WO2011121886A1 - 産業用機械のステアリングシステム及び車体屈折角変更方法 - Google Patents
産業用機械のステアリングシステム及び車体屈折角変更方法 Download PDFInfo
- Publication number
- WO2011121886A1 WO2011121886A1 PCT/JP2011/001155 JP2011001155W WO2011121886A1 WO 2011121886 A1 WO2011121886 A1 WO 2011121886A1 JP 2011001155 W JP2011001155 W JP 2011001155W WO 2011121886 A1 WO2011121886 A1 WO 2011121886A1
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- WIPO (PCT)
- Prior art keywords
- steering
- signal pressure
- switching valve
- operated
- valve
- Prior art date
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- 238000000034 method Methods 0.000 title claims description 7
- 238000001514 detection method Methods 0.000 claims description 27
- 230000004044 response Effects 0.000 claims description 6
- 238000007599 discharging Methods 0.000 claims description 3
- 230000000903 blocking effect Effects 0.000 claims description 2
- 239000003921 oil Substances 0.000 description 52
- 239000010720 hydraulic oil Substances 0.000 description 15
- 230000004048 modification Effects 0.000 description 6
- 238000012986 modification Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
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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
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/22—Alternative steering-control elements, e.g. for teaching purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/09—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by means for actuating valves
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/20—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle specially adapted for particular type of steering gear or particular application
- B62D5/28—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle specially adapted for particular type of steering gear or particular application for pivoted bogies
-
- 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
-
- 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
Definitions
- the present invention relates to a steering system mounted on an industrial machine such as a wheel loader, and a vehicle body refraction angle changing method for an industrial machine.
- Self-propelled industrial machines are equipped with steering means such as steering wheels and steering levers, and are equipped with hydraulic and electrical steering systems for adjusting the vehicle body refraction angle according to the operation of the steering means by the operator.
- steering means such as steering wheels and steering levers
- hydraulic and electrical steering systems for adjusting the vehicle body refraction angle according to the operation of the steering means by the operator.
- Two steering means are provided by adding a device for adjusting the vehicle body refraction angle according to the operation of the steering lever to a system in which a steering wheel as shown in Patent Document 1 is applied as a single steering means. It is conceivable to construct a steering system.
- an object of the present invention is to make it possible to suitably adjust the vehicle body refraction angle of an industrial machine having two steering means.
- a steering system for an industrial machine has a vehicle body refraction angle that changes the vehicle body refraction angle of the industrial machine by supplying and discharging pressure oil.
- a change means a first and second steering means provided on the industrial machine and operated by an operator; and when the first steering means is operated, the operation is mechanically interlocked with the operation of the first steering means.
- the first signal pressure output means for outputting the first signal pressure and the second steering means are operated, the second signal pressure is output mechanically in conjunction with the operation of the second operation means.
- a signal pressure output means, a third signal pressure output means for selecting whether or not to output the third signal pressure when the second signal pressure is supplied, and the supply of the first or third signal pressure.
- Supply / discharge control for controlling supply / discharge of pressure oil to / from the vehicle body refraction angle changing means
- the first signal pressure output means outputs the first signal pressure
- the third signal pressure output means outputs the second signal pressure. Regardless of the supply, the output of the third signal pressure is stopped, and the supply / discharge control means operates in response to the supply of the first signal pressure.
- the electrical configuration can be eliminated as much as possible in the configuration for outputting the signal pressure corresponding to the operation of each of the two steering means.
- the first signal pressure is output in conjunction with the operation of the first steering means, the first signal pressure is not output when the first steering means is not operated.
- the relationship between the second signal pressure and the operation state of the second steering means is the same.
- the first signal pressure is supplied to the supply / discharge control means, while the second signal pressure is not supplied directly to the supply / discharge control means, but is supplied to the third signal pressure output means.
- the third signal pressure output means can output the third signal pressure in accordance with the second signal pressure; Become.
- the supply / discharge control means operates in response to the supply of the third signal pressure output based on the second signal pressure.
- the third signal pressure output means is supplied with the second signal pressure even when the second steering means is operated at the same time when the first steering means is operated.
- the third signal pressure corresponding to the second signal pressure is not output.
- the supply / discharge control means operates by receiving the supply of the first signal pressure, and changes the vehicle body refraction angle in accordance with the operation of the first steering means. Means work.
- the third signal pressure output means having the above-described configuration is provided, so that the two steering means simultaneously When operated, the operation of the first steering means becomes valid and the operation of the second steering means becomes invalid. Thereby, interference between signal pressures output at the same time can be prevented, and the vehicle body refraction angle can be stably adjusted in accordance with the operation of the effective first steering means. Further, this action can be obtained by the configuration of the hydraulic system, and it is possible to avoid complication of the configuration of the electric system and the control system in the system.
- the first steering means is a rotatable steering wheel
- the first signal pressure output means is a power steering unit that is mechanically connected to the steering wheel and interlocks with a turning operation of the steering wheel.
- the power steering unit may output the first signal pressure in accordance with a rotation operation direction and a rotation operation position of the steering wheel.
- the second steering means is a tiltable steering lever
- the second signal pressure output means is a pilot valve that is mechanically connected to the steering lever and interlocks with a tilting operation of the steering lever, and the pilot The valve may be configured to output the second signal pressure according to a tilt operation direction and a tilt operation position of the steering lever.
