WO2010016354A1 - モータグレーダ - Google Patents
モータグレーダ Download PDFInfo
- Publication number
- WO2010016354A1 WO2010016354A1 PCT/JP2009/062506 JP2009062506W WO2010016354A1 WO 2010016354 A1 WO2010016354 A1 WO 2010016354A1 JP 2009062506 W JP2009062506 W JP 2009062506W WO 2010016354 A1 WO2010016354 A1 WO 2010016354A1
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- WIPO (PCT)
- Prior art keywords
- engine
- clutch
- speed
- lockup
- torque converter
- Prior art date
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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
- F16H61/14—Control of torque converter lock-up clutches
- F16H61/143—Control of torque converter lock-up clutches using electric control means
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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
- 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
- F16H2059/366—Engine or motor speed
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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
- 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
- F16H59/38—Inputs being a function of speed of gearing elements
- F16H59/42—Input shaft speed
Definitions
- the present invention relates to a motor grader.
- Some motor graders include a torque converter with a lock-up clutch (see Patent Document 1).
- the operator can obtain a direct operational feeling corresponding to the accelerator operation and the vehicle speed by setting the lock-up clutch in the connected state.
- the lockup clutch is in the connected state, the input side and the output side of the torque converter are directly connected. For this reason, when the load on the output side becomes large, there is a risk of stalling.
- Patent Document 2 discloses a technique for avoiding engine stall in large agricultural tractors.
- the lockup clutch is in the connected state, when the input shaft speed of the lockup clutch becomes equal to or lower than the engine idling speed (that is, the low idle speed), the lockup clutch is switched to the released state. Thereby, engine stall is avoided.
- JP 2000-320362 A JP-A-5-272636
- the motor grader unlike the large agricultural tractor as described above, may run at an engine speed equal to or lower than the low idle speed when performing operations such as leveling.
- engine stall avoidance control such as the above-described large agricultural tractor is performed during such low-speed traveling, the lockup clutch is switched to the released state, which may impair the operational feeling.
- An object of the present invention is to provide a motor grader capable of avoiding engine stall without impairing the feeling of operation during low-speed traveling.
- the motor grader includes an engine, a torque converter, drive wheels, an engine speed detector, and a controller.
- the torque converter has a lock-up clutch and transmits driving force from the engine.
- the drive wheels are rotationally driven by the driving force from the engine.
- the engine speed detection unit detects the engine speed.
- the control unit maintains the lock-up clutch in a connected state when the lock-up clutch is in a connected state and the engine speed is higher than a predetermined lock-up release speed that is lower than the low idle speed, and the engine speed is However, when the rotation speed becomes equal to or lower than the lockup release rotation speed, the lockup clutch is switched to the released state.
- the motor grader according to the second invention is the motor grader according to the first invention, and the torque converter further includes a damper for suppressing vibration of the engine. And the above-mentioned lockup release rotation speed is larger than the resonance rotation speed of the damper.
- the lockup clutch is switched to the open state before the engine speed drops to the resonance speed of the damper. Thereby, it can avoid that a vehicle body vibrates by the fall of an engine speed.
- engine stall can be avoided without impairing the operational feeling during low-speed traveling.
- the external perspective view of a motor grader The side view of a motor grader.
- the block diagram which shows the structure of a motor grader. Sectional drawing of a torque converter.
- FIGS. 1 and 2 An external perspective view and a side view of a motor grader 1 according to an embodiment of the present invention are shown in FIGS.
- the motor grader 1 includes six traveling wheels including a pair of left and right front wheels 11 and two rear wheels 12 on each side.
- the motor grader 1 can perform leveling work, snow removal work, light cutting, material mixing, and the like with a blade 42 provided between the front wheel 11 and the rear wheel 12.
- FIGS. 1 and 2 only the one located on the left side of the four rear wheels 12 is illustrated.
