WO2012086774A1 - ホイールローダの走行ダンパ制御装置 - Google Patents
ホイールローダの走行ダンパ制御装置 Download PDFInfo
- Publication number
- WO2012086774A1 WO2012086774A1 PCT/JP2011/079860 JP2011079860W WO2012086774A1 WO 2012086774 A1 WO2012086774 A1 WO 2012086774A1 JP 2011079860 W JP2011079860 W JP 2011079860W WO 2012086774 A1 WO2012086774 A1 WO 2012086774A1
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- WIPO (PCT)
- Prior art keywords
- bell crank
- control device
- angle
- cross tube
- wheel loader
- Prior art date
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- 238000001514 detection method Methods 0.000 claims abstract description 30
- 238000013459 approach Methods 0.000 claims description 30
- 238000000034 method Methods 0.000 description 15
- 230000008569 process Effects 0.000 description 8
- 239000003921 oil Substances 0.000 description 6
- 239000010720 hydraulic oil Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 239000008186 active pharmaceutical agent Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000007935 neutral effect Effects 0.000 description 2
- 239000004576 sand Substances 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
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Classifications
-
- 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
- E02F9/2217—Hydraulic or pneumatic drives with energy recovery arrangements, e.g. using accumulators, flywheels
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/34—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with bucket-arms, i.e. a pair of arms, e.g. manufacturing processes, form, geometry, material of bucket-arms directly pivoted on the frames of tractors or self-propelled machines
- E02F3/3405—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with bucket-arms, i.e. a pair of arms, e.g. manufacturing processes, form, geometry, material of bucket-arms directly pivoted on the frames of tractors or self-propelled machines and comprising an additional linkage mechanism
- E02F3/3411—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with bucket-arms, i.e. a pair of arms, e.g. manufacturing processes, form, geometry, material of bucket-arms directly pivoted on the frames of tractors or self-propelled machines and comprising an additional linkage mechanism of the Z-type
-
- 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
- E02F9/2207—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for reducing or compensating oscillations
-
- 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
Definitions
- the present invention relates to a travel damper control device provided in a wheel loader.
- a wheel loader does not include a suspension system that absorbs vibrations of a vehicle body in order to efficiently use driving force for work such as excavation. Therefore, a load such as earth and sand loaded on a work machine (for example, a bucket) attached to the tip of the pair of booms may fall due to vibration of the vehicle body during traveling.
- a work machine for example, a bucket
- Patent Document 1 a traveling damper composed of a boom cylinder and an accumulator communicating with the boom cylinder
- Patent Document 2 a method of providing a traveling damper composed of a boom cylinder and an accumulator communicating with the boom cylinder
- Patent Document 1 when the vehicle speed of the wheel loader is equal to or higher than a predetermined value, an accumulator is connected to the boom cylinder.
- accumulator pressure accumulation control is performed according to at least one of the vehicle speed of the wheel loader and the forward / reverse lever position.
- the present invention has been made in view of the above situation, and an object thereof is to provide a travel damper control device and a travel damper control method capable of suppressing a decrease in durability of an accumulator.
- a traveling damper control device for a wheel loader includes a pair of booms connected by a cross tube disposed along the vehicle width direction, and a cross tube disposed along the vehicle width direction.
- a rotating shaft that is fixed, a bell crank that is swingably mounted about the rotating shaft, a work machine that is connected to the bell crank, a boom cylinder that is connected to a pair of booms, and a boom cylinder via an on-off valve And an accumulator that communicates with the wheel loader.
- the travel damper control device opens and closes when an approach detection unit detects that the bell crank is in the state of approaching the cross tube, and the approach detection unit detects that the bell crank is in the state of approaching the cross tube.
- a valve switching unit that switches the valve to a closed position.
- the on-off valve is switched to the closed position when it is detected that the bell crank is in a state of approaching the cross tube. That is, the boom cylinder and the accumulator can be quickly shut off before the bell crank is hit against the cross tube. Therefore, since it is possible to suppress the sudden peak pressure generated in the boom cylinder at the time of wrapout from being transmitted to the accumulator, it is possible to suppress a decrease in the durability of the accumulator.
- the travel damper control device for a wheel loader relates to the first aspect, and the approach detection unit has an inner angle formed by the pair of boom and bell crank in the side view that is equal to or less than the first angle. When it becomes, it detects that the bell crank is in the state which approached the cross tube.