- a first switching valve for switching the valve position from a position for closing the inflowing pressure oil to an outflow position for discharging the pressure oil by the third signal pressure output means being supplied with the second signal pressure;
- a second switching valve capable of switching a valve position between a first position for returning the pressure oil flowing out from the first switching valve to the tank and a second position for outputting the pressure oil as the third signal pressure;
- the second switching valve may be located at the first position.
- a first switching valve for switching the valve position from a position for closing the pressure oil that has flowed in to a flow-out position for allowing the pressure oil to flow out by receiving the supply of the second signal pressure;
- a second switching valve capable of switching a valve position between a first position for blocking the pressure oil flowing out from the first switching valve and a second position for outputting the pressure oil as the third signal pressure;
- the second switching valve may be located at the first position.
- Switching operation means for selecting whether to enable or disable steering by the second steering means, and an operation for enabling steering by the second steering means is performed by the switching operation means.
- the valve position of the second switching valve is always in the second position, and when the first steering means is operated, the valve is switched to the first position, and the switching operation means When the operation for invalidating the steering by the second steering means is performed, the valve position of the second switching valve may be in the first position.
- the switching operation means is operated to invalidate the steering by the second steering means, the third signal pressure is not output even if the second steering means is erroneously operated.
- the first signal pressure output means branches the first signal pressure when the first steering means is operated and outputs a detected signal pressure, and the first signal pressure output means outputs the detection signal pressure when the first steering means is not operated.
- the output of the detection signal pressure may be stopped, and the valve position of the second switching valve may be switched from the second position to the first position in response to the supply of the detection signal pressure.
- a vehicle body refraction angle changing method for an industrial machine is a method for changing a vehicle body refraction angle of an industrial machine including first and second steering means operated by an operator, wherein the first steering is performed.
- the step of outputting the first signal pressure mechanically in conjunction with the operation of the first steering means; when the second steering means is operated, the operation of the second operation means; Mechanically interlocking to output the second signal pressure, receiving the second signal pressure, outputting the third signal pressure, receiving the first or third signal pressure, And controlling the vehicle body refraction angle of the industrial machine, and when the first steering means is operated, in the selecting step, the third signal pressure regardless of the supply of the second signal pressure.
- Output is stopped and the vehicle body refraction angle is In Gosuru step, it is characterized in that the vehicle body angle of refraction supplied with said first signal pressure is controlled.
- the control of the vehicle body refraction angle by the operation of the first or second steering means can be executed by a mechanical and hydraulic configuration. Further, even if the first and second steering means are operated simultaneously, the vehicle body refraction angle can be stably adjusted in accordance with the operation of the first steering means that is enabled.
- the vehicle body refraction angle of an industrial machine having two steering means can be suitably adjusted.
- FIG. 1 is a left side view of a wheel loader shown as an example of an industrial machine equipped with a steering system according to an embodiment of the present invention.
- 2A is a front view of a steering wheel provided as a steering device for the wheel loader shown in FIG. 1
- FIG. 2B is a side view of a steering lever provided as a steering device for the wheel loader shown in FIG.
- FIG. 3 is a configuration diagram of a steering system mounted on the wheel loader shown in FIG.
- FIG. 4 is a diagram for explaining the relationship between the operating conditions of the two steering devices and the signal pressure supplied to the steering valve in the steering system shown in FIG.
- FIG. 5 is a configuration diagram of a steering system according to a modification of the embodiment of the present invention.
- a wheel loader is illustrated as an industrial machine equipped with the steering system according to the embodiment of the present invention, and the direction is based on a direction viewed by an operator (not shown) of the wheel loader.
- the wheel loader 1 has a prime mover 3 provided on a vehicle body 2, and the front wheels 4 and the rear wheels 5 are rotationally driven by the prime mover 3.
- the prime mover 3 is connected to a pump 21 for supplying pressure oil, and the pump 21 is also driven by the prime mover 3.
- the left and right front wheels 4 are connected to a vehicle body refraction angle adjustment mechanism 6, and a pair of left and right steering cylinders (vehicle body refraction angle changing means) 22 are provided between the vehicle body refraction angle adjustment mechanism 6 and the vehicle body 2.
- the steering cylinder 22 is a hydraulic cylinder and expands and contracts in response to supply and discharge of the pressure oil discharged from the pump 21.
- the vehicle body refraction angle adjustment mechanism 6 When the steering cylinder 22 expands and contracts, the vehicle body refraction angle adjustment mechanism 6 operates to change the vehicle body refraction angle of the front wheels 4.
- a work machine 7 for loading and unloading earth and sand is provided at the front of the vehicle body 2.
- a driver's cab 8 on which an operator is boarded is provided in the front and rear center of the vehicle body 2, and a seat 9 on which the operator is seated and a plurality of operating devices 10 are provided in the driver's cab 8. An operator seated on the seat 9 can run and unload by operating the operating device 10.
- the plurality of operating devices 10 include steering devices that perform an operation of turning the wheel loader 1 by changing the vehicle body refraction angle of the front wheels 4.
- the wheel loader 1 includes two steering devices (first and second steering means).
- the steering wheel 23 and the steering lever 24 are illustrated as two steering devices, but other forms may be used.