- the motor grader 1 includes a frame 2, a cab 3, and a work machine 4. As shown in FIG. 3, the motor grader 1 includes an engine 5, a power transmission mechanism 6, a traveling mechanism 9, a hydraulic drive mechanism 7, an operation unit 10, a control unit 8, and the like.
- the frame 2 includes a rear frame 21 and a front frame 22.
- the rear frame 21 accommodates the engine 5, the power transmission mechanism 6, the hydraulic drive mechanism 7 and the like shown in FIG. Further, the rear frame 21 is provided with the four rear wheels 12 described above, and the vehicle can travel when the rear wheels 12 are rotationally driven by the driving force from the engine 5.
- the front frame 22 is attached in front of the rear frame 21, and the front wheel 11 described above is attached to the front end portion thereof.
- the cab 3 is placed on the rear frame 21, and operation parts such as a handle, a shift lever, an operation lever of the work machine 4, a brake, an accelerator pedal 14, and an inching pedal 13 are inside (see FIG. 3) Is provided.
- the cab 3 may be placed on the front frame 22.
- the work machine 4 includes a draw bar 40, a circle 41, a blade 42, a hydraulic motor 49, various hydraulic cylinders 44 to 48, and the like.
- the front end portion of the draw bar 40 is swingably attached to the front end portion of the front frame 22, and the rear end portion of the draw bar 40 moves up and down by synchronized expansion and contraction of the pair of lift cylinders 44 and 45.
- the draw bar 40 swings up and down around an axis along the vehicle traveling direction by different expansion and contraction of the lift cylinders 44 and 45. Furthermore, the draw bar 40 moves to the left and right as the draw bar shift cylinder 46 expands and contracts.
- the circle 41 is rotatably attached to the rear end portion of the draw bar 40.
- the circle 41 is driven by a hydraulic motor 49 (see FIG. 1), and rotates clockwise or counterclockwise with respect to the draw bar 40 as viewed from above the vehicle.
- the blade 42 is supported so as to be slidable in the lateral direction with respect to the circle 41 and swingable up and down around an axis parallel to the lateral direction.
- the lateral direction means the left-right direction with respect to the traveling direction of the vehicle.
- the blade 42 can be moved laterally with respect to the circle 41 by a blade shift cylinder 47 supported by the circle 41.
- the blade 42 can be swung around an axis parallel to the circle 41 with the tilt cylinder 48 (see FIG. 2) supported by the circle 41 to change the direction in the vertical direction. .
- the blade 42 can move up and down with respect to the vehicle, change the inclination with respect to the traveling direction, change the inclination with respect to the lateral direction, rotate, and shift in the left-right direction via the draw bar 40 and the circle 41.
- the hydraulic motor 49 can rotate the circle 41 by being driven by pressure oil supplied from a first hydraulic pump 79 described later.
- the various hydraulic cylinders 44 to 48 are cylinders driven by the hydraulic pressure supplied from the first hydraulic pump 79. As described above, the pair of lift cylinders 44 and 45, the drawbar shift cylinder 46, the blade shift cylinder 47, There is a tilt cylinder 48 or the like.
- the pair of lift cylinders 44 and 45 are provided to be separated from each other on the left and right sides with the front frame 22 interposed therebetween.
- the lift cylinders 44 and 45 are disposed substantially along the vertical direction, and are attached to the front frame 22 and the draw bar 40.
- the lift cylinders 44 and 45 expand and contract to move the rear end of the draw bar 40 up and down, thereby moving the blade 42 up and down.
- the drawbar shift cylinder 46 is disposed so as to be inclined with respect to the vertical direction, and is attached to the side ends of the front frame 22 and the drawbar 40.
- the drawbar shift cylinder 46 can change the position of the drawbar 40 with respect to the lateral direction by expanding and contracting, and thereby the position of the blade 42 can be changed.
- the blade shift cylinder 47 is disposed along the longitudinal direction of the blade 42 and is attached to the circle 41 and the blade 42.
- the blade shift cylinder 47 can change the position in the longitudinal direction of the blade 42 by expanding and contracting.