- the wheel loader traveling damper control device can detect the approach of the bell crank based on the inner angle formed by the boom and the bell crank. Therefore, the approach of the bell crank can be detected easily and accurately compared to the case of directly measuring the interval between the bell crank and the cross tube.
- the travel damper control device for a wheel loader is related to the second aspect, and the approach detection unit is configured such that the inner angle is larger than the first angle after the inner angle becomes equal to or smaller than the first angle. While the angle is two or less, it is continuously detected that the bell crank is in a state of approaching the cross tube.
- the traveling damper control device for a wheel loader since the second angle is larger than the first angle, the bell crank is sufficiently removed from the cross tube after the bell crank once approaches the cross tube.
- the travel damper is turned off until the vehicle leaves. Therefore, it is possible to suppress the ON / OFF of the travel damper from being repeated unnecessarily in a short time.
- a travel damper control device for a wheel loader relates to any one of the first to third aspects, and includes an angular velocity acquisition unit that acquires an angular velocity of a bell crank that swings about a rotation axis. Prepare.
- the valve switching unit maintains the open / close valve in the open position when the angular velocity of the bell crank is equal to or less than a predetermined threshold value.
- the traveling damper control device for a wheel loader it is possible to suppress the ON / OFF of the traveling damper from being repeated unnecessarily when it is less necessary to shut off the accumulator from the boom cylinder.
- the traveling damper control apparatus and traveling damper control method which can suppress the fall of durability of an accumulator can be provided.
- FIG. 1 is a circuit diagram illustrating a configuration of a hydraulic circuit 100 according to an embodiment. It is a block diagram which shows the structure of the control apparatus 110 which concerns on embodiment. It is a flowchart which shows operation
- FIG. 1 is a perspective view of a wheel loader 1 according to the present embodiment.
- the wheel loader 1 includes a vehicle body frame 10, a cab 20, four tires 30, a pair of booms 40, and a bucket 50 (an example of a “work machine”).
- the body frame 10 has a so-called articulate structure.
- the cab 20 is placed on the vehicle body frame 10.
- the cab 20 houses a seat, an operation tool, etc. (not shown).
- the four tires 30 support the body frame 10.
- the pair of booms 40 are arranged to face each other in the vehicle width direction.
- the pair of booms 40 are swingably supported by the front end portion of the body frame 10.
- the bucket 50 is swingably supported by the front end portions of the pair of booms 40.
- FIG. 2 is a perspective view showing the support structure of the bucket 50 according to the embodiment.
- the wheel loader 1 includes a cross tube 60, a rotating shaft 70, a bell crank 80, a link 90, a pair of boom cylinders 40S, and a bucket cylinder 80S.
- the cross tube 60 is arranged along the vehicle width direction.
- the cross tube 60 connects the pair of booms 40.
- the cross tube 60 has a support portion 60 a that supports the bell crank 80.
- the support portion 60a is disposed so as to protrude forward and upward from the cross tube 60.
- Rotating shaft 70 is arranged along the vehicle width direction.
- the rotating shaft 70 is fixed to the support portion 60a.
- the rotating shaft 70 is inserted through the central portion of the bell crank 80.
- the bell crank 80 is supported by the support portion 60a via the rotating shaft 70.
- the bell crank 80 is swingable about the rotation shaft 70.
- the bell crank 80 has a cylinder shaft portion 80a disposed at the end portion in the vehicle width direction.
- the link 90 is connected to the bucket 50 and the bell crank 80.
- the link 90 transmits the swing of the bell crank 80 to the bucket 50. Thereby, the attitude (tilt angle / dump angle) of the bucket 50 is controlled.
- the pair of boom cylinders 40S are connected to the body frame 10 and the pair of booms 40.
- the pair of boom cylinders 40S expands and contracts by the hydraulic oil supplied to the inside. As a result, the pair of booms 40 is swung up and down.
- Each of the pair of booms 40 is pivotally supported by the body frame 10 at the first shaft portion 40a and is pivotally supported by the bucket 50 at the second shaft portion 40b.
- the pair of boom cylinders 40S communicate with the accumulator 130 via the on-off valve 120 (see FIG. 4).
- the hydraulic circuit 100 constituting the traveling damper will be described later.
- the bucket cylinder 80S is connected to the vehicle body frame 10 and the bell crank 80.