- a switch 30 for performing an operation of selecting whether to enable or disable the steering by the steering lever 24 is provided in the cab 8.
- the steering wheel 23 is attached to a steering shaft 23a provided in front of the seat 9, and is disposed so as to face the operator seated on the seat 9 in the front-rear direction.
- the steering wheel 23 is formed in an annular shape, for example, and is configured to be able to rotate forward and backward together with the steering shaft 23a.
- the steering lever 24 is disposed, for example, on the side or front of the seat 9 so that an operator seated on the seat 9 can operate with one hand.
- the steering lever 24 is formed in a stick shape, for example, and is tiltable in two directions from a predetermined initial position. Two directions in which the steering lever 24 can tilt are referred to as a “first direction” and a “second direction”.
- the vehicle body refraction angle becomes 0, the wheel loader 1 can travel straight, and the steering wheel 23 is in the initial position.
- the vehicle body refraction angle is changed, and the wheel loader 1 can turn.
- the vehicle body refraction angle is changed so that the turning operation direction of the steering wheel 23 coincides with the turning direction of the wheel loader 1, and is changed so as to increase according to the turning operation amount ⁇ 1 from the initial position. .
- the vehicle body refraction angle becomes 0, the wheel loader 1 can travel straight, and the steering lever 24 is in the initial position.
- the vehicle body refraction angle is changed from 0, and the wheel loader 1 can turn.
- the vehicle body refraction angle is such that the wheel loader 1 turns clockwise when the steering lever 24 is tilted in the first direction, and the wheel loader 1 turns counterclockwise when the steering lever 24 is tilted in the second direction.
- the vehicle body refraction angle is changed so as to increase according to the tilting operation amount ⁇ 2 from the initial position.
- the wheel loader 1 is equipped with a hydraulic steering system 20 in order to adjust the vehicle body refraction angle in accordance with the operation of the steering gears 23 and 24 by the operator as described above.
- the steering system 20 includes a steering valve 25 in addition to the above-described pump 21, left and right steering cylinders 22 (22L, 22R), a steering wheel 23 (see FIG. 1), a steering lever 24 (see FIG. 1), and a changeover switch 30.
- a power steering unit 26, a pilot valve 27, a pilot switching valve 28, an electromagnetic switching valve 29, and a pressure switch 31 are provided.
- the pump 21 sucks the hydraulic oil in the tank 32 and discharges the pressure oil from its discharge port.
- the steering cylinders 22L and 22R are connected to the steering pump 21 and the tank 32 via the steering valve 25.
- the steering valve 25 includes a pump line 51 connected to the discharge port of the pump 21, a tank line 52 connected to the tank 32, a cylinder side oil chamber of the left steering cylinder 22L, and a rod side oil chamber of the right steering cylinder 22R. Are connected to the rod side oil chamber of the left steering cylinder 22L and the line 53 connected to the cylinder side oil chamber of the right steering cylinder 22R.
- the steering valve 25 includes a direction switching valve 33.
- the direction switching valve 33 is a spring center type three-way valve, and one pilot port 33a, 33b is provided at each end of a spool (not shown).
- the lines 53 and 54 are closed, and the operations of the left and right steering cylinders 22L and 22R are stopped.
- the pump line 51 is connected to the line 53 and the tank line 52 is connected to the line 54.
- the left steering cylinder 22L contracts and the right steering cylinder 22R extends, and the vehicle body refraction angle is changed so that the vehicle body faces leftward.
- the pump line 51 is connected to the line 54 and the tank line 52 is connected to the line 53.
- the steering valve 25 controls the supply and discharge of the pressure oil to and from the steering cylinders 22L and 22R by supplying the signal pressure to the pilot ports 33a and 33b. Thereby, the vehicle body refraction angle of the wheel loader 1 is controlled.
- the line 55 is connected to the first pilot port 33a.
- the line 55 is connected to the power steering unit 26 via a line 56 and is connected to the electromagnetic switching valve 29 via a line 57.
- the power steering unit 26 and the electromagnetic switching valve 29 are connected in parallel to the first pilot port 33a.
- a line 58 is connected to the second pilot port 33b.
- the line 58 is connected to the power steering unit 26 via a line 59, and is connected to the electromagnetic switching valve 29 via a line 60.
- the second pilot port 33b In addition, the power steering unit 26 and the electromagnetic switching valve 29 are connected in parallel. Valves 34 and 35 for adjusting the maximum turning angle of the vehicle body are provided on the lines 55 and 58, respectively.
- a line 61 branches off from the pump line 51, and the line 61 is connected to the power steering unit 26 via an oil supply line 62, connected to the pilot valve 27 via an oil supply line 63, and via an oil supply line 64.
- a pilot switching valve 28 is connected.
- a pressure reducing valve 36 for adjusting the pressure oil discharged from the pump 21 is provided on the line 61, and the hydraulic oil pressure adjusted by the pressure reducing valve 36 is supplied to the power steering unit 26, the pilot valve 27, and the pilot switching valve 28. Are supplied respectively.
- the power steering unit 26 is connected to the steering wheel 23 (see FIG. 1) via a steering shaft 23a (see FIG. 1).
- the first signal pressure PP1 is output to the line 56 or 59 and the detection signal pressure PP4 is output to the detection line 68 based on the hydraulic oil from the oil supply line 62. .
