WO2013108888A1 - 作業車両の制御装置 - Google Patents
作業車両の制御装置 Download PDFInfo
- Publication number
- WO2013108888A1 WO2013108888A1 PCT/JP2013/050974 JP2013050974W WO2013108888A1 WO 2013108888 A1 WO2013108888 A1 WO 2013108888A1 JP 2013050974 W JP2013050974 W JP 2013050974W WO 2013108888 A1 WO2013108888 A1 WO 2013108888A1
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- WIPO (PCT)
- Prior art keywords
- brake
- work
- hydraulic
- output
- lock
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/04—Brake-action initiating means for personal initiation foot actuated
- B60T7/045—Brake-action initiating means for personal initiation foot actuated with locking and release means, e.g. providing parking brake application
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/662—Electrical control in fluid-pressure brake systems characterised by specified functions of the control system components
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/12—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid
- B60T13/16—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid using pumps directly, i.e. without interposition of accumulators or reservoirs
- B60T13/168—Arrangements for pressure supply
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/68—Electrical control in fluid-pressure brake systems by electrically-controlled valves
- B60T13/686—Electrical control in fluid-pressure brake systems by electrically-controlled valves in hydraulic systems or parts thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/321—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration deceleration
- B60T8/3255—Systems in which the braking action is dependent on brake pedal data
- B60T8/326—Hydraulic systems
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- 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
- E02F9/2004—Control mechanisms, e.g. control levers
- E02F9/2012—Setting the functions of the control levers, e.g. changing assigned functions among operations levers, setting functions dependent on the operator or seat orientation
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- 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
- E02F9/2253—Controlling the travelling speed of vehicles, e.g. adjusting travelling speed according to implement loads, control of hydrostatic transmission
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/226—Safety arrangements, e.g. hydraulic driven fans, preventing cavitation, leakage, overheating
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2292—Systems with two or more pumps
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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
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D55/00—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes
- F16D55/24—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes with a plurality of axially-movable discs, lamellae, or pads, pressed from one side towards an axially-located member
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
Definitions
- the present invention relates to a control device for a work vehicle that controls the operation of a hydraulic brake provided in a wheel excavator or the like.
- a work vehicle such as a wheel excavator is provided with a service brake device that applies a braking force by driving a brake valve by operating a brake pedal.
- This service brake device can be used as a work brake device during work.
- the service brake device is continuously operated by operating a brake switch. That is, the service brake device is hydraulically locked.
- This type of brake device is disclosed, for example, in the following prior art document (see Patent Document 1).
- a control device for a work vehicle includes a hydraulic brake device that generates a braking force according to an operation of a brake pedal during traveling, a brake lock that hydraulically locks the hydraulic brake device, and releases a hydraulic lock.
- a brake pedal operation detecting unit for detecting operation of the brake pedal, a hydraulic lock instruction switch provided on a manual operation lever for operating the work device of the work vehicle, and a hydraulic brake when the hydraulic lock instruction switch is operated
- a control unit that controls the brake lock unit so as to release the hydraulic lock of the hydraulic brake device when the brake pedal operation detection unit detects a preset depression operation of the brake pedal.
- the control unit releases the hydraulic lock of the hydraulic brake device even if the hydraulic lock instruction switch is operated after the hydraulic brake device is hydraulically locked. It is preferable to control the brake lock portion so that it does not occur.
- the work vehicle control device according to the first or second aspect further includes an accelerator pedal operation detection unit that detects an operation of an accelerator pedal, and the control unit is controlled by the accelerator pedal operation detection unit. When it is detected that the accelerator pedal is operated, it is preferable to disable the operation of the hydraulic lock instruction switch.
- the control device further includes a speed detection unit that detects a traveling speed of the work vehicle, and the control unit is configured to operate when the hydraulic lock instruction switch is operated. It is preferable to control the brake lock unit so that the braking force generated by the hydraulic brake device increases as the traveling speed detected by the detection unit decreases.
- FIG. 1 is a hydraulic circuit diagram showing the overall configuration of a control device according to an embodiment of the present invention.
- FIG. 2 is a block diagram showing the configuration of the controller.
- FIG. 3A is a block diagram showing details of processing in the unlock determination circuit, and
- FIG. 3B is a block diagram showing details of processing in the brake lock determination circuit.
- FIG. 4 is a block diagram showing details of processing in work brake operation determination processing in the work brake operation determination circuit.
- FIG. 1 is a hydraulic circuit diagram showing the overall configuration of the control device according to the present embodiment.