- the front end portion of the bucket cylinder 80S is pivotally supported by the cylinder shaft portion 80a of the bell crank 80.
- the bucket cylinder 80S expands and contracts with the hydraulic oil supplied to the inside. As a result, the bucket 50 is dumped and tilted.
- the cross tube 60 has a dump stopper 61
- the bell crank 80 has a stopper abutting portion 81.
- the operator hits the stopper contact portion 81 against the dump stopper 61 when performing “wrap-out”.
- the “wrap-out” is an operation of removing dirt and the like attached to the inner surface of the bucket 50 by an impact when the stopper contact portion 81 is hit against the dump stopper 61.
- FIG. 3 is a side view showing the positional relationship between the boom 40 and the bell crank 80. In FIG. 3, a state immediately before wrap-out is shown.
- the stopper contact portion 81 of the bell crank 80 is abutted against the dump stopper 61 of the cross tube 60 by the wrap-out. At this time, an internal angle R formed by the pair of booms 40 and the bell crank 80 indicates a limit value ⁇ in a side view. That is, when the inner angle R is the limit value ⁇ , the stopper contact portion 81 of the bell crank 80 contacts the dump stopper 61 of the cross tube 60.
- the inner angle R is an angle ( ⁇ 90 °) formed by the boom reference line A and the bell crank reference line B as shown in FIG.
- the boom reference line A is a straight line connecting the first shaft portion 40a and the second shaft portion 40b of the boom 40.
- the bell crank reference line B is a straight line connecting the cylinder shaft portion 80a of the bell crank 80 and the rotating shaft 70.
- the inner angle R is detected by a bell crank angle sensor 80T disposed on the rotating shaft 70.
- the bell crank angle sensor 80T detects an angle at which the bell crank 80 rotates around the rotation shaft 70 from the reference position.
- FIG. 4 is a circuit diagram illustrating a configuration of the hydraulic circuit 100 according to the embodiment.
- the hydraulic circuit 100 constitutes a travel damper of the wheel loader 1.
- the hydraulic circuit 100 includes a control device 110, an on-off valve 120, an accumulator 130, a hydraulic pump 140, a boom cylinder control valve 150, and a hydraulic oil tank 160.
- the control device 110 performs ON / OFF control of the travel damper of the wheel loader 1 by switching the position of the on-off valve 120.
- the configuration and operation of the control device 110 will be described later.
- the on-off valve 120 is a two-position switching valve having an open position X and a closed position Y.
- the on-off valve 120 communicates with the oil passage L1 and the oil passage L2.
- the travel damper of the wheel loader 1 is turned on.
- the on-off valve 120 is located at the closed position Y, the oil passage L1 and the oil passage L2 are blocked. As a result, the travel damper of the wheel loader 1 is turned off.
- the accumulator 130 functions as a damper mechanism that reduces vibration of the boom cylinder 40S when communicating with the boom cylinder 40S via the on-off valve 120. On the other hand, the accumulator 130 does not function as a damper mechanism when communication with the boom cylinder 40S is blocked by the on-off valve 120.
- the hydraulic pump 140 is driven by an engine (not shown).
- the hydraulic pump 140 supplies the hydraulic oil stored in the hydraulic oil tank 160 to the pair of boom cylinders 40S via the boom cylinder control valve 150.
- FIG. 5 is a block diagram illustrating a configuration of the control device 110 according to the embodiment.
- the control device 110 includes an inner angle acquisition unit 112, an approach detection unit 113, an FNR speed stage acquisition unit 114, a vehicle speed acquisition unit 115, a load state detection unit 116, and a valve switching unit 117.
- the inner angle acquisition unit 112 acquires the inner angle R formed by the pair of booms 40 and the bell crank 80 from the bell crank angle sensor 80T in real time.
- the inner angle acquisition unit 112 transmits the inner angle R to the approach detection unit 113.
- the approach detection unit 113 detects that the bell crank 80 is in a state of approaching the cross tube 60. In the present embodiment, the approach detection unit 113 determines whether or not the internal angle R formed by the boom 40 and the bell crank 80 is equal to or less than the first angle R1 (limit value ⁇ + ⁇ r: ⁇ r is a positive number). The approach detection unit 113 outputs a first off signal S OFF1 to the valve switching unit 117 when the inner angle R is equal to or less than the first angle R1.
