WO2015064577A1

WO2015064577A1 - Work vehicle

Info

Publication number: WO2015064577A1
Application number: PCT/JP2014/078639
Authority: WO
Inventors: 田中　哲二; 勇青木; 幸次兵藤; 賢太郎大前
Original assignee: 日立建機株式会社; 株式会社Kcm
Priority date: 2013-10-30
Filing date: 2014-10-28
Publication date: 2015-05-07
Also published as: JP2015086575A

Abstract

This work vehicle is provided with a front work device, and is provided with: a variable capacity hydraulic pump that is driven by an engine and that supplies pressure oil to an actuator that drives the front work device; an operation quantity detection unit that detects the amount of operation of an accelerator pedal; a rotational velocity detection unit that detects the actual rotational velocity of an engine; and a control unit that alters the maximum absorption torque of a hydraulic pump with respect to the actual rotational velocity of the engine in accordance with the operation quantity detected by the operation quantity detection unit.

Description

Work vehicle

The present invention relates to a work vehicle.

In construction machines such as hydraulic excavators, various proposals have been made to suppress the phenomenon of lag down in which the rotational speed of the engine temporarily falls when a sudden load is applied to the engine by suddenly operating the hydraulic actuator. . In Patent Document 1, in normal work, when the actual rotational speed decreases with respect to the target rotational speed of the engine, the discharge flow rate of the variable displacement pump is limited to the decreasing side, and the load on the actuator increases rapidly. A construction machine is described that includes a control device that controls the discharge flow rate of a variable displacement pump based on the amount of change over time in the discharge pressure of the variable displacement pump when work is performed.

Japanese Laid-Open Patent Publication No. 9-151859

The technique described in Patent Document 1 described above is a construction machine such as a hydraulic excavator in which the engine rotation speed is set to a constant value, and the deviation between the target rotation speed and the actual rotation speed of the engine rotation speed or the discharge of the variable displacement pump. The discharge flow rate of the variable displacement pump is controlled based on the amount of change in pressure over time to suppress a decrease in engine rotation speed.

By the way, in a work vehicle such as a wheel loader, an accelerator pedal is frequently depressed and returned during excavation and cargo handling operations. When the work vehicle is in a stopped state (a state where the engine is driven at low idle), a front work device including an arm, a bucket, or the like may be operated at the same time or immediately after the accelerator pedal is depressed. . Since the technique described in Patent Document 1 is for a construction machine such as a hydraulic excavator that performs work with a constant engine rotation speed using a throttle lever or the like, the engine rotation speed immediately after the accelerator pedal is depressed like a wheel loader. However, it is not possible to solve the following problems peculiar to work vehicles in which the load on the actuator may increase rapidly during the ascent process.

In the wheel loader, when the actual engine speed is low, the variable displacement pump is pushed away so that engine stall does not occur even when the front work device is operated at the same time as the accelerator pedal depression or immediately after the operation. The volume is reduced, and the displacement is increased after the actual engine speed has increased to some extent.

However, when engine output torque is limited to satisfy exhaust gas regulations, such as when working at high altitudes, if the front work device is operated at the same time as or immediately after the accelerator pedal is depressed, the pump Since the engine output torque is not increased sufficiently with respect to the increase in engine load due to the increase in discharge pressure, there has been a problem that the rate of increase in engine rotation speed, that is, the engine blow-up becomes worse. Therefore, in consideration of work at high altitude, for example, the starting point of the increase in pump displacement with respect to the increase in the actual engine rotation speed is delayed, that is, the actual engine rotation speed at which the increase in displacement volume starts can be set higher. Conceivable. However, in this case, there is a concern that when the work by the half accelerator operation is performed on a flat ground, a sufficient pump discharge flow rate cannot be obtained, and the operation of the front working device becomes slow.

According to the first aspect of the present invention, a work vehicle including a front working device is driven by an engine, and a variable displacement hydraulic pump that supplies pressure oil to an actuator that drives the front working device, and an operation of an accelerator pedal. The maximum absorption torque of the hydraulic pump with respect to the actual rotation speed of the engine according to the operation amount detected by the operation amount detection section that detects the amount, the rotation speed detection section that detects the actual rotation speed of the engine, and the operation amount detection section And a control unit for changing.
According to the second aspect of the present invention, in the work vehicle according to the first aspect, when the operation amount detected by the operation amount detection unit is larger than the predetermined value, the control unit is compared with when the operation amount is smaller than the predetermined value. Thus, it is preferable to reduce the maximum absorption torque of the hydraulic pump with respect to the actual rotational speed of the engine in a predetermined speed range.
According to a third aspect of the present invention, the work vehicle according to the second aspect includes a storage device that stores at least two characteristics of the maximum absorption torque of the hydraulic pump that changes according to the actual rotational speed of the engine, The maximum absorption torque of the hydraulic pump that is set according to the characteristics is determined by dividing the engine speed range into three speed ranges: low speed, medium speed, and high speed. Preferably, in the region, the maximum absorption torque of the hydraulic pump set by the first characteristic is smaller.
According to the fourth aspect of the present invention, in the work vehicle according to any one of the first to third aspects, the control unit takes into account at least one of the hydraulic oil temperature and the atmospheric pressure, and the actual rotational speed of the engine. It is preferable to change the maximum absorption torque of the hydraulic pump.