- the hydraulic brake device is a service brake device that is provided in a work vehicle equipped with tires such as a wheel excavator and travels on a general road, and generates a braking force according to the amount of operation of the brake pedal 1 during travel.
- a brake valve 2 controls pressure oil supplied from a gear pump 3 to brake cylinders 4 and 5 that drive front and rear brake discs 71 and 72.
- the brake valve 2 has a switching position A and a switching position B, and the switching position changes from the switching position A to B according to the depression operation of the brake pedal 1.
- the switching position A is an operating position where pressure oil discharged from the gear pump 3 is supplied to the brake cylinders 4 and 5 via the charge valve 61 to operate the brake
- the switching position B is the tanks for the brake cylinders 4 and 5. This is the operation position for releasing the brake in communication with
- the switching amount of the brake valve 2 increases in accordance with the depression amount of the brake pedal 1, and the braking force increases accordingly. Accordingly, the brake cylinders 4 and 5 are stroked to drive the brake disks 71 and 72, and a braking force is applied to stop or decelerate the vehicle.
- the brake cylinders 4 and 5 are front wheel and rear wheel brake cylinders, respectively.
- the brake valve 2 is mechanically operated by the brake pedal 1 and has a pilot port. Pressure oil is supplied to the pilot port so as to be switched from the switching position B to the switching position A. Yes.
- the pilot port is connected to a pilot hydraulic source (gear pump 7) or a tank via a brake control electromagnetic valve 6.
- the brake control electromagnetic valve 6 has a switching position A for connecting the pilot port of the brake valve 2 and the gear pump 7 and a switching position B for connecting the pilot port and the tank.
- the brake control electromagnetic valve 6 is switched to a switching position A and a switching position B by a signal from a control device (controller) 10 described in detail later, that is, a brake braking electromagnetic valve output signal described later.
- the brake control solenoid valve 6 When the brake control solenoid valve 6 is switched to the switching position B, the pilot port of the brake valve 2 becomes the tank pressure, the brake valve 2 is switched to the switching position B, the brake lock is released, and the brake pedal The operation of 1 enables the brake operation.
- the brake control electromagnetic valve 6 when the brake control electromagnetic valve 6 is switched to the switching position A, the pressure oil of the gear pump 7 is supplied to the pilot port of the brake valve 2 and the brake valve 2 is switched to the switching position A.
- the brake is activated. This state is referred to as a hydraulic lock or brake lock state of the service brake device.
- a state where the service brake device is hydraulically locked and continuously operates is an operation state of the work brake device.
- the pressure of the pressure oil supplied to the pilot port of the brake valve 2 is controlled to adjust the braking force. Can do.
- FIG. 2 is a block diagram showing the configuration of the controller 10.
- the controller 10 includes a rotation speed sensor 21, a pressure sensor 22, a proximity switch 23, a changeover switch 24, a brake switch 25, and a work brake operation switch (hand switch) 26.
- the pressure sensors 27 are connected to each other.
- the rotational speed sensor 21 is a sensor that detects the rotational speed N of the transmission 62 having a correlation with the vehicle speed.
- the pressure sensor 22 is a pressure sensor that detects the pressure acting on the brake cylinders 4, 5, that is, the operation pressure PB of the brake pedal 1.
- the proximity switch 23 is a proximity switch that is provided below the brake pedal 1 and detects an operation of depressing the brake pedal 1 by a predetermined amount or more.
- the changeover switch 24 is a changeover switch operated by an operator in order to select whether to perform brake locking automatically or manually.
- the brake switch 25 is a switch operated by an operator in order to select the operation and release of the parking brake device and the operation and release of the work brake device.
- the parking brake device is a brake device that is operated when the vehicle is parked, and is configured to engage both the low-speed gear and the high-speed gear of the transmission, or is configured by a negative brake device provided separately.
- the work brake device is a brake device that hydraulically locks the service brake device without depending on the operation of the brake pedal 1 as described above.
- the hand switch 26 is an operation switch operated by an operator to instruct the operation of the work brake device as will be described later.
- the hand switch 26 is attached to an operation lever 63 that operates a work device (work actuator) such as an arm or a bucket, and the operator can operate the hand switch 26 without releasing the hand from the operation lever 63.
- a work device such as an arm or a bucket
- the hand switch 26 can be operated if it is provided at a position where the operator can operate while holding the operation lever 63 or at a position where the operator can operate by slightly shifting the hand holding the operation lever 63 from the operation lever 63.
- the lever 63 may not be provided.