- the approach detection unit 113 After the approach detection unit 113 once determines that the inner angle R is equal to or smaller than the first angle R1, the second angle R2 (the limit value ⁇ + ⁇ s: ⁇ s is larger than ⁇ r) where the inner angle R is larger than the first angle R1. It is determined whether or not it is less than (positive number).
- the approach detection unit 113 outputs a first off signal S OFF1 to the valve switching unit 117 when the inner angle R is equal to or smaller than the second angle R2.
- the FNR speed stage acquisition unit 114 acquires an operation position signal indicating the operation position of the shift lever operated by the operator.
- the operation position signal indicates whether the wheel loader 1 is in the forward, reverse, or neutral state and the speed stage of the first to fourth speeds of the transmission.
- the FNR speed stage acquisition unit 114 outputs the second off signal S OFF2 to the valve switching unit 117 when the operation position signal indicates neutral or first speed.
- the vehicle speed acquisition unit 115 acquires the vehicle speed of the wheel loader 1 from, for example, a vehicle speed meter.
- the vehicle speed acquisition unit 115 outputs a third off signal S OFF3 to the valve switching unit 117 when the vehicle speed is equal to or lower than a predetermined speed (for example, 5 km / h). However, the vehicle speed acquisition unit 115 does not output the third off signal S OFF3 to the valve switching unit 117 when the load state detection unit 116 detects that the bucket 50 is loaded.
- the loading state detection unit 116 detects whether or not a load is loaded on the bucket 50 based on the cylinder bottom pressure of each of the pair of boom cylinders 40S, for example.
- the loaded state detection unit 116 outputs the detection result to the vehicle speed acquisition unit 115.
- Valve switching unit 117 if the operator turns ON the travel damper switch DS, receives an ON signal S ON from travel damper switch DS. Valve switching unit 117, in response to receipt of the ON signal S ON, switch the switch valve 120 to the open position X. However, the valve switching unit 117 switches the on-off valve 120 to the closed position Y while at least one of the first to third off signals S OFF1 to S OFF3 is input.
- FIG. 6 is a flowchart showing the operation of the control device 110 according to the embodiment.
- step S10 control device 110 determines whether or not ON signal SON is input. If the on signal S ON is not input, the process repeats step S10. If the on signal S ON is input, the process proceeds to step S20.
- step S20 the control device 110 determines whether or not the inner angle R formed by the boom 40 and the bell crank 80 is equal to or less than the first angle R1 (limit value ⁇ + ⁇ r). If the inner angle R is not less than or equal to the first angle R1, the process proceeds to step S30. If the inner angle R is less than or equal to the first angle R1, the process proceeds to step S40.
- step S30 the control device 110 determines whether or not the second signal S OFF2 and the third off S OFF3 are input. If the second signal S OFF2 and the third off S OFF3 are not input, the process proceeds to step S60. If at least one of the second signal S OFF2 and the third off S OFF3 is input, the process proceeds to step S70.
- step S40 the control device 110 switches the on-off valve 120 to the closed position Y. As a result, the travel damper of the wheel loader 1 is turned off.
- step S50 the control device 110 determines whether or not the inner angle R formed by the boom 40 and the bell crank 80 is equal to or smaller than the second angle R2 (> first angle R1). If the inner angle R is not less than or equal to the second angle R2, the process proceeds to step S30. If the inner angle R is less than or equal to the second angle R2, the process repeats step S40.
- step S60 the control device 110 switches the on-off valve 120 to the open position X. As a result, the travel damper of the wheel loader 1 is turned on.
- step S70 the control device 110 switches the on-off valve 120 to the closed position Y. As a result, the travel damper of the wheel loader 1 is turned off.
- the control device 100 includes an approach detection unit 113 that detects that the bell crank 80 is in a state of approaching the cross tube 60, and a state in which the bell crank 80 is in proximity to the cross tube 60. And a valve switching unit 117 that switches the on-off valve 120 to the closed position Y.
- the on-off valve 120 is switched to the closed position Y. That is, before the bell crank 80 is hit against the cross tube 60, the boom cylinder 80S and the accumulator 130 can be quickly shut off. Therefore, since it is possible to suppress the rapid peak pressure generated in the boom cylinder 80S during wrap-out from being transmitted to the accumulator 130, it is possible to suppress a decrease in durability of the accumulator 130.