- the tilt cylinder 48 is attached to the circle 41 and the blade 42. By extending and contracting, the tilt cylinder 48 can swing the blade 42 up and down around an axis along the lateral direction. The inclination angle with respect to can be changed.
- a fuel injection pump 15 is attached to the engine 5, and fuel is supplied from the fuel injection pump 15 to the engine 5.
- the supply amount is controlled by a command signal output from the control unit 8 described later to the electronic governor 16.
- the rotational speed of the engine 5 is detected by the engine rotational speed sensor 80 and sent to the control unit 8 as a detection signal.
- the control unit 8 can control the number of revolutions of the engine 5 by sending a command signal to the electronic governor 16 to control the amount of fuel supplied to the engine 5.
- the power transmission mechanism 6 is a mechanism for transmitting the driving force from the engine 5 to the rear wheel 12 and includes a torque converter 61 and a transmission 60.
- the torque converter 61 is connected to the output side of the engine 5.
- the torque converter 61 is provided with a lockup clutch 70 that directly connects the input shaft and the output shaft of the torque converter 61.
- the lockup clutch 70 is switched between a connected state and a released state. When the lock-up clutch 70 is in the connected state, the input side and the output side of the torque converter 61 are directly connected, and the driving force from the engine 5 is transmitted without passing through the torque converter mechanism 62. When the lock-up clutch 70 is released, the driving force from the engine 5 is transmitted via the torque converter mechanism 62.
- the torque converter 61 includes a torque converter mechanism 62, a lockup clutch 70, and a damper 71.
- the torque converter mechanism 62 includes an input unit 31, a clutch housing 32, a drive case 33, a pump 34, a turbine 35, and a stator 36.
- the torque converter mechanism 62 functions as a normal torque converter. That is, the driving force from the engine 5 is transmitted to the drive case 33 via the input unit 31 and the clutch housing 32, and the drive case 33 and the pump 34 are rotated together.
- the driving force transmitted to the pump 34 is transmitted to the turbine 35 using oil as a medium.
- the driving force is transmitted from the output portion 43 of the turbine 35 to the input shaft 37 of the transmission 60 connected to the turbine 35.
- the tip end portion (the right end portion in FIG. 4) of the input shaft 37 is provided to be rotatable with respect to the input portion 31.
- the lockup clutch 70 has a clutch disk 38 and a piston 39. In a state where the piston 39 is pressed against the clutch disk 38, the lockup clutch 70 is in a connected state. In this case, the driving force from the engine 5 is directly transmitted to the output unit 43 of the turbine 35 via the input unit 31 and the clutch housing 32, the piston 39 and the drive case 33, the clutch disk 38, and the damper 71. The driving force is transmitted from the output portion 43 of the turbine 35 to the input shaft 37 of the transmission 60.
- lock-up clutch 70 is released when the piston 39 and the clutch disc 38 are separated.
- the damper 71 is provided between the clutch disk 38 and the turbine 35.
- the damper 71 suppresses vibration transmitted from the engine 5 to the input shaft 37 of the transmission 60 when the lockup clutch 70 is in the connected state.
- the transmission 60 has various clutches 63 to 69 and a plurality of transmission gears (not shown).
- the various clutches 63 to 69 are hydraulic clutches driven by hydraulic pressure supplied from a second hydraulic pump 72, which will be described later, and include an FL clutch 63, an FH clutch 64, an R clutch 65, a first clutch 66, a second clutch 67, There is a 3rd clutch 68 and a 4th clutch 69.
- the FL clutch 63 and the FH clutch 64 are connected when the vehicle moves forward.
- the R clutch 65 is connected when the vehicle moves backward.
- the 1st clutch 66, the 2nd clutch 67, the 3rd clutch 68, and the 4th clutch 69 are connected when transmitting the driving force to the corresponding transmission gears.