- the pressure sensor 27 is a pressure sensor that detects a pilot pressure PA that is controlled by the traveling pilot valve 65 in response to a depression operation of a traveling pedal (accelerator pedal) 64 of the work vehicle.
- the pilot pressure PA controlled by the traveling pilot valve 65 is supplied to the pilot port of the control valve 66.
- the work vehicle in the present embodiment controls the direction and flow rate of pressure oil from a hydraulic pump (not shown) driven by an engine (not shown) through a control valve 66, and passes through a counter balance valve (not shown).
- the wheels are driven by supplying to a traveling hydraulic motor (not shown).
- the proximity switch 23 is turned on when the brake pedal 1 is depressed to the maximum, and turned off when the maximum depression is stopped.
- the changeover switch 24 is turned on when switched to the automatic position and turned off when switched to the manual position.
- the brake switch 25 can be switched to an off position, a parking position, and a work position. When the brake switch 25 is switched to the off position, the work brake device (FIG. 1) and the parking brake device (not shown) are released, and the brake switch 25 is switched to the parking position.
- the parking brake device is activated, and the work brake device is activated when switched to the work position.
- the hand switch 26 is turned on when operated, and turned off when not operated.
- the brake switch switching position determination circuit 11 of the controller 10 determines the switching position of the brake switch 25.
- the work brake operation determination circuit 41 by the hand switch 26 performs a work brake operation determination process described later.
- the previous brake output determination circuit 12 determines whether the previous brake output is on or off. This determination is performed based on signals from the lock release determination circuit 13 and the brake lock determination circuit 14.
- the brake lock determination circuit 14 performs a brake lock determination process described later.
- the lock release determination circuit 13 performs a lock release determination process described later.
- previous brake output determination circuit 12 does not determine whether the previous brake output is on or off when an on signal described later is output from the work brake operation determination circuit 41. Further, the work brake operation determination circuit 41 does not perform the work brake operation determination process described later when the brake operation signal is output from the output circuit 16 via the switching circuit 15 as described later.
- the switch is switched to the position a or the position b in accordance with signals from the brake switch 25 and the determination circuits 13 and 14. That is, the switch of the switching circuit 15 is switched to the position a when the brake switch 25 is in the OFF position and the ON signal is output from the determination circuits 13 and 14, and is switched to the position b when the OFF signal is output from the determination circuits 13 and 14.
- the switch of the switching circuit 15 is switched to the position b regardless of the signal from the determination circuits 13 and 14, and when the brake switch 25 is switched to the working position, the position is determined regardless of the signal from the determination circuits 13 and 14. Switch to a.
- a brake operation signal is output from the output circuit 16 and when the switch is switched to the position b, a brake release signal is output from the output circuit 17.
- the switch is switched to the brake operating position or the brake releasing position in accordance with the brake operation signal or the brake release signal output via the switching circuit 15. That is, when the brake operation signal output from the output circuit 16 is input, the switching circuit 46 switches the switch to the brake operation position. When the brake release signal output from the output circuit 17 is input, the switching circuit 46 switches the switch to the brake release position.
- a brake control pilot pressure signal for generating a set pilot pressure for switching the brake valve 2 to the switching position A by the brake control electromagnetic valve 6 is output from the output circuit 44.
- the set pilot pressure of the brake control pilot pressure signal output from the output circuit 44 is 3 Mpa, for example, which is necessary for hydraulic locking.
- a brake control pilot pressure signal for generating a set pilot pressure for switching the brake valve 2 to the switching position B by the brake control electromagnetic valve 6 is output from the output circuit 45.
- the set pilot pressure of the brake control pilot pressure signal output from the output circuit 45 is 0 Mpa.
- the brake control pilot pressure signal output via the switching circuit 46 is input to a Max determination circuit 48 described later.
- the switch is switched to the on position or the off position in accordance with the signal from the work brake operation determination circuit 41. That is, when the on signal is output from the work brake operation determination circuit 41 when the brake switch 25 is in the off position, the switch of the switching circuit 47 is switched to the on position, and when the off signal is output from the work brake operation determination circuit 41, the switch is set to the off position. Switch.
- the brake control pilot pressure signal for controlling the brake control pilot pressure to the set pilot pressure corresponding to the vehicle speed of the work vehicle is output from the output circuit 42 by the brake control solenoid valve 6. Is done.