- the pilot valve 27 is connected to an oil supply line 63, a return line 65, and lines 69 and 70.
- the line 69 is connected to the first pilot port 28 a of the pilot switching valve 28, and the line 70 is connected to the second pilot port 28 b of the pilot switching valve 28.
- the pilot valve 27 is switched mechanically in conjunction with the operation of the steering lever 24 (see FIG. 1).
- the pilot valve 27 is connected to the lines 69 and 70 from the oil supply line 63 when the oil supply line 63 is connected.
- the second signal pressure PP2 based on the hydraulic oil is output to the lines 69 and 70.
- the pilot switching valve 28 has pilot ports 28a and 28b to which the second signal pressure PP2 output from the pilot valve 27 is supplied.
- the supply line is supplied by supplying the second signal pressure PP2 to the pilot ports 28a and 28b.
- 64 and the return line 65 are connected to the lines 71 and 72. Each of the lines 71 and 72 connects the pilot switching valve 28 and the electromagnetic switching valve 29.
- the electromagnetic switching valve 29 is connected to the aforementioned lines 57, 60, 71, 72.
- a spring 29a and a pilot port 29c are provided at one end of a spool (not shown) of the electromagnetic switching valve 29, and a solenoid 29b is provided at the other end.
- the solenoid 29b is energized when an operation for enabling steering by the steering lever 24 is performed by the changeover switch 30, and is demagnetized when an operation for invalidating the steering by the steering lever 24 is performed by the changeover switch 30. .
- the solenoid 29b is demagnetized, the valve position of the electromagnetic switching valve 29 is urged by the spring 29a to the first position (left position in FIG. 3).
- the solenoid 29b is excited, the valve position of the electromagnetic switching valve 29 can be switched to the second position (the right position in FIG. 3) against the urging force of the spring 29a.
- the aforementioned detection line 68 is connected to the pilot port 29c.
- the detection signal pressure PP4 output from the power steering unit 26 is supplied to the pilot port 29c, the detection signal pressure PP4 acts on the pressure receiving surface of the spool in the same direction as the urging force of the spring 29a. At this time, even if the solenoid 29b is excited, the electromagnetic switching valve 29 is held in the first position.
- the lines 71 and 72 communicate with each other and the lines 57 and 60 are closed.
- the line 71 is connected to the line 57 and the connection line 72 is connected to the line 60.
- FIG. 4 the operating states of the steering gears 23 and 24 and the changeover switch 30, the valve positions of the direction changeover valve 38, the pilot changeover valve 28 and the electromagnetic changeover valve 29, and the signal pressure supplied to the steering valve 25 are shown. Showing the relationship. Regarding the row of the steering wheel 23 and the steering lever 24 in FIG. 4, “OFF” means being in the initial position (not being operated), and “ON” being not being in the initial position (being operated). means.
- the lines 69 and 70 are connected to the return line 65 as shown in FIG. 3, and the oil supply line 63 is closed.
- the second signal pressure PP2 is not output from the pilot valve 27.
- the first and second pilot ports 28 a and 28 b of the pilot switching valve 28 are released to the tank 32. Therefore, the pilot switching valve 28 is located at the first position (center position in FIG. 3), and all the four lines 64, 65, 71, 72 connected to the pilot switching valve 28 are closed. Therefore, the third signal pressure PP3 based on the hydraulic oil from the oil supply line 64 is not output from the pilot switching valve 28 to the line 71 or 72.
- the direction switching valve 38 of the power steering unit 26 is located at the second position (left position in FIG. 3), When the steering wheel 23 is rotated counterclockwise from the initial position, the direction switching valve 38 is located at the third position (the right position in FIG. 3).
- the oil supply line 62 is connected to the line 66 and the line 67 is connected to the line 59.
- the return line 65 is connected to the line 56. Therefore, the power steering unit 26 outputs the first signal pressure PP1 based on the hydraulic oil from the oil supply line 62 to the line 59, and the first signal pressure PP1 is supplied to the second pilot port of the direction switching valve 33 via the line 58.
- the first pilot port 33 a is released to the tank 32 while being supplied to 33 b. In this manner, when the steering wheel 23 is operated clockwise, the vehicle body refraction angle is changed so that the vehicle body faces rightward, and the wheel loader 1 can turn in a clockwise direction.
- the oil supply line 62 is connected to the line 67
- the line 66 is connected to the line 56
- the return line 65 is connected to the line 59. Therefore, the power steering unit 26 outputs the first signal pressure PP1 to the line 56, and the first signal pressure PP1 is supplied to the first pilot port 33a via the line 55, while the second pilot port 33b is the tank. Released to 32.
- the steering wheel 23 is operated counterclockwise, the vehicle body refraction angle is changed so that the vehicle body faces leftward, and the wheel loader 1 can turn in a counterclockwise direction.
- the oil supply line 62 is also connected to the detection line 68, and a detection signal is connected to the pilot port 29 c of the electromagnetic switching valve 29 via the detection line 68.
- Pressure PP4 is supplied.
- the electromagnetic switching valve 29 moves from the second position to the first position although the solenoid 29b is excited. Accordingly, the lines 57 and 60 are closed by the electromagnetic switching valve 29.
