- the junction valve 23 is in the junction state 63 (Tl). From this state, when the right travel lever 34 and the left travel lever 42 are fully opened in the forward direction, the hydraulic traveling vehicle 1 travels straight, and the merging / dividing valve 23 is switched to the shunt flow ( ⁇ 2). Next, when the left traveling lever 42 is slightly returned, the hydraulic traveling vehicle 1 performs a gentle turning travel, and the merging / dividing valve 23 is maintained in a diverted flow ( ⁇ 3). Then, when the left travel lever 42 is returned to the neutral position, the hydraulic travel vehicle 1 performs a sharp turn travel, and the merge / divide valve 23 is switched to the merge ( ⁇ 4).
- the joining / dividing valve 23 In this hydraulic traveling vehicle 1, in a state where the working machine is not driven and the vehicle is turning slowly, the joining / dividing valve 23 is normally set to a diversion state 64 (tenth operation state). But slow turning The state where the blade 5 is driven and the merging / separating valve 23 is in the merging state 63 (the ninth operation state) When the blade 5 is also stopped, the work machine is not driven and Although the vehicle is in a state of slow turning, the joint valve 23 is maintained in the joining state 63 while the slow turning is maintained, and the joint flow is switched when switching from the slow turning to the straight running. Switch valve 23 to shunt state 64.
- the merging / dividing valve 23 is maintained in the merging state 63, and thereafter, the gentle turning is switched to the straight running.
- the combined diverter valve 23 is switched to the diverted state 64.
- the merging / dividing valve 23 is in the merging state 63 (T9). From this state, even if the blade operating lever 57 is returned to the neutral position while maintaining slow rotation, the merging / dividing valve 23 is maintained in the merging state 63.
- the left travel lever 42 is switched to the straight travel by setting the left travel lever 42 to the same fully open position as the right travel lever 34, the merge / divide valve 23 is switched to the shunt state 64.
- the pilot pressure of the right travel valve 27, the left travel valve 35, the blade valve 51, the boom valve 43, etc. is used as the required flow rate parameter corresponding to the required flow rate of the hydraulic pressure of the travel motors 18, 19 and the work equipment.
- Other detection means corresponding to the required flow rate of hydraulic pressure such as the right traveling motor 18, the left traveling motor 19, the blade cylinder 16, and the boom cylinder 9 may be used.
- position sensors that detect the operation position of the right travel lever 34, left travel lever 42, blade operation lever 57, boom operation lever 50, etc. are provided. May be identified. However, detection of the pie-mouth pressure is more desirable from the viewpoint of improving the accuracy in identifying the running state and the operating state of the work implement.
- the merging / dividing valve 23 when the blade 5 is stopped in a state where the gentle turning is performed and the blade 5 is in a high output state, the merging / dividing valve 23 is not changed to the divergence state 64 but is a merging state 63. Is maintained.
- the same control may be performed when the work machine (for example, boom 4) except blade 5 which is not blade 5 is stopped! / ⁇ .
- the merging / separating valve 23 is in the merging state 63 (see the twelfth operating state in FIG. 12), so blade 5 is excluded. The occurrence of shock can be suppressed by maintaining the merged state 63 even when the work equipment is stopped.
- the hydraulic pump unit 17 is a double pump in which one pump body has two discharge ports. However, two hydraulic pumps each having one discharge port are combined in one pump body. A tandem pump configured as described above may be used as the hydraulic pump unit 17.
- levers such as the right traveling lever 34 and the left traveling lever 42 are used.
- the present invention is not limited to the lever, and other operation members such as a pedal may be provided.
- a hydraulic excavator is exemplified as the hydraulic traveling vehicle 1, but the present invention may be applied to other hydraulic traveling vehicles 1 such as a crawler dumper.
- the controller 66 is used as the travel switching unit, and the controller 66 is electrically controlled by the controller 66 to switch the joint / divergence valve 23.
- a joint / shelf valve shelf that switches the joint / divide valve 23 may be provided as the travel switching section.
- the merge / divide valve 23 is set to the diversion state 64 and the gentle turning is performed.
- the diversion valve 23 is not switched to the merging state 63 and the diversion state 64 is maintained (11th operation state).
- the same switching control may be performed not only during slow turning but also during sudden turning.