- the approach detection unit 113 detects that the bell crank 80 is the cross tube when the inner angle R formed by the pair of booms 40 and the bell crank 80 is equal to or less than the first angle R1. It is detected that the state is close to 60.
- the approach of the bell crank 80 can be detected based on the inner angle R formed by the boom 40 and the bell crank 80. Therefore, the approach of the bell crank 80 can be detected easily and accurately compared to the case where the distance between the bell crank 80 and the cross tube 60 is directly measured.
- the approach detection unit 113 determines whether the inner angle R is equal to or less than the second angle R2 (> R1) after the inner angle R is equal to or less than the first angle R1. It is continuously detected that the crank 80 is close to the cross tube 60.
- the travel damper is turned off until the bell crank 80 is sufficiently separated from the cross tube 60. Therefore, it is possible to suppress the ON / OFF of the travel damper from being repeated unnecessarily in a short time.
- the approach detection unit 113 detects that the bell crank 80 is in the state of approaching the cross tube 60 based on the inner angle R formed by the pair of booms 40 and the bell crank 80.
- the approach detection unit 113 can detect the bell based on the stroke amount of the boom cylinder 40S or the angle of the boom 40 (for example, detectable by an angle sensor provided in the first shaft portion 40a) and the stroke amount of the bucket cylinder 80S.
- the approach of the crank 80 can be detected.
- the approach detection unit 113 can detect the approach of the bell crank 80 also based on the detection result of the proximity switch that operates when the distance between the bell crank 80 and the cross tube 60 becomes a predetermined value or less.
- the valve switching unit 117 outputs the first off signal S OFF1 without exception when the inner angle R is equal to or less than the first angle R1, but the present invention is not limited to this.
- the valve switching unit 117 may maintain the on-off valve 120 at the open position X when the angular velocity of the bell crank 80 is equal to or less than a predetermined threshold.
- the wheel loader 1 may include an angular velocity acquisition unit that acquires the angular velocity of the bell crank 80 that swings around the rotation shaft 70.
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Abstract
Description
しかしながら、特許文献1及び特許文献2に記載の手法では、いわゆる“ラップアウト”について考慮されていないので、以下のような問題がある。なお、“ラップアウト”とは、一対のブームを車幅方向に連結するクロスチューブに対して、クロスチューブに揺動自在に取り付けられたベルクランクを打ち当てることによって、作業機に付着した土砂などを払い落とす動作である。
本発明の第1の態様に係るホイールローダの走行ダンパ制御装置は、車幅方向に沿って配置されるクロスチューブによって連結される一対のブームと、車幅方向に沿って配置され、クロスチューブに固定される回転軸と、回転軸を中心として揺動自在に取り付けられるベルクランクと、ベルクランクに連結される作業機と、一対のブームに連結されるブームシリンダと、開閉弁を介してブームシリンダに連通するアキュムレータと、を有するホイールローダに設けられる。走行ダンパ制御装置は、ベルクランクがクロスチューブに接近した状態であことを検知する接近検知部と、接近検知部によってベルクランクがクロスチューブに接近した状態であることが検知された場合に、開閉弁を閉位置に切り換える弁切換え部と、を備える。