- the operation of the steering lever 24 becomes invalid, and the first signal pressure PP1 output to the line 56 or 59 is It is suitably supplied to the steering valve 25, and the vehicle body refraction angle can be suitably adjusted according to the operation of the steering wheel 23.
- the line 69 remains connected to the line 65, and the line 70 is mechanically interlocked with the operation and connected to the oil supply line 63. Then, the return line 65 is closed. Therefore, the pilot valve 27 outputs the second signal pressure PP2 based on the hydraulic oil from the oil supply line 63 to the line 70, and the second signal pressure PP2 is supplied to the second pilot port 28b of the pilot switching valve 28. On the other hand, the first pilot port 28a is released. Accordingly, pilot switching valve 28 is located at the third position (the right position in FIG. 3), oil supply line 64 is connected to line 72, and return line 65 is connected to line 71.
- the oil supply line 64 is connected to the line 60 via the line 72 and the electromagnetic switching valve 29.
- the line 57 is connected to the return line 65 through the electromagnetic switching valve 29 and the line 71. Therefore, the third signal pressure PP3 based on the hydraulic oil from the oil supply line 64 is output to the line 60 via the electromagnetic switching valve 29, and the third signal pressure PP3 is output to the second pilot of the direction switching valve 33 via the line 58. While being supplied to the port 33 b, the first pilot port 33 a is released to the tank 32.
- the vehicle body refraction angle is changed so that the vehicle body faces rightward, and the wheel loader 1 can turn clockwise.
- the line 70 remains connected to the return line 65, and the line 69 is mechanically interlocked with the operation. Is connected to the oil supply line 63 and the return line 65 is closed. Therefore, the pilot valve 27 outputs the second signal pressure PP2 based on the hydraulic oil from the oil supply line 63 to the line 69, and the second signal pressure PP2 is supplied to the first pilot port 28a of the pilot switching valve 28. On the other hand, the second pilot port 28 b is released to the tank 32. At this time, the pilot switching valve 28 is located at the second position (left position in FIG. 3), the oil supply line 64 is connected to the line 71, and the return line 65 is connected to the line 72.
- the oil supply line 64 is connected to the line 57 via the line 71 and the electromagnetic switching valve 29.
- the line 60 is connected to the return line 65 through the electromagnetic switching valve 29 and the line 72. Therefore, the third signal pressure PP3 based on the hydraulic oil from the oil supply line 64 is output to the line 57 via the electromagnetic switching valve 29, and the third signal pressure PP3 is output to the first of the direction switching valve 33 via the line 55.
- the second pilot port 33 b is released to the tank 32. In this manner, when the steering lever 24 is operated in the second direction, the vehicle body refraction angle is changed so that the vehicle body faces leftward, and the wheel loader 1 can turn in a counterclockwise direction.
- the direction switching valve 38 of the power steering unit 26 When the steering lever 24 is operated alone, the direction switching valve 38 of the power steering unit 26 is located at the first position, and the lines 56 and 59 are closed by the direction switching valve 38. Therefore, the third signal pressure PP3 output to the line 57 or the line 60 is suitably supplied to the steering valve 25, and the vehicle body refraction angle can be suitably adjusted according to the operation of the steering lever 24.
- the first signal pressure PP1 is output from the power steering unit 26 to the line 56 or 59 according to the operation direction of the steering wheel 23. Is done. Further, the detection signal pressure PP4 is output from the power steering unit 26, and the electromagnetic switching valve 29 is located at the first position.
- the second signal pressure PP2 is output from the pilot valve 27 to the line 69 or the line 70 according to the operation direction of the steering lever 24, the pilot switching valve 28 is located at the second or third position, and the oil supply line 64 is the line. 71 or line 72.
- the electromagnetic switching valve 29 is located at the first position, the hydraulic oil from the oil supply line 64 is returned to the tank 32 via the electromagnetic switching valve 29.
- the third signal pressure PP3 is not output according to the operation of the steering lever 24, and the steering by the steering lever 24 becomes invalid. Therefore, the first signal pressure PP1 and the third signal pressure PP3 do not interfere with each other in the lines 55 and 58, and the steering valve 25 supplies the first signal pressure PP1 output from the power steering unit 26.
- the vehicle body refraction angle is adjusted according to the operation of the steering wheel 23.
- the first signal pressure PP1 is output from the power steering unit 26 as in the state described in the third line.
- the second signal pressure PP2 is changed according to the operation of the steering wheel 23.
- the power steering unit 26 changes the speed according to the operation direction of the steering wheel 23 as in the state described in the fifth line.
- One signal pressure PP1 is output.
- the second signal pressure PP2 is output from the pilot valve 27 according to the operation direction of the steering lever 24 and the pilot switching valve 28 moves to the second or third position, the electromagnetic switching valve 29 is in the first position. Therefore, the hydraulic oil from the oil supply line 64 is returned to the tank 32. Therefore, the steering valve 25 operates by receiving the supply of the first signal pressure PP1, and the vehicle body refraction angle is changed according to the operation of the steering wheel 23.
- the signal pressure for controlling the operation of the steering valve 25 is output mechanically in conjunction with the operation of the steering wheel 23 and the steering lever 24.
- the electronic system is eliminated as much as possible, and the steering system 20 including the two steering units 23 and 24 is realized by a mechanical and hydraulic configuration, and a system that is highly resistant to external loads can be provided. it can.