According to the present invention, it is possible to increase the rate of increase of the engine rotation speed on high ground without impairing workability on flat ground.

The side view of the wheel loader which is an example of a working vehicle. The figure which shows schematic structure of a wheel loader. The figure which shows the relationship between the operation amount of an accelerator pedal, and a target engine rotational speed. The torque diagram of the wheel loader which concerns on the 1st Embodiment of this invention. The figure shown about V shape loading which is one of the methods of loading earth and sand etc. on a dump truck. The figure which shows the excavation work by a wheel loader. The flowchart which showed the operation | movement of the selection control process of the pump absorption torque characteristic by a controller. The torque diagram of the wheel loader which concerns on a comparative example. The figure which shows schematic structure of the wheel loader which concerns on the 2nd Embodiment of this invention. The torque diagram of the wheel loader which concerns on the 2nd Embodiment of this invention. The figure which shows schematic structure of the wheel loader which concerns on the 3rd Embodiment of this invention. The torque diagram of the wheel loader which concerns on the 3rd Embodiment of this invention.

Hereinafter, an embodiment of a work vehicle according to the present invention will be described with reference to the drawings.
-First embodiment-
FIG. 1 is a side view of a wheel loader that is an example of a work vehicle according to the first embodiment. The wheel loader includes an arm 111, a bucket 112, a front vehicle body 110 having front wheels and the like, and a cab 121, a machine room 122, and a rear vehicle body 120 having rear wheels and the like.

The arm 111 rotates up and down (up and down) by driving the arm cylinder 117, and the bucket 112 rotates up and down (cloud or dump) by driving the bucket cylinder 115. The front vehicle body 110 and the rear vehicle body 120 are pivotally connected to each other by a center pin 101, and the front vehicle body 110 is refracted left and right with respect to the rear vehicle body 120 by expansion and contraction of the steering cylinder 116.

The engine 190 is provided in the machine room 122, and various operation members such as an accelerator pedal, an arm operation lever, and a bucket operation lever are provided in the operation room 121.

FIG. 2 is a diagram showing a schematic configuration of the wheel loader. The wheel loader includes a travel drive device (travel system) that transmits the rotation of the engine 190 to the tire 113 via the torque converter 2, the transmission 3, the propeller shaft 4, the axle device 5, and the axle 6. The input shaft of the torque converter 2 is connected to the output shaft of the engine 190, and the output shaft of the torque converter 2 is connected to the transmission 3. The torque converter 2 is a fluid clutch including a known impeller, turbine, and stator, and the rotation of the engine 190 is transmitted to the transmission 3 via the torque converter 2. The transmission 3 has a clutch that switches the speed stage from the first speed to the fourth speed, and the rotation of the output shaft of the torque converter 2 is changed by the transmission 3. The rotation after the shift is transmitted to the tire 113 via the propeller shaft 4, the axle device 5, and the axle 6, and the wheel loader travels.

The wheel loader includes a front working device (working system) including a hydraulic pump 11,

control valves

21a and 21b, an arm cylinder 117, a bucket cylinder 115, an arm 111, and a bucket 112. The working hydraulic pump 11 is driven by the engine 190 and discharges pressure oil. The hydraulic pump 11 is a variable displacement hydraulic pump of a swash plate type or a swash shaft type whose displacement is changed. The discharge flow rate of the hydraulic pump 11 is determined according to the displacement volume and the rotational speed of the hydraulic pump 11. The regulator 11 a adjusts the displacement volume so that the absorption torque (input torque) of the hydraulic pump 11 does not exceed the maximum pump absorption torque set by the controller 100. As will be described later, the set value of the maximum pump absorption torque is changed according to the actual rotation speed and the target rotation speed of the engine 190.

Pressure oil discharged from the hydraulic pump 11 is supplied to the arm cylinder 117 and the bucket cylinder 115 which are working actuators via the

control valves

21a and 21b, and each actuator is driven. The control valve 21a and the control valve 21b are operated by the arm operation lever 31a and the bucket operation lever 31b, and control the flow of pressure oil from the hydraulic pump 11 to the arm cylinder 117 and the bucket cylinder 115. The arm operation lever 31 a outputs an up / down command for the arm 111, and the bucket operation lever 31 b outputs a tilt / dump command for the bucket 112. The operation levers 31a and 31b for operating the

control valves

21a and 21b may be electric levers or hydraulic pilot levers.

The torque converter 2 has a function of increasing the output torque with respect to the input torque, that is, a function of setting the torque ratio to 1 or more. The torque ratio decreases as the torque converter speed ratio e (= output rotational speed / input rotational speed), which is the ratio between the rotational speed of the input shaft and the rotational speed of the output shaft, of the torque converter 2 decreases. For example, when the traveling load increases during traveling while the engine rotational speed is constant, the rotational speed of the output shaft of the torque converter 2 decreases, that is, the vehicle speed decreases, and the torque converter speed ratio e decreases. At this time, since the torque ratio increases, the vehicle can travel with a larger travel driving force (traction force).