- the output circuit 42 Based on the rotational speed N of the transmission 62 detected by the rotational speed sensor 21, the output circuit 42 generates a brake control pilot pressure signal so that the set pilot pressure increases as the rotational speed N decreases (that is, the vehicle speed decreases). Output. That is, the output circuit 42 stores the relationship between the rotational speed N and the set pilot pressure that are appropriately set so that the brake pressure increases as the vehicle speed decreases.
- a brake control pilot pressure signal for controlling the brake control pilot pressure to the set pilot pressure by the brake control electromagnetic valve 6 is output from the output circuit 43.
- the set pilot pressure of the brake control pilot pressure signal output from the output circuit 43 is 0 Mpa. That is, a brake control pilot pressure signal for switching the brake control electromagnetic valve 6 to the switching position B is output from the output circuit 43.
- the brake control pilot pressure signal output via the switching circuit 47 is input to the Max determination circuit 48.
- the Max determination circuit 48 uses the brake control pilot pressure signal output via the switching circuit 46 and the brake control pilot pressure signal output via the switching circuit 47 as the brake control electromagnetic signal. This is output to the valve control signal output circuit 49.
- the brake control solenoid valve control signal output circuit 49 outputs a brake control solenoid valve output signal to the brake control solenoid valve 6 based on the set pilot pressure of the input brake control pilot pressure signal. That is, the brake control solenoid valve control signal output circuit 49 stores the relationship between the pressure and output of the brake control solenoid valve (proportional valve) 6, and the current value Ia of the brake control solenoid valve output signal is set to the set pilot pressure. Is set to a current value corresponding to. Thereby, the brake control pilot pressure is controlled to a predetermined set pilot pressure by the brake control electromagnetic valve 6.
- FIG. 3A is a block diagram showing details of processing in the lock release determination circuit 13
- FIG. 3B is a block diagram showing details of processing in the brake lock determination circuit 14.
- the brake lock determination circuit 14 performs braking according to ON / OFF of the brake flag A, ON / OFF of the changeover switch 24, the number of revolutions N of the transmission, the operating pressure PB of the brake pedal 1, and the time measured by the timer. Outputs an on signal or brake off signal. That is, when the brake flag A is off and the brake operation pressure PB is less than the predetermined value PB1, a brake off signal is output and the brake flag A is turned on (14a).
- the predetermined value PB1 corresponds to the operating pressure when the brake pedal 1 is fully depressed.
- a brake off signal is output and the brake flag A is turned off (14b).
- the brake flag A is used to prevent the brake from being inadvertently released or locked again by continuing operation of the brake pedal 1 when the brake is hydraulically locked or released by operation of the brake pedal 1. The details will be described later.
- a brake off signal is output and the timer Is reset (14c, 14d).
- a brake off signal is output (14e).
- the predetermined value N1 corresponds to a vehicle speed (for example, about 5 km / h) during low-speed traveling
- the predetermined value N2 corresponds to a vehicle speed (for example, about 10 km / h) faster than low-speed traveling.
- the lock release determination circuit 13 outputs a brake on signal or a brake off signal according to the on / off state of the brake flag A, the on / off state of the changeover switch 24, the on / off state of the proximity switch 23, and the time count of the timer. To do. That is, when the brake flag A is off and the proximity switch 24 is off, a brake on signal is output and the brake flag A is turned on (13a). When the brake flag A is off and the proximity switch 24 is on, a brake on signal is output and the brake flag A is turned off (13b).
- FIG. 4 is a block diagram showing details of the processing in the work brake operation determination process in the work brake operation determination circuit 41.
- the work brake operation determination circuit 41 generates an ON signal or an OFF signal according to ON / OFF of the brake flag B, ON / OFF of the proximity switch 23, operation / non-operation of the accelerator pedal 64, and ON / OFF of the hand switch 26. Output. That is, when the brake flag B is off, the accelerator pedal 64 is not operated, and the hand switch 26 is off, an off signal is output and the brake flag B is turned off (41a).
- the operation / non-operation of the accelerator pedal 64 is determined by detecting the pilot pressure PA controlled by the traveling pilot valve 65 according to the depression operation of the accelerator pedal 64 by the pressure sensor 27.
- the brake flag B is used for determination to maintain the hydraulic lock state when the brake is hydraulically locked by the operation of the hand switch 26 and to release the hydraulic lock of the brake by the operation of the brake pedal 1. It is.
- the brake is not hydraulically locked (released) (for example, a state before the engine is driven when the key switch is turned on (non-driving state), the brake flag A is also off), and a work brake operation determination circuit
- the state where the above-described OFF signal is output from 41 and the brake flag B is OFF will be described.