- any means for outputting the signal pressure outputs the signal pressure based on the hydraulic oil regulated by the pressure reducing valve 36. Since the pressure oil supply source of the means for outputting the signal pressure is thus shared, the configuration of the steering system 20 is simplified. Moreover, the pressure oil supply source of these means is also shared with the pressure oil supply sources of the steering cylinders 22L and 22R, and the configuration of the steering system 20 is further simplified.
- the steering system 20 includes two operating devices 23 and 24 for operating the vehicle body refraction angle. However, even if simultaneous operation is performed, the operation on the steering wheel 23 is prioritized, and the vehicle body responds to this operation. The refraction angle is well controlled.
- the changeover switch 30 enables the operator to select whether the steering by the steering lever 24 is valid or invalid.
- the vehicle body refraction angle is not changed even if the steering lever 24 is erroneously operated, and the operation reliability of the steering system including two steering devices is improved.
- the solenoid 29b is not energized, but the solenoid 29b is preferably in the same state even when the disconnection occurs.
- the pressure switch 31 for detecting whether or not the detection signal pressure PP4 is output may be connected to the detection line 68.
- the detection signal pressure PP4 is output when the steering wheel 23 is operated and the detection signal pressure PP4 is output.
- the solenoid 29b of the electromagnetic switching valve 29 may be demagnetized.
- the electromagnetic switching valve 29 can be reliably positioned at the first position based on the hydraulic oil pressing force of the detection signal pressure PP4 and the urging force of the spring 29b, and the operation reliability of the steering system 20 is further improved. can do.
- the electromagnetic switching valve 29 can be positioned at the first position by the urging force of the spring 29a and the hydraulic pressure of the pilot port 29c. Can be used to guarantee a steerable state.
- FIG. 5 is a configuration diagram of a steering system 120 according to a modification of the embodiment of the present invention.
- the electromagnetic switching valve 129 is different from the valve 29 of the above embodiment.
- the electromagnetic switching valve 129 is connected to the lines 57, 60, 71, 72, and has a spring 129a, a solenoid 129b, and a pilot port 129c, similar to the electromagnetic switching valve 29. .
- the valve position of the electromagnetic switching valve 129 depends on whether the solenoid 129b is excited and whether the detection signal pressure PP4 is supplied to the pilot port 129c. The position is switched between the left position in FIG. 5 and the second position (right position in FIG. 5).
- the lines 71 and 72 are also blocked together with the lines 57 and 60.
- the line 71 is connected to the line 57 and the line 72 is connected to the line 60 as in the electromagnetic switching valve 29.
- the relationship between the operation state of the steering device 23 and the switching switch 30 and the position of the electromagnetic switching valve 129 is the same as that in the above embodiment.
- the relationship between the operating states of the steering gears 23 and 24 and the changeover switch 30 and the signal pressure supplied to the steering valve 25 is also the same as in the above embodiment.
- the detection signal pressure PP4 is supplied to the pilot port 129c with respect to the state shown in the third row of FIG. 4, so that the electromagnetic switching valve 129 is located at the first position. Since the lines 71 and 72 are closed by the electromagnetic switching valve 129 and also by the direction switching valve 28, the third signal pressure PP3 is not output from the electromagnetic switching valve 129. Therefore, the first signal pressure PP1 corresponding to the operation of the steering wheel 23 is supplied to the steering valve 25.
- the detection signal pressure PP4 is supplied to the pilot port 129c with respect to the state shown in the fifth line of FIG. 4, so that the electromagnetic switching valve 129 is located at the first position.
- the direction switching valve 28 is located at the second position (left position in FIG. 5) or the third position (right position in FIG. 5) according to the operation direction of the steering lever 24.
- the line 71 is connected to the oil supply line 64, and when it is located at the third position, the line 72 is connected to the oil supply line 64.
- the line 71 and the line 72 are closed by the electromagnetic switching valve 129, so that the third signal pressure PP3 is output from the electromagnetic switching valve 129.
- the first signal pressure PP1 corresponding to the operation of the steering wheel 23 is supplied to the steering valve 25.
- the state shown in the eighth and ninth lines in FIG. 4 is the same as that in the fifth line. That is, regardless of whether the direction switching valve 28 is in the second position or the third position, the line 71 and the line 72 are closed in the electromagnetic switching valve 129, so that the third signal pressure PP3 is reduced from the electromagnetic switching valve 129. It is never output.
- the present invention can suitably adjust the vehicle body refraction angle of an industrial machine provided with two steering means, and is useful when used for a self-propelled industrial machine having a steering function.