- the speed stage of 1 to 8 speed can be selected by combining any of the FL clutch 63 and the FH clutch 64 and any of the 1st clutch 66 to the 4th clutch 69. Further, at the time of reverse travel, the speed stage of 1st to 4th speed can be selected by a combination of the R clutch 65 and any of the 1st clutch 66 to the 4th clutch 69.
- the input shaft rotational speed to the FL clutch 63 and the FH clutch 64 is detected by the input shaft rotational speed sensor 81 and sent to the control unit 8 as a detection signal. Further, the intermediate shaft rotational speed between the FL clutch 63 and the FH clutch 64 and the first clutch 66 to the 4th clutch 69 is detected by the intermediate shaft rotational speed sensor 82 and sent to the control unit 8 as a detection signal. Further, the output shaft rotational speed from the first clutch 66 to 4th clutch 69 is detected by the output shaft rotational speed sensor 83 and sent to the control unit 8 as a detection signal.
- the traveling mechanism 9 is a mechanism for causing the vehicle to travel using the driving force from the engine 5.
- the traveling mechanism 9 is transmitted with the driving force from the engine 5 through the power transmission mechanism 6.
- the traveling mechanism 9 has a final reduction gear, a tandem device 19 and a rear wheel 12 (not shown).
- the driving force output from the transmission 60 is transmitted to the rear wheels 12 via the final reduction gear and the tandem device 19, and the vehicle travels by driving the rear wheels 12 to rotate.
- the hydraulic drive mechanism 7 is a mechanism for generating hydraulic pressure by the driving force from the engine 5 and driving the various clutches 63 to 70, the hydraulic motor 49, and the various cylinders 44 to 48 described above by the hydraulic pressure.
- the hydraulic drive mechanism 7 includes a first hydraulic pump 79, a second hydraulic pump 72, and various hydraulic control valves 73 to 78, 50 to 57.
- the first hydraulic pump 79 is driven by the driving force from the engine 5 and generates hydraulic pressure to be supplied to the various cylinders 44 to 48 and the hydraulic motor 49.
- the first hydraulic pump 79 is a variable displacement hydraulic pump that can change the displacement of the pressure oil discharged by changing the tilt angle of the swash plate by the pump displacement control cylinder 79a.
- the second hydraulic pump 72 is driven by the driving force from the engine 5 to generate hydraulic pressure supplied to the various clutches 63 to 70.
- the various hydraulic control valves 73 to 78 and 50 to 57 are electromagnetic proportional control valves capable of adjusting the hydraulic pressure by being electrically controlled by the control unit 8, and the first to fifth cylinder control valves 73. 77, hydraulic motor control valve 78, lockup clutch control valve 50, first to seventh clutch control valves 51 to 57, and the like.
- the first to fifth cylinder control valves 73 to 77 adjust the hydraulic pressure supplied to the various cylinders 44 to 48 described above.
- the hydraulic pressure supplied to the various cylinders 44 to 48 is detected by a hydraulic sensor (not shown) and sent to the control unit 8 as a detection signal.
- the hydraulic motor control valve 78 adjusts the hydraulic pressure supplied to the hydraulic motor 49 described above.
- the lockup clutch control valve 50 adjusts the hydraulic pressure supplied to the lockup clutch 70 described above.
- the first to seventh clutch control valves 51 to 57 adjust the hydraulic pressure supplied to the various clutches 63 to 69 described above. Specifically, the first clutch control valve 51 adjusts the hydraulic pressure supplied to the FL clutch 63.
- the second clutch control valve 52 adjusts the hydraulic pressure supplied to the FH clutch 64.
- the third clutch control valve 53 adjusts the hydraulic pressure supplied to the R clutch 65.
- the fourth clutch control valve 54 adjusts the hydraulic pressure supplied to the first clutch 66.
- the fifth clutch control valve 55 adjusts the hydraulic pressure supplied to the second clutch 67.
- the sixth clutch control valve 56 adjusts the hydraulic pressure supplied to the 3rd clutch 68.
- the seventh clutch control valve 57 adjusts the hydraulic pressure supplied to the 4th clutch 69.