- FIG. In the initial state the brake flag A is off, and the brake operation pressure PB is less than the predetermined value PB1 if the brake pedal 1 is not operated. Therefore, a brake off signal is output and the brake flag A is turned on (14a).
- the Max determination circuit 48 outputs a brake control pilot pressure signal whose set pilot pressure is 0 Mpa to the brake control electromagnetic valve control signal output circuit 49.
- the brake control solenoid valve control signal output circuit 49 outputs to the brake control solenoid valve 6 a brake control solenoid valve output signal that sets the set pilot pressure to 0 Mpa.
- the brake control electromagnetic valve 6 is switched to the switching position B. Therefore, the brake lock (operation of the work brake device) is released without the pilot pressure acting on the brake valve 2.
- the brake valve 2 is switched to the switching position A side in accordance with the operation amount of the brake pedal 1, and the service brake can be operated.
- the brake lock determination circuit 14 is in the state (14c).
- the changeover switch 24 is switched to the automatic position.
- the brake flag A is turned on by (14a).
- one of the states (14h) to (14d) is selected according to the rotational speed N and the operation state (PB) of the brake pedal 1. If the brake pedal 1 is not depressed to the maximum, one of the states (14f) to (14d) is selected according to the rotational speed N, and a brake off signal is output in any case.
- the switch of the switching circuit 15 is switched to the position b, and a brake release signal is output from the output circuit 17 of the controller 10.
- a brake control pilot pressure signal whose set pilot pressure is 0 Mpa is output from the output circuit 45 via the switching circuit 46. Further, as described above, since the off signal is output from the work brake operation determination circuit 41, a brake control pilot pressure signal whose set pilot pressure is 0 Mpa is output from the output circuit 43 via the switching circuit 47. Is output. Therefore, the Max determination circuit 48 outputs a brake control pilot pressure signal whose set pilot pressure is 0 Mpa to the brake control electromagnetic valve control signal output circuit 49.
- the brake control solenoid valve control signal output circuit 49 outputs to the brake control solenoid valve 6 a brake control solenoid valve output signal that sets the set pilot pressure to 0 Mpa.
- the brake control electromagnetic valve 6 is switched to the switching position B.
- the brake valve 2 is switched to the switching position B, and the operation of the work brake device is released.
- a timer is started (14g), and when the depressed state continues for a predetermined time, a brake on signal is output and the brake flag A is turned off. (14h).
- the switch of the switching circuit 15 is switched to the position a, and a brake operation signal is output from the output circuit 16 of the controller 10.
- a brake control pilot pressure signal having a set pilot pressure of 3 Mpa is output from the output circuit 44 via the switching circuit 46.
- the off signal is output from the work brake operation determination circuit 41, a brake control pilot pressure signal whose set pilot pressure is 0 Mpa is output from the output circuit 43 via the switching circuit 47. Is output. Therefore, the Max determination circuit 48 outputs a brake control pilot pressure signal having a set pilot pressure of 3 Mpa to the brake control electromagnetic valve control signal output circuit 49.
- the brake control solenoid valve control signal output circuit 49 outputs a brake control solenoid valve output signal with a set pilot pressure of 3 Mpa to the brake control solenoid valve 6.
- the timer is reset (14f), and then the timer is started when the brake pedal 1 is fully depressed.
- the rotational speed N exceeds the predetermined value N1
- the rotational speed N exceeds the predetermined value N2
- the timer is reset (14d).
- the timer is also reset when the changeover switch 24 is turned off (14c).
- the brake switch 25 is operated to a position other than the off position and is again operated to the off position, the brake lock control itself is reset.
- the lock release determination circuit 13 that determines the release of the brake in the locked state maintains the brake locked state (brake on signal) and releases the lock state (brake off). Signal) is output (13a) to (13f).
- the brake lock state (14h) by the brake lock determination circuit 14 the brake flag A is off, so the lock release determination circuit 13 is entered in the brake flag A off state.
- the proximity switch 23 When the brake pedal 1 is fully depressed to release the brake lock, the proximity switch 23 is turned on. Therefore, if the changeover switch 24 is turned on, a timer is started (13e), and the brake is turned off when a predetermined time is counted. A signal is output and the brake flag A is turned off (13f).