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- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Transportation (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Automation & Control Theory (AREA)
- Operation Control Of Excavators (AREA)
- Fluid-Pressure Circuits (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US12/282,637 US8464826B2 (en) | 2006-05-15 | 2007-05-07 | Hydraulic traveling vehicle |
GB0815729A GB2449199B (en) | 2006-05-15 | 2007-05-07 | Hydraulic traveling vehicle |
JP2008515490A JP4764922B2 (ja) | 2006-05-15 | 2007-05-07 | 油圧走行車両 |
CN200780026911XA CN101490425B (zh) | 2006-05-15 | 2007-05-07 | 液压行驶车辆 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006-135390 | 2006-05-15 | ||
JP2006135390 | 2006-05-15 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2007132687A1 true WO2007132687A1 (ja) | 2007-11-22 |
Family
ID=38693785
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2007/059454 WO2007132687A1 (ja) | 2006-05-15 | 2007-05-07 | 油圧走行車両 |
Country Status (6)
Country | Link |
---|---|
US (1) | US8464826B2 (ja) |
JP (1) | JP4764922B2 (ja) |
KR (1) | KR101035666B1 (ja) |
CN (1) | CN101490425B (ja) |
GB (1) | GB2449199B (ja) |
WO (1) | WO2007132687A1 (ja) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102057166A (zh) * | 2008-04-11 | 2011-05-11 | 伊顿公司 | 包括用于驱动多个可变负载的固定排量泵的液压系统及操作方法 |
WO2018117175A1 (ja) * | 2016-12-22 | 2018-06-28 | 株式会社クボタ | 作業機 |
JP2022056577A (ja) * | 2020-09-30 | 2022-04-11 | 株式会社竹内製作所 | 作業用車両 |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2940671B1 (fr) * | 2008-12-31 | 2011-04-22 | Poclain Hydraulics Ind | Circuit de transmission hydraulique |
JP5996778B2 (ja) * | 2013-03-22 | 2016-09-21 | 日立建機株式会社 | 建設機械の油圧駆動装置 |
US9476180B2 (en) | 2013-12-06 | 2016-10-25 | Komatsu Ltd. | Hydraulic excavator |
DE102014117355A1 (de) | 2014-11-26 | 2016-06-02 | Linde Hydraulics Gmbh & Co. Kg | Hydrostatischer Fahrantrieb |
CN104675768B (zh) * | 2015-02-09 | 2016-08-17 | 扬州金威环保科技有限公司 | 小型全液压全轮驱动扫地车行走液压系统 |
JP6555709B2 (ja) * | 2015-04-17 | 2019-08-07 | キャタピラー エス エー アール エル | 流体圧回路および作業機械 |
EP3290595B1 (en) * | 2015-04-29 | 2021-02-17 | Volvo Construction Equipment AB | Flow rate control apparatus of construction equipment and control method therefor |
JP6575916B2 (ja) * | 2016-08-17 | 2019-09-18 | 日立建機株式会社 | 作業車両 |
CN110831839B (zh) * | 2017-07-05 | 2022-08-16 | 住友建机株式会社 | 挖土机及挖土机的控制方法 |
CN107859671A (zh) * | 2017-12-11 | 2018-03-30 | 徐州工程学院 | 一种负载敏感多路阀试验装置及试验方法 |
US10801617B2 (en) * | 2018-01-05 | 2020-10-13 | Cnh Industrial America Llc | Propel system with active pump displacement control for balancing propel pump pressures in agricultural vehicles |
JP7252838B2 (ja) * | 2019-06-14 | 2023-04-05 | 株式会社小松製作所 | 作業機械 |
US20220049469A1 (en) * | 2020-08-15 | 2022-02-17 | Kubota Corporation | Working machine |
JP7523290B2 (ja) * | 2020-09-14 | 2024-07-26 | 川崎重工業株式会社 | 液圧駆動システム |
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JPH06123301A (ja) * | 1992-10-08 | 1994-05-06 | Kayaba Ind Co Ltd | 建設機械の油圧制御装置 |
JPH10252105A (ja) * | 1997-03-12 | 1998-09-22 | Komatsu Ltd | パワーショベルの油圧回路及び合流・切換弁 |
JPH11217851A (ja) * | 1998-02-02 | 1999-08-10 | Komatsu Ltd | 建設機械の油圧回路 |
JP2003056505A (ja) * | 2001-08-22 | 2003-02-26 | Kobelco Contstruction Machinery Ltd | 建設機械の油圧装置 |