- the hydraulic pressure supplied to the various clutches 63 to 70 is detected by a hydraulic pressure sensor and sent to the control unit 8 as a detection signal.
- a hydraulic pressure sensor 84 for detecting the hydraulic pressure supplied to the FL clutch 63 and a hydraulic sensor 85 for detecting the hydraulic pressure supplied to the FH clutch 64 are shown, and other hydraulic sensors are omitted. Yes.
- the operation unit 10 is a part that is operated by an operator in order to control the traveling of the motor grader 1 and the work machine 4.
- the operation unit 10 includes operation members such as an accelerator pedal 14, an inching pedal 13, a transmission lever 17, and a mode switch 18.
- the accelerator pedal 14 is an operation member for setting the engine speed to a desired speed.
- the inching pedal 13 is an operation member that is operated to cause the FL clutch 63 or the FH clutch 64 to slip to reduce the vehicle speed.
- the shift lever 17 is an operation member for shifting the transmission 60.
- the mode switch 18 is an operation member for selectively switching the transmission mode of the power transmission mechanism 6 between a manual mode and a torque converter mode. The manual mode and torque converter mode will be described later.
- Control unit 8 The control unit 8 controls the first to fifth cylinder control valves 73 to 77 and the hydraulic motor control valve 78 based on operation signals from the operation unit 10, detection signals from various sensors, and the like. 4 can be controlled. For example, the control unit 8 transmits a command signal to the first cylinder control valve 73 and the second cylinder control valve 74 to control the hydraulic pressure supplied to the lift cylinders 44 and 45, thereby moving the blade 42 in the vertical direction. Can be moved.
- the control unit 8 determines the amount of fuel supplied to the engine 5 based on the operation signal from the accelerator pedal 14 and the engine speed detected by the engine speed sensor 80. Then, the control unit 8 transmits a command signal corresponding to the determined supply amount to the electronic governor. As a result, the fuel injection amount from the fuel injection pump is adjusted to an amount commensurate with the operation amount of the accelerator pedal 14, and the engine speed is controlled. Thereby, the operator can control the output of the work machine 4 and the speed of the vehicle.
- the control unit 8 can switch the lockup clutch 70 between the connected state and the released state by transmitting a command signal to the lockup clutch control valve 50 and increasing or decreasing the hydraulic pressure of the lockup clutch 70.
- control unit 8 selectively switches the shift mode of the power transmission mechanism 6 between the manual mode and the torque converter mode based on the operation signal from the mode changeover switch 18.
- the lockup clutch 70 In the manual mode, the lockup clutch 70 is in a connected state. In this case, the operator can manually shift the transmission 60 by operating the shift lever 17.
- the torque converter mode the lockup clutch 70 is opened, and the driving force from the engine 5 is transmitted via the torque converter mechanism 62. In this case, the operator can manually shift the transmission 60 by operating the shift lever 17 between the lower speed stages (for example, the first to fourth forward speeds). During this time, the lock-up clutch 70 is maintained in the released state regardless of the vehicle speed and the engine speed.
- the transmission 60 is automatically shifted by the control unit 8 according to the vehicle speed and the engine speed between high speed stages (for example, forward 5 to 8th speed).
- the lockup clutch 70 is automatically switched to the connected state.
- control unit 8 controls the first to seventh clutch control valves 51 to 57 based on operation signals from the operation unit 10, detection signals from various sensors, and the like, thereby shifting the transmission 60. .
- the control unit 8 transmits a command signal to the first clutch control valve 51, supplies hydraulic pressure to the FL clutch 63, and transmits a command signal to the seventh clutch control valve 57, to the 4th clutch 69. Supply hydraulic pressure.
- the FL clutch 63 and the 4th clutch 69 are engaged, and the seventh speed stage can be selected.
- a command signal is transmitted to the second clutch control valve 52 to supply hydraulic pressure to the FH clutch 64, and a command signal is transmitted to the fourth clutch control valve 54 to supply hydraulic pressure to the first clutch 66.