- the switch of the switching circuit 15 is switched to the position b, and a brake release signal is output from the output circuit 17 of the controller 10. Therefore, a brake control pilot pressure signal whose set pilot pressure is 0 Mpa is output from the output circuit 45 via the switching circuit 46. Further, as described above, since the off signal is output from the work brake operation determination circuit 41, a brake control pilot pressure signal whose set pilot pressure is 0 Mpa is output from the output circuit 43 via the switching circuit 47. Is output. Therefore, the Max determination circuit 48 outputs a brake control pilot pressure signal whose set pilot pressure is 0 Mpa to the brake control electromagnetic valve control signal output circuit 49. The brake control solenoid valve control signal output circuit 49 outputs to the brake control solenoid valve 6 a brake control solenoid valve output signal that sets the set pilot pressure to 0 Mpa.
- the brake control solenoid valve 6 is switched to the position B, and the brake lock is released. For this reason, when the work is finished and the running is started, it is not necessary to operate the brake switch 25 to release the operation of the work brake device, and a complicated operation is unnecessary. Even if the changeover switch 24 is turned off, a brake off signal is output and the brake flag A is turned off (13c).
- the proximity switch 23 is turned off and the timer is reset (13d). Thereafter, when the brake pedal 1 is depressed to the maximum, the proximity switch 23 is turned on and a timer is started.
- the brake switch 25 is operated to a position other than the off position and is operated to the off position again, the brake lock control itself is reset.
- the brake lock determination circuit 14 When the brake lock determination circuit 14 causes the brake lock state by the operation of the brake pedal 1 (14h, the brake flag A is off), when the depression operation of the brake pedal 1 is continued as it is, the lock release determination circuit 13 It is determined that the brake flag A is off and the proximity switch 23 is on. In this case, the lock release determination circuit 13 outputs a brake on signal so that the brake lock state continues and turns off the brake flag A (13b) so that the brake lock is not released. When the operation of the brake pedal 1 is stopped from this state, the brake release determination circuit 13 again turns off the brake flag A, the proximity switch 23 is turned off, outputs a brake on signal, and turns on the brake flag A (13a). The release determination is performed as described above while maintaining the brake lock state.
- the brake lock determining circuit 14 when the unlocking determination circuit 13 is in an unlocked state by operating the brake pedal 1 (13f, brake flag A is off), if the depression operation of the brake pedal 1 is continued as it is, the brake lock determining circuit 14 Thus, it is determined that the brake flag A is off and the brake operation pressure PB is equal to or greater than a predetermined value PB1. In this case, the brake lock determination circuit 14 outputs a brake off signal so that the brake lock release state continues, and turns off the brake flag A (14b) so that the brake is not locked. When the operation of the brake pedal 1 is stopped from this state, the brake lock determination circuit 14 again outputs the brake off signal with the brake flag A off and the brake operation pressure PB less than the predetermined value PB1, and the brake flag A on (14a). As described above, the lock determination is performed while maintaining the unlocked state.
- the accelerator flag 64 is operated because the brake flag B is off in the initial state as described above. If not (41b), an ON signal is output from the work brake operation determination circuit 41, and the brake flag B is turned ON. As a result, a brake control pilot pressure signal for controlling to the set pilot pressure corresponding to the vehicle speed of the work vehicle is output from the output circuit 42 via the switching circuit 47. Further, as described above, since the work brake by automatic control of the work brake device is not applied, a brake control pilot pressure signal whose set pilot pressure is 0 Mpa is output from the output circuit 45 via the switching circuit 46. Is done.
- the Max determination circuit 48 outputs a brake control pilot pressure signal for controlling to a set pilot pressure corresponding to the vehicle speed of the work vehicle to the brake control electromagnetic valve control signal output circuit 49.
- the brake control solenoid valve control signal output circuit 49 outputs to the brake control solenoid valve 6 a brake control solenoid valve output signal having a set pilot pressure corresponding to the vehicle speed of the work vehicle.
- the service brake is hydraulically locked.
- the Max determination circuit 48 outputs a brake control pilot pressure signal whose set pilot pressure is 0 Mpa to the brake control electromagnetic valve control signal output circuit 49.
- the brake control solenoid valve control signal output circuit 49 outputs to the brake control solenoid valve 6 a brake control solenoid valve output signal that sets the set pilot pressure to 0 Mpa.
- the brake flag B is turned on.
- the on / off state of the hand switch 26 is not determined when determining the release of the operation of the work brake device. That is, in the state where the work brake is applied by the operation of the hand switch 26, the operation input of the hand switch 26 is invalidated. Then, based on the on / off state of the proximity switch 23, the release determination of the operation of the work brake device is performed.
- the work brake device is configured to be operated by operating the hand switch 26 attached to the operation lever 63, and the work brake device is released when the brake pedal 1 is depressed to the maximum.