本発明によれば、アキュムレータの耐久性の低下を抑制可能な走行ダンパ制御装置及び走行ダンパ制御方法を提供することができる。
実施形態に係るホイールローダ1の構成について、図面を参照しながら説明する。図1は、本実施形態に係るホイールローダ1の斜視図である。
実施形態に係るブーム40とベルクランク80との位置関係について、図面を参照しながら説明する。図3は、ブーム40とベルクランク80との位置関係を示す側面図である。なお、図3では、ラップアウト直前の状態が示されている。
実施形態に係る油圧回路100の構成について、図面を参照しながら説明する。図4は、実施形態に係る油圧回路100の構成を示す回路図である。油圧回路100は、ホイールローダ1の走行ダンパを構成する。
実施形態に係る制御装置110の構成について、図面を参照しながら説明する。図5は、実施形態に係る制御装置110の構成を示すブロック図である。
実施形態に係る制御装置110の動作について、図面を参照しながら説明する。図6は、実施形態に係る制御装置110の動作を示すフロー図である。
(1)本実施形態に係る制御装置100は、ベルクランク80がクロスチューブ60に接近した状態であることを検知する接近検知部113と、ベルクランク80がクロスチューブ60に接近した状態であることが検知された場合に、開閉弁120を閉位置Yに切り換える弁切換え部117と、を備える。
本発明は上記の実施形態によって記載したが、この開示の一部をなす論述及び図面はこの発明を限定するものであると理解すべきではない。この開示から当業者には様々な代替実施形態、実施例及び運用技術が明らかとなろう。
10…車体フレーム
20…運転室
30…タイヤ
40…ブーム
40a…第1軸部
40b…第2軸部
50…バケット
60…クロスチューブ
61…ダンプストッパ
70…回転軸
80…ベルクランク
80a…シリンダ軸部
81…ストッパ当接部
90…リンク
L1,L2…油路
100…油圧回路
110…制御装置
112…内角取得部
113…接近検出部
114…FNR速度段取得部
115…車速取得部
116…積荷状態検出部
117…弁切換え部
120…開閉弁
130…アキュムレータ
140…油圧ポンプ
150…ブームシリンダ制御弁
160…作動油タンク
R1…第1角度
R2…第2角度
Claims (4)
- 車幅方向に沿って配置されるクロスチューブによって連結される一対のブームと、前記車幅方向に沿って配置され、前記クロスチューブに固定される回転軸と、前記回転軸を中心として揺動自在に取り付けられるベルクランクと、前記ベルクランクに連結される作業機と、前記一対のブームに連結されるブームシリンダと、開閉弁を介して前記ブームシリンダに連通するアキュムレータと、を有するホイールローダに設けられる走行ダンパ制御装置であって、
前記ベルクランクが前記クロスチューブに接近した状態であることを検知する接近検知部と、
前記接近検知部によって前記ベルクランクが前記クロスチューブに接近した状態であることが検知された場合に、前記開閉弁を閉位置に切り換える弁切換え部と、
を備えるホイールローダの走行ダンパ制御装置。 - 前記接近検知部は、側面視において、前記一対のブームと前記ベルクランクとが成す内角が第1角度以下になった場合に、前記ベルクランクが前記クロスチューブに接近した状態であることを検知する、
請求項1に記載のホイールローダの走行ダンパ制御装置。 - 前記接近検知部は、前記内角が前記第1角度以下になった後、前記内角が前記第1角度よりも大きい第2角度以下である間は、前記ベルクランクが前記クロスチューブに接近した状態であることを継続して検知する、
請求項2に記載のホイールローダの走行ダンパ制御装置。 - 前記回転軸を中心として揺動する前記ベルクランクの角速度を取得する角速度取得部を備え、
前記弁切換え部は、前記ベルクランクの前記角速度が所定の閾値以下である場合、前記開閉弁を開位置に維持する、
請求項1乃至3のいずれかに記載のホイールローダの走行ダンパ制御装置。
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JP2012521813A JP5054855B2 (ja) | 2010-12-24 | 2011-12-22 | ホイールローダの走行ダンパ制御装置 |
EP11851592.3A EP2543778B1 (en) | 2010-12-24 | 2011-12-22 | Driving damper control device for wheel loader |
CN201180020448.4A CN102869839B (zh) | 2010-12-24 | 2011-12-22 | 轮式装载机的行驶减振器控制装置 |
US13/582,684 US8538640B2 (en) | 2010-12-24 | 2011-12-22 | Travel damper control device for wheel loader |
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CN103967060A (zh) * | 2013-02-06 | 2014-08-06 | 国机重工(洛阳)有限公司 | 一种轮式装载机 |
WO2016098741A1 (ja) * | 2014-12-16 | 2016-06-23 | 住友建機株式会社 | ショベル及びショベルの制御方法 |
US9783959B2 (en) | 2016-04-21 | 2017-10-10 | Caterpillar Inc. | Method of operating ride control system |
CN106438514B (zh) * | 2016-10-31 | 2017-12-15 | 广西柳工机械股份有限公司 | 装载机侧卸液压系统 |
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CN102869839A (zh) | 2013-01-09 |
EP2543778A4 (en) | 2013-08-14 |
EP2543778A1 (en) | 2013-01-09 |
US8538640B2 (en) | 2013-09-17 |
EP2543778B1 (en) | 2014-03-12 |
US20120330517A1 (en) | 2012-12-27 |
JPWO2012086774A1 (ja) | 2014-06-05 |
CN102869839B (zh) | 2014-05-07 |
JP5054855B2 (ja) | 2012-10-24 |
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