- the FH clutch 64 and the first clutch 66 are engaged, and the second speed stage can be selected.
- the control unit 8 adjusts the command signal to the first clutch control valve 51 or the second clutch control valve 52 based on the operation signal from the inching pedal 13.
- the hydraulic pressure supplied to the FL clutch 63 or the FH clutch 64 is reduced. That is, by reducing the surface pressure of the clutch in the connected state of the FL clutch 63 or the FH clutch 64, the clutch is caused to slip.
- the driving force transmitted from the power transmission mechanism 6 to the traveling mechanism 9 is reduced, and the vehicle speed is reduced. Therefore, the operator can adjust the vehicle speed by operating the inching pedal 13 while maintaining the output of the work implement 4 while suppressing the decrease in the engine speed.
- control unit 8 can perform engine stall avoidance control in order to avoid engine stall during low speed traveling in the manual mode.
- the engine stall avoidance control will be described below.
- the lockup release rotational speed can be arbitrarily set in consideration of operability as long as it is smaller than the low idle rotational speed and larger than the engine rotational speed immediately before the engine stall.
- step S1 it is determined whether or not the engine speed is equal to or lower than the lockup release speed. If the engine speed is equal to or lower than the lockup release speed, it is determined in step S2 whether the elapsed time is greater than a predetermined time T.
- the predetermined time T is a short time of about several tens of milliseconds, for example.
- the predetermined time T is provided for erroneous detection of the engine speed sensor 80 and the like. If the elapsed time exceeds the predetermined time T, the lockup clutch 70 is switched to the released state in step S3.
- the control unit 8 returns the lockup clutch 70 to the connected state when all predetermined return conditions are satisfied after the lockup clutch 70 is switched to the released state by the engine stall avoidance control.
- the return conditions include, for example, the following first to third return conditions.
- First return condition input shaft speed of transmission 60 ⁇ reset speed setting value
- input shaft speed of transmission 60 is detected by input shaft speed sensor 81.
- the “return speed setting value” is a predetermined constant and is determined for each speed stage.
- the “return speed setting value” may be set to a predetermined engine speed higher than the low idle speed. This is because the lockup clutch 70 is not released by the engine stall avoidance control immediately after the lockup clutch 70 is returned to the connected state.
- Second return condition Elapsed time> Reset prohibition time set value
- elapsed time is an elapsed time after the first return condition is satisfied.
- the “reset prohibition time set value” is a predetermined constant and is determined in consideration of preventing hunting.
- L / U relative rotational speed is the relative rotational speed between the input side and the output side of the lockup clutch 70. Therefore, the “L / U relative rotational speed” can be obtained from the difference between the input shaft rotational speed of the transmission 60 and the engine rotational speed.
- the “open state hold setting value” is a predetermined constant, and is determined in consideration of protection of the lockup clutch 70 and shock when the lockup clutch 70 is connected.
- the intermediate shaft speed of the transmission 60 (detected by the intermediate shaft speed sensor 82) or the output shaft speed (detected by the output shaft speed sensor 83). ) May be used.
- the engine speed may be used.
- the “return speed setting value” may be determined in consideration of the transmission ratio of the transmission 60.
- the “return speed setting value” may be determined in consideration of the L / U relative speed.
- the lockup clutch 70 is maintained in the connected state even if the vehicle speed is 1.0 km / h. Is done. Thereby, it is possible to prevent the operational feeling from being impaired during low-speed traveling.
- the present invention can avoid engine stall without impairing the operational feeling during low-speed traveling, and is useful as a motor grader.