- the work brake device When the accelerator pedal 64 is operated, the work brake device is configured not to operate by operating the hand switch 26. As a result, even if the operator operates the hand switch 26 unintentionally while the work vehicle is traveling, the work brake device does not operate against the operator's intention, thereby preventing unintended deceleration by the operator of the traveling work vehicle. it can.
- a pilot lamp is connected to the controller 10, and the brake operation signal output via the switching circuit 15 or the ON signal output from the work brake operation determination circuit 41. Accordingly, the pilot lamp may be turned on / off. Thereby, the operator can recognize the state of the hydraulic lock.
- a pilot pressure is supplied to the brake valve 2 by moving the spool position of the electromagnetic switching valve 6 by a signal from the controller 10, and pressure oil from the gear pump 3 is applied to the brake cylinders 4 and 5.
- the hydraulic brake device is hydraulically locked, and when the preset depression operation (for example, the maximum depression operation) of the brake pedal 1 is detected, the hydraulic brake device
- the control unit controller 10
- the hydraulic brake device, and the brake lock unit may have any configuration.
- the predetermined stepping operation may be other than the maximum stepping operation.
- the maximum depression operation of the brake pedal 1 is detected by the on / off of the proximity switch 23, but the configuration of the brake pedal operation detection unit is not limited to this.
- the maximum depression operation of the brake pedal 1 may be detected based on the operation pressure PB of the brake pedal 1 detected by the pressure sensor 22.
- the pilot pressure PA corresponding to the operation amount of the accelerator pedal 64 is detected to detect the operation of the accelerator pedal 64, but the configuration of the accelerator pedal operation detection unit is not limited to this.
- the vehicle speed is detected by detecting the rotation speed N of the transmission, the configuration of the speed detection unit is not limited to this.
- the present invention is not limited to the embodiment described above, and a hydraulic brake device that generates a braking force according to the operation of the brake pedal during traveling, a hydraulic brake device that hydraulically locks, and a hydraulic brake device A brake lock part for releasing the hydraulic lock of the vehicle, a brake pedal operation detection part for detecting the operation of the brake pedal, a hydraulic lock instruction switch provided on a manual operation lever for operating the work device of the work vehicle, and a hydraulic lock instruction When the switch is operated, the hydraulic brake device is hydraulically locked, and when the brake pedal operation detection unit detects a preset depression operation of the brake pedal (hereinafter referred to as setting depression operation), the hydraulic brake device is unlocked. Control of a work vehicle having various structures including a control unit that controls the brake lock unit It is intended to include the location.
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Abstract
Description