JP2003278709A (ja) * | 2002-03-22 | 2003-10-02 | Kobelco Contstruction Machinery Ltd | 作業機械の走行制御装置 |
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US289003A (en) * | 1883-11-27 | Jambs h | ||
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GB2090383B (en) * | 1980-12-26 | 1984-08-30 | Kubota Ltd | Hydrostatic transmission for a tracked vehicle |
JPH0791846B2 (ja) * | 1988-12-19 | 1995-10-09 | 株式会社小松製作所 | 油圧パワーショベルのサービス弁回路 |
WO1993011364A1 (en) * | 1991-11-25 | 1993-06-10 | Kabushiki Kaisha Komatsu Seisakusho | Hydraulic circuit for operating plural actuators and its pressure compensating valve and maximum load pressure detector |
US5875631A (en) * | 1996-12-11 | 1999-03-02 | Caterpillar Inc. | Control system for a hydrostatic transmission |
JPH11218102A (ja) * | 1997-11-11 | 1999-08-10 | Komatsu Ltd | 圧油供給装置 |
JP4111286B2 (ja) * | 1998-06-30 | 2008-07-02 | コベルコ建機株式会社 | 建設機械の走行制御方法及び同装置 |
JP4212225B2 (ja) | 2000-07-28 | 2009-01-21 | 株式会社小松製作所 | 建設機械における走行油圧回路 |
US7178333B2 (en) * | 2004-03-18 | 2007-02-20 | Kobelco Construction Machinery Co., Ltd. | Hydraulic control system for hydraulic excavator |
CA2509888A1 (en) * | 2005-06-14 | 2006-12-14 | Accutrak Systems Limited | System and method for automatic steering |
-
2007
- 2007-05-07 KR KR1020087022773A patent/KR101035666B1/ko active IP Right Grant
- 2007-05-07 US US12/282,637 patent/US8464826B2/en active Active
- 2007-05-07 GB GB0815729A patent/GB2449199B/en not_active Expired - Fee Related
- 2007-05-07 JP JP2008515490A patent/JP4764922B2/ja active Active
- 2007-05-07 CN CN200780026911XA patent/CN101490425B/zh active Active
- 2007-05-07 WO PCT/JP2007/059454 patent/WO2007132687A1/ja active Application Filing
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH06123301A (ja) * | 1992-10-08 | 1994-05-06 | Kayaba Ind Co Ltd | 建設機械の油圧制御装置 |
JPH10252105A (ja) * | 1997-03-12 | 1998-09-22 | Komatsu Ltd | パワーショベルの油圧回路及び合流・切換弁 |
JPH11217851A (ja) * | 1998-02-02 | 1999-08-10 | Komatsu Ltd | 建設機械の油圧回路 |
JP2003056505A (ja) * | 2001-08-22 | 2003-02-26 | Kobelco Contstruction Machinery Ltd | 建設機械の油圧装置 |
JP2003278709A (ja) * | 2002-03-22 | 2003-10-02 | Kobelco Contstruction Machinery Ltd | 作業機械の走行制御装置 |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102057166A (zh) * | 2008-04-11 | 2011-05-11 | 伊顿公司 | 包括用于驱动多个可变负载的固定排量泵的液压系统及操作方法 |
WO2018117175A1 (ja) * | 2016-12-22 | 2018-06-28 | 株式会社クボタ | 作業機 |
JP2018105362A (ja) * | 2016-12-22 | 2018-07-05 | 株式会社クボタ | 作業機 |
CN109072957A (zh) * | 2016-12-22 | 2018-12-21 | 株式会社久保田 | 作业机 |
US10889963B2 (en) | 2016-12-22 | 2021-01-12 | Kubota Corporation | Working machine |
CN109072957B (zh) * | 2016-12-22 | 2021-06-04 | 株式会社久保田 | 作业机 |
JP2022056577A (ja) * | 2020-09-30 | 2022-04-11 | 株式会社竹内製作所 | 作業用車両 |
JP7290619B2 (ja) | 2020-09-30 | 2023-06-13 | 株式会社竹内製作所 | 作業用車両 |
Also Published As
Publication number | Publication date |
---|---|
GB2449199A (en) | 2008-11-12 |
US8464826B2 (en) | 2013-06-18 |
GB0815729D0 (en) | 2008-10-08 |
JPWO2007132687A1 (ja) | 2009-09-24 |
CN101490425B (zh) | 2013-01-30 |
CN101490425A (zh) | 2009-07-22 |
KR101035666B1 (ko) | 2011-05-19 |
US20090057049A1 (en) | 2009-03-05 |
JP4764922B2 (ja) | 2011-09-07 |
KR20080094732A (ko) | 2008-10-23 |
GB2449199B (en) | 2011-03-02 |
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