Abstract
Description
〔全体構成〕
本発明の一実施形態にかかるモータグレーダ1の外観斜視図および側面図を図1および図2に示す。このモータグレーダ1は、左右一対の前輪11と、片側2輪ずつの後輪12とからなる6つの走行輪を備えている。このモータグレーダ1は、前輪11および後輪12間に設けられたブレード42で整地作業、除雪作業、軽切削、材料混合等を行うことができる。なお、図1および図2では、4つの後輪12のうち左側に位置するもののみを図示している。
フレーム2は、図1および図2に示すように後部フレーム21および前部フレーム22によって構成されている。
作業機4は、ドローバ40、サークル41、ブレード42、油圧モータ49、各種の油圧シリンダ44~48などを有している。
図3に示すように、エンジン5には、燃料噴射ポンプ15が付設されており、燃料噴射ポンプ15からエンジン5に燃料が供給される。その供給量は、後述する制御部8から電子ガバナ16に出力される指令信号によって制御される。なお、エンジン5の回転数は、エンジン回転数センサ80によって検知され、検知信号として制御部8へ送られる。制御部8は、電子ガバナ16へ指令信号を送ることにより、エンジン5への燃料の供給量を制御して、エンジン5の回転数を制御することができる。
動力伝達機構6は、エンジン5からの駆動力を後輪12に伝達するための機構であり、トルクコンバータ61およびトランスミッション60を有している。
走行機構9は、エンジン5からの駆動力を用いて車両を走行させるための機構である。走行機構9は、動力伝達機構6を介してエンジン5からの駆動力を伝達される。走行機構9は、図示しない最終減速機、タンデム装置19、後輪12を有している。トランスミッション60から出力された駆動力は、最終減速機およびタンデム装置19を介して後輪12に伝達され、後輪12が回転駆動されることにより車両が走行する。
油圧駆動機構7は、エンジン5からの駆動力によって油圧を発生させ、油圧によって上述した各種のクラッチ63~70、油圧モータ49,各種のシリンダ44~48を駆動するための機構である。油圧駆動機構7は、第1油圧ポンプ79、第2油圧ポンプ72、各種の油圧制御弁73~78,50~57を有する。
操作部10は、モータグレーダ1の走行や作業機4を制御するためにオペレータによって作業される部分である。操作部10は、アクセルペダル14、インチングペダル13、変速レバー17、モード切替スイッチ18などの操作部材を有している。アクセルペダル14は、エンジン回転数を所望の回転数に設定するための操作部材である。インチングペダル13は、FLクラッチ63又はFHクラッチ64に滑りを生じさせて車速を低減させるために操作される操作部材である。変速レバー17は、トランスミッション60の変速を行うための操作部材である。モード切替スイッチ18は、動力伝達機構6の変速モードをマニュアルモードとトルコンモードとに選択的に切り替えるための操作部材である。マニュアルモードとトルコンモードとについては後に説明する。操作部10の各操作部材が操作されると、その操作に対応した操作信号が制御部8へ送られる。
制御部8は、操作部10からの操作信号や、各種センサからの検知信号などに基づいて、第1~第5シリンダ制御弁73~77や油圧モータ制御弁78を制御することによって、作業機4を制御することができる。例えば、制御部8は、第1シリンダ制御弁73および第2シリンダ制御弁74へ指令信号を送信して、リフトシリンダ44,45へ供給される油圧を制御することにより、ブレード42を上下方向に移動させることができる。
エンスト回避制御では、制御部8は、ロックアップクラッチ70が連結状態である場合において、エンジン回転数が、所定のロックアップ解除回転数より大きい場合には、ロックアップクラッチ70を連結状態に維持する。ロックアップ解除回転数は、速度段ごとに定めることができ、ローアイドル回転数より小さく、上述したダンパー71の共振回転数よりも大きい。ダンパー71の共振は、ダンパー71とエンジン出力トルクと慣性との関係によって発生し、過大な共振トルクにより車体を振動させる。また、この過大な共振トルクは、駆動系の耐久性を低下させる。ダンパー71とエンジン出力トルクと慣性との関係によっては、エンストに至るまでにダンパーの共振がなく、過大な共振トルクが発生しない場合もある。この場合には、ロックアップ解除回転数は、ローアイドル回転数より小さく、エンスト直前のエンジン回転数より大きい値であれば、操作性を考慮して任意に設定可能である。
ここで、「トランスミッション60の入力軸回転数」は、入力軸回転数センサ81によって検知される。「復帰回転数設定値」は、所定の定数であり、速度段ごとに定められる。また、「復帰回転数設定値」は、ローアイドル回転数より高い所定のエンジン回転数に設定するとよい。ロックアップクラッチ70が連結状態に復帰させられた後、すぐにエンスト回避制御によってロックアップクラッチ70が開放状態にならないためである。