本発明の第2の態様は、第1の態様による作業車両の制御装置において、制御部は、油圧ブレーキ装置を油圧ロックした後に油圧ロック指示スイッチが操作されても油圧ブレーキ装置の油圧ロックを解除しないようにブレーキロック部を制御することが好ましい。
本発明の第3の態様は、第1または第2の態様による作業車両の制御装置において、アクセルペダルの操作を検出するアクセルペダル操作検出部をさらに備え、制御部は、アクセルペダル操作検出部によってアクセルペダルが操作されていることが検出されている場合、油圧ロック指示スイッチの操作を無効とすることが好ましい。
本発明の第4の態様は、第3の態様による作業車両の制御装置において、作業車両の走行速度を検出する速度検出部をさらに備え、制御部は、油圧ロック指示スイッチが操作されると速度検出部で検出した走行速度が低下するほど油圧ブレーキ装置で発生させる制動力が大きくなるようにブレーキロック部を制御することが好ましい。
まず、初期状態としてブレーキが油圧ロックされていない状態(解除)(たとえば、キースイッチオンでエンジンが駆動する前の状態(非駆動状態)、ブレーキフラグAもオフ)であり、作業ブレーキ作動判定回路41から上述したオフ信号が出力されており、ブレーキフラグBがオフである状態から説明する。この状態からブレーキを油圧ロックする場合は、図3(b)による。初期状態では、ブレーキフラグAはオフであり、ブレーキペダル1が非操作であればブレーキ操作圧PBは所定値PB1未満である。このため、ブレーキオフ信号が出力され、ブレーキフラグAはオンとなる(14a)。また、この初期状態でたとえブレーキペダル1を操作した状態であっても、エンジン駆動前の状態であり、ブレーキ操作圧PBが立たないため、(14a)の状態が選択される。なお、(14b)の状態は、エンジンの駆動時に後述するブレーキの油圧ロックが解除したとき(13f)にブレーキペダル1の操作が継続された場合に、その操作の継続によって再び油圧ロックがかかることを防止するために設けられるものであり、詳細は後述する。
(1) 操作レバー63に取り付けられた手元スイッチ26の操作によって作業ブレーキ装置を作動させるように構成するとともに、ブレーキペダル1が最大に踏み込み操作されると作業ブレーキ装置を解除するように構成した。これにより、掘削等の作業と走行とを頻繁に繰り返す場合に、作業ブレーキ装置を作動させるために、オペレータが操作レバーから手を離してブレーキスイッチ25を操作する必要がなく、ブレーキペダル1を大きく踏み込む必要もない。また、掘削等の作業中、作業車両が移動しないようにブレーキペダル1を踏み続ける必要もない。したがって、作業ブレーキ装置を容易に作動および解除できるので、掘削等の作業と走行とを頻繁に繰り返す場合の作業車両の操作性を向上できる。
(1) 上述の説明では、特に言及していないが、コントローラ10にパイロットランプを接続し、切換回路15を介して出力されるブレーキ作動信号または作業ブレーキ作動判定回路41から出力されるオン信号に応じてパイロットランプを点灯/消灯させるようにしてもよい。これによりオペレータは油圧ロックの状態を認識できる。
(5) 上述した各実施の形態および変形例は、それぞれ組み合わせてもよい。
Claims (4)
- 走行時にブレーキペダルの操作に応じたブレーキ力を発生する油圧ブレーキ装置と、
前記油圧ブレーキ装置を油圧ロックする、および油圧ロックを解除するブレーキロック装置と、
前記ブレーキペダルの操作を検出するブレーキペダル操作検出部と、
作業車両の作業装置を操作する手動の操作レバーに設けられた油圧ロック指示スイッチと、
前記油圧ロック指示スイッチが操作されると前記油圧ブレーキ装置を油圧ロックし、前記ブレーキペダル操作検出部により前記ブレーキペダルの予め設定された設定踏み込み操作が検出されると、前記油圧ブレーキ装置の油圧ロックを解除するように前記ブレーキロック部を制御する制御部とを備える作業車両の制御装置。 - 請求項1に記載の作業車両の制御装置において、
前記制御部は、前記油圧ブレーキ装置を油圧ロックした後に前記油圧ロック指示スイッチが操作されても前記油圧ブレーキ装置の油圧ロックを解除しないように前記ブレーキロック部を制御する作業車両の制御装置。 - 請求項1または2に記載の作業車両の制御装置において、
アクセルペダルの操作を検出するアクセルペダル操作検出部をさらに備え、
前記制御部は、前記アクセルペダル操作検出部によって前記アクセルペダルが操作されていることが検出されている場合、前記油圧ロック指示スイッチの操作を無効とする作業車両の制御装置。 - 請求項3に記載の作業車両の制御装置において、
前記作業車両の走行速度を検出する速度検出部をさらに備え、
前記制御部は、前記油圧ロック指示スイッチが操作されると前記速度検出部で検出した前記走行速度が低下するほど前記油圧ブレーキ装置で発生させる制動力が大きくなるように前記ブレーキロック部を制御する作業車両の制御装置。
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KR1020147021961A KR101970855B1 (ko) | 2012-01-19 | 2013-01-18 | 작업 차량의 제어 장치 |
EP13738180.2A EP2805857B1 (en) | 2012-01-19 | 2013-01-18 | Brake control device for a work vehicle |
CN201380006108.5A CN104080667B (zh) | 2012-01-19 | 2013-01-18 | 作业车辆的控制装置 |
US14/373,504 US9409553B2 (en) | 2012-01-19 | 2013-01-18 | Control device for work vehicle |
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JP2012009248A JP5882066B2 (ja) | 2012-01-19 | 2012-01-19 | 作業車両の制御装置 |
JP2012-009248 | 2012-01-19 |
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EP (1) | EP2805857B1 (ja) |
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Also Published As
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CN104080667A (zh) | 2014-10-01 |
JP5882066B2 (ja) | 2016-03-09 |
US20150032337A1 (en) | 2015-01-29 |
EP2805857A1 (en) | 2014-11-26 |
EP2805857B1 (en) | 2017-07-26 |
JP2013147148A (ja) | 2013-08-01 |
KR20140114010A (ko) | 2014-09-25 |
KR101970855B1 (ko) | 2019-04-19 |
US9409553B2 (en) | 2016-08-09 |
EP2805857A4 (en) | 2016-01-27 |
CN104080667B (zh) | 2017-02-22 |
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