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Abstract
Description
図1に示すように、ホイールローダ1は車体2に設けられた原動機3を有し、原動機3により前輪4及び後輪5が回転駆動される。また、原動機3は、圧油を供給するためのポンプ21と連結され、ポンプ21も原動機3により駆動される。左右の前輪4は車体屈折角調整機構6に連結され、車体屈折角調整機構6と車体2との間には左右一対のステアリングシリンダ(車体屈折角変更手段)22が設けられる。ステアリングシリンダ22は油圧シリンダであり、ポンプ21より吐出された圧油の給排を受けて伸縮する。ステアリングシリンダ22が伸縮すると、車体屈折角調整機構6が動作して前輪4の車体屈折角が変更される。また、車体2の前部には、土砂等の積み降ろしを行うための作業機7が設けられている。車体2の前後中央部には、オペレータが搭乗する運転室8が設けられ、運転室8内には、オペレータが着座するシート9と、複数の操作器10とが設けられている。シート9に着座したオペレータは、操作器10を操作して走行及び積み降ろしを行うことができる。
複数の操作器10には、前輪4の車体屈折角を変更してホイールローダ1を旋回させる操作を行う操舵器が含まれる。このホイールローダ1は、2つの操舵器(第1及び第2操舵手段)を備えている。本実施形態では、2つの操舵器として、ステアリングホイール23及びステアリングレバー24を例示するが、他の形態であってもよい。また、運転室8内には、ステアリングレバー24による操舵を有効とするのか無効とするのかを選択する操作を行うための切換スイッチ30が設けられている。
図3に示すように、ホイールローダ1は、上記のようにオペレータによる操舵器23,24の操作に応じて車体屈折角を調節するため、油圧式のステアリングシステム20を搭載している。ステアリングシステム20は、前述のポンプ21、左右のステアリングシリンダ22(22L,22R)、ステアリングホイール23(図1参照)、ステアリングレバー24(図1参照)、及び切換スイッチ30の他、ステアリングバルブ25、パワーステアリングユニット26、パイロットバルブ27、パイロット切換バルブ28、電磁切換バルブ29、及び圧力スイッチ31を備えている。
図4には、操舵器23,24及び切換スイッチ30の操作状態と、方向切換バルブ38、パイロット切換バルブ28、及び電磁切換バルブ29の弁位置と、ステアリングバルブ25に供給される信号圧との関係を示している。図4中のステアリングハンドル23及びステアリングレバー24の列に関し、「OFF」は初期位置にある(非操作である)ことを意味し、「ON」は初期位置にない(操作されている)ことを意味する。
図5は、本発明の実施形態の変形例に係るステアリングシステム120の構成図である。図5に示す変形例においては、電磁切換バルブ129が、上記実施形態のバルブ29と相違している。
4 前輪
20 ステアリングシステム
21 ポンプ
22 ステアリングシリンダ(車体屈折角変更手段)
23 ステアリングホイール(第1操舵手段)
24 ステアリングレバー(第2操舵手段)
25 ステアリングバルブ(給排制御手段)
26 パワーステアリングユニット(第1信号圧出力手段)
27 パイロットバルブ(第2信号圧出力手段)
28 パイロット切換バルブ(第3信号圧出力手段,第1切換バルブ)
29 電磁切換バルブ(第3信号圧出力手段,第2切換バルブ)
30 切換スイッチ(切換操作手段)
31 圧力スイッチ
PP1 第1信号圧
PP2 第2信号圧
PP3 第3信号圧
PP4 検出信号圧
Claims (8)
- 圧油が給排されることにより、産業用機械の車体屈折角を変更する車体屈折角変更手段と、
前記産業用機械に設けられ、オペレータにより操作される第1及び第2操舵手段と、
前記第1操舵手段が操作されると、前記第1操舵手段の操作と機械的に連動して第1信号圧を出力する第1信号圧出力手段と、
前記第2操舵手段が操作されると、前記第2操作手段の操作と機械的に連動して第2信号圧を出力する第2信号圧出力手段と、
前記第2信号圧が供給されると第3信号圧を出力するか否かを選択する第3信号圧出力手段と、
前記第1又は第3信号圧の供給を受けて、前記車体屈折角変更手段に対する圧油の給排を制御する給排制御手段と、を備え、
前記第1操舵手段が操作されているときには、前記第1信号圧出力手段が前記第1信号圧を出力する一方、前記第3信号圧出力手段が前記第2信号圧の供給に関わらず前記第3信号圧の出力を停止し、当該第1信号圧の供給を受けて前記給排制御手段が動作することを特徴とする産業用機械のステアリングシステム。 - 前記第1操舵手段が、回動自在のステアリングホイールであり、
前記第1信号圧出力手段が、前記ステアリングホイールと機械的に連結され、前記ステアリングホイールの回動操作に連動するパワーステアリングユニットであり、
前記パワーステアリングユニットが、前記ステアリングホイールの回動操作方向及び回動操作位置に応じて前記第1信号圧を出力することを特徴とする請求項1に記載の産業用機械のステアリングシステム。 - 前記第2操舵手段が、傾動自在のステアリングレバーであり、
前記第2信号圧出力手段が、前記ステアリングレバーと機械的に連結され、前記ステアリングレバーの傾動操作に連動するパイロットバルブであり、
前記パイロットバルブが、前記ステアリングレバーの傾動操作方向及び傾動操作位置に応じて前記第2信号圧を出力することを特徴とする請求項1又は2に記載の産業用機械のステアリングシステム。 - 前記第3信号圧出力手段が、
前記第2信号圧の供給を受けることにより、流入した圧油を閉止する位置から当該圧油を流出させる流出位置へとバルブ位置を切り換える第1切換バルブと、
前記第1切換バルブから流出した圧油をタンクに戻す第1位置と、当該圧油を前記第3信号圧として出力する第2位置とでバルブ位置を切り換え可能な第2切換バルブと、を備え、
前記第1操舵手段が操作されているときには、前記第2切換バルブが前記第1位置に位置することを特徴とする請求項1乃至3のいずれか1項に記載の産業用機械のステアリングシステム。 - 前記第3信号圧出力手段が、
前記第2信号圧の供給を受けることにより、流入した圧油を閉止する位置から当該圧油を流出させる流出位置へとバルブ位置を切り換える第1切換バルブと、