ここで、「経過時間」は第1復帰条件が満たされてからの経過時間である。「復帰禁止時間設定値」は所定の定数であり、ハンチング防止を考慮して定められる。
ここで、「L/U相対回転数」は、ロックアップクラッチ70の入力側と出力側との相対回転数である。従って、「L/U相対回転数」は、トランスミッション60の入力軸回転数とエンジン回転数の差によって求めることができる。「開放状態保持設定値」は、所定の定数であり、ロックアップクラッチ70の保護と、ロックアップクラッチ70を連結した際のショックとを考慮して定められる。
このモータグレーダ1では、マニュアルモードにて走行している場合のようにロックアップクラッチ70が連結状態である場合に、負荷の増大によりエンジン回転数が低下しても、エンスト回避制御によってエンストおよび車体の振動が回避される。また、駆動系の耐久性の低下も回避できる。さらに、この際、エンスト回避制御では、エンジン回転数が低下しても、ロックアップ解除回転数に達するまではロックアップクラッチ70が連結状態に維持される。このため、オペレータは、ローアイドル回転数以下の低速走行中も、ロックアップクラッチ70が連結状態に維持されたまま運転を行うことができる。例えば、前進1速においてエンジン回転数がローアイドル回転数である場合の車速が1.3km/hである場合、車速が1.0km/hであっても、ロックアップクラッチ70が連結状態に維持される。これにより、低速走行中に操作感が損なわれることを防止することができる。
5 エンジン
8 制御部
12 後輪(駆動輪)
61 トルクコンバータ
70 ロックアップクラッチ
71 ダンパー
80 エンジン回転数センサ(エンジン回転数検知部)
Claims (2)
- エンジンと、
ロックアップクラッチを有し、前記エンジンからの駆動力を伝達するトルクコンバータと、
前記エンジンからの駆動力によって回転駆動される駆動輪と、
エンジン回転数を検知するエンジン回転数検知部と、
前記ロックアップクラッチが連結状態である場合、前記エンジン回転数が、ローアイドル回転数より小さい所定のロックアップ解除回転数より大きい場合には前記ロックアップクラッチを連結状態に維持し、前記エンジン回転数が、前記ロックアップ解除回転数以下になった場合に、前記ロックアップクラッチを開放状態に切り替える制御部と、
を備えるモータグレーダ。 - 前記トルクコンバータは、前記エンジンの振動を抑制するダンパーをさらに有し、
前記ロックアップ解除回転数は、前記ダンパーの共振回転数よりも大きい、
請求項1に記載のモータグレーダ。
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CN2009801229176A CN102066814B (zh) | 2008-08-07 | 2009-07-09 | 机动平地机 |
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US20120317965A1 (en) * | 2010-02-17 | 2012-12-20 | Volvo Construction Equipment Ab | Automated hydraulic power system and a method of operating an automated hydraulic power system |
RU2703074C1 (ru) * | 2018-12-28 | 2019-10-15 | федеральное государственное бюджетное образовательное учреждение высшего образования "Самарский государственный технический университет" | Устройство профилирования дороги автогрейдером |
JP7170591B2 (ja) * | 2019-06-19 | 2022-11-14 | 株式会社小松製作所 | 作業車両及び作業車両の制御方法 |
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CN102066814A (zh) | 2011-05-18 |
US8382641B2 (en) | 2013-02-26 |
US20110118083A1 (en) | 2011-05-19 |
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