前記第1切換バルブから流出した圧油をブロックする第1位置と、当該圧油を前記第3信号圧として出力する第2位置とでバルブ位置を切り換え可能な第2切換バルブと、を備え、
前記第1操舵手段が操作されているときには、前記第2切換バルブが前記第1位置に位置することを特徴とする請求項1乃至3のいずれか1項に記載の産業用機械のステアリングシステム。 - 前記第2操舵手段による操舵を有効とするか無効とするかを選択操作するための切換操作手段、を更に備え、
前記切換操作手段にて前記第2操舵手段による操舵を有効とする操作が行われている場合において、前記第2切換バルブのバルブ位置は、常には前記第2位置にあり、前記第1操舵手段が操作されると前記第1位置に切り換わり、
前記切換操作手段にて前記第2操舵手段による操舵を無効とする操作が行われている場合において、前記第2切換バルブのバルブ位置は前記第1位置にあることを特徴とする請求項4又は5に記載の産業用機械のステアリングシステム。 - 前記第1信号圧出力手段は、前記第1操舵手段が操作されているときに前記第1信号圧を分岐して検出信号圧を出力し、前記第1操舵手段が操作されていないときに前記検出信号圧の出力を停止し、
前記第2切換バルブのバルブ位置が、前記検出信号圧の供給を受けて前記第2位置から前記第1位置へと切り換わることを特徴とする請求項4乃至6のいずれか1項に記載の産業用機械のステアリングシステム。 - オペレータにより操作される第1及び第2操舵手段を備える産業用機械の車体屈折角を変更するための方法であって、
前記第1操舵手段が操作されると、前記第1操舵手段の操作と機械的に連動して第1信号圧を出力するステップと、
前記第2操舵手段が操作されると、前記第2操作手段の操作と機械的に連動して第2信号圧を出力するステップと、
前記第2信号圧の供給を受けると第3信号圧を出力するステップと、
前記第1又は第3信号圧の供給を受けて、前記産業用機械の車体屈折角を制御するステップと
を有し、
前記第1操舵手段が操作されているときには、前記選択するステップにおいて、前記第2信号圧の供給に関わらず前記第3信号圧の出力が停止され、前記車体屈折角を制御するステップにおいて、当該第1信号圧の供給を受けて車体屈折角が制御されることを特徴とする産業用機械の車体屈折角変更方法。
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CN201180003183.7A CN102470890B (zh) | 2010-03-31 | 2011-02-28 | 工业机械的转向系统以及车身屈折角变更方法 |
US13/321,649 US8627917B2 (en) | 2010-03-31 | 2011-02-28 | Steering system of industrial machine and method of changing body-articulating angle |
EP11762140.9A EP2460711B1 (en) | 2010-03-31 | 2011-02-28 | Steering system for industrial machinery and vehicle-refracting angle changing method |
JP2011532376A JP5292470B2 (ja) | 2010-03-31 | 2011-02-28 | 産業用機械のステアリングシステム及び車体屈折角変更方法 |
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JP5362113B1 (ja) * | 2012-03-29 | 2013-12-11 | 株式会社小松製作所 | ホイールローダのステアリング装置 |
CN103648890A (zh) * | 2012-03-29 | 2014-03-19 | 株式会社小松制作所 | 轮式装载机的转向装置 |
US9085319B2 (en) | 2012-03-29 | 2015-07-21 | Komatsu Ltd. | Steering device for wheel loader |
US9309648B2 (en) | 2012-03-29 | 2016-04-12 | Komatsu Ltd. | Steering device for wheel loader |
US9309647B2 (en) | 2012-03-29 | 2016-04-12 | Komatsu Ltd. | Steering device for wheel loader |
US9309646B2 (en) | 2012-03-29 | 2016-04-12 | Komatsu Ltd. | Steering device for wheel loader |
CN105667570A (zh) * | 2012-03-29 | 2016-06-15 | 株式会社小松制作所 | 轮式装载机的转向装置 |
WO2019031074A1 (ja) * | 2017-08-11 | 2019-02-14 | 株式会社小松製作所 | 作業車両 |
US11492781B2 (en) | 2017-08-11 | 2022-11-08 | Komatsu Ltd. | Work vehicle |
Also Published As
Publication number | Publication date |
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EP2460711A1 (en) | 2012-06-06 |
JP5292470B2 (ja) | 2013-09-18 |
JPWO2011121886A1 (ja) | 2013-07-04 |
US8627917B2 (en) | 2014-01-14 |
EP2460711B1 (en) | 2020-04-01 |
KR101318054B1 (ko) | 2013-10-14 |
US20120118661A1 (en) | 2012-05-17 |
KR20110136829A (ko) | 2011-12-21 |
EP2460711A4 (en) | 2017-11-01 |
CN102470890A (zh) | 2012-05-23 |
CN102470890B (zh) | 2014-01-29 |
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