The transmission 3 is an automatic transmission having a solenoid valve corresponding to each speed stage from 1st to 4th. These solenoid valves are driven by a control signal output from the controller 100 to the transmission control unit 20, and the transmission 3 is shifted according to the control signal. In the present embodiment, the speed stage of the transmission 3 is controlled by the torque converter speed ratio reference control that shifts when the torque converter speed ratio e reaches a predetermined value.

The wheel loader includes a controller 100 that controls each part of the wheel loader and an engine controller 19 that controls the engine 190. The controller 100 and the engine controller 19 each include an arithmetic processing unit having a CPU, a ROM, a RAM, and other peripheral circuits as storage devices. The controller 100 includes an input side rotational speed detector (not shown) that detects the rotational speed of the input shaft of the torque converter 2 and an output side rotational speed detector (not shown) that detects the rotational speed of the output shaft of the torque converter 2. ) And are connected.

The controller 100 determines a torque converter speed ratio based on the rotational speed of the input shaft of the torque converter 2 detected by the input side rotational speed detector and the rotational speed of the output shaft of the torque converter 2 detected by the output side rotational speed detector. e (= output rotation speed / input rotation speed) is calculated.

As shown in FIG. 2, the controller 100 is connected to a forward / reverse switching lever 17 for commanding forward / reverse travel of the vehicle, and the operation position of the forward / reverse switching lever 17 (forward (F) / neutral (N) / reverse (R )) Is detected by the controller 100. When the forward / reverse switching lever 17 is switched to the forward (F) position, the controller 100 outputs a control signal for engaging the forward clutch (not shown) of the transmission 3 to the transmission control unit 20. When the forward / reverse switching lever 17 is switched to the reverse (R) position, the controller 100 outputs a control signal for bringing the reverse clutch (not shown) of the transmission 3 into an engaged state to the transmission control unit 20.

When the transmission control unit 20 receives a control signal for engaging a forward or reverse clutch (not shown), a clutch control valve (not shown) provided in the transmission control unit 20 operates to move forward. Alternatively, the reverse clutch (not shown) is engaged, and the traveling direction of the work vehicle is switched to the forward side or the reverse side.

When the forward / reverse switching lever 17 is switched to the neutral (N) position, the controller 100 outputs to the transmission control unit 20 a control signal for releasing the forward and reverse clutches (not shown). As a result, the forward and reverse clutches (not shown) are released, and the transmission 3 is in a neutral state.

The controller 100 is connected to a shift switch 18 for instructing an upper limit of the speed stage between the first speed to the fourth speed, and the transmission 3 is automatically shifted up to the speed stage selected by the shift switch 18. For example, when the second speed is selected by the shift switch 18, the speed stage is set to the first speed or the second speed, and when the first speed is selected, the speed stage is fixed to the first speed.

The controller 100 is connected with an operation amount sensor 152a for detecting the pedal operation amount (pedal stroke or pedal angle) of the accelerator pedal 152 and a rotation speed sensor 13 for detecting the actual engine rotation speed of the engine 190.

The controller 100 functionally includes a target speed setting unit 100a. The target speed setting unit 100a sets a target engine rotation speed (command speed) Nt of the engine 190 according to the pedal operation amount (depression amount) of the accelerator pedal 152 detected by the operation amount sensor 152a. FIG. 3 is a diagram showing the relationship between the operation amount L of the accelerator pedal 152 and the target engine rotation speed Nt. The table of the target engine speed characteristic Tn shown in FIG. 3 is stored in the storage device of the controller 100, and the target speed setting unit 100a refers to the table of the characteristic Tn, and the operation amount detected by the operation amount sensor 152a. A target engine speed Nt is set based on L. The target engine speed Nt when the accelerator pedal 152 is not operated (0%) is set to the low idle speed Ns. As the pedal operation amount L of the accelerator pedal 152 increases, the target engine speed Nt increases. The target engine speed Nt when the pedal is fully depressed (100%) is the rated speed Nmax at the rated point.

As shown in FIG. 2, the controller 100 outputs a control signal corresponding to the set target engine rotational speed Nt and a control signal corresponding to the actual engine rotational speed Na detected by the rotational speed sensor 13 to the engine controller 19. To do. The engine controller 19 compares the target engine speed Nt from the controller 100 with the actual engine speed Na, and controls the fuel injection device 190a to bring the actual engine speed Na closer to the target engine speed Nt.

The discharge pressure sensor 12 is connected to the controller 100. The discharge pressure sensor 12 detects the discharge pressure (load pressure) of the hydraulic pump 11 and outputs a discharge pressure signal to the controller 100.

FIG. 4 is a torque diagram of the wheel loader according to the first embodiment, and shows an engine output torque characteristic E and pump absorption torque characteristics A1 and A2. The storage device of the controller 100 stores an engine output torque characteristic E and a plurality of pump absorption torque characteristics A1 and A2 in a look-up table format. As will be described later, characteristic A1 is used when the target engine speed is less than a predetermined value (accelerator pedal depression amount is small), and characteristic A2 is when the target engine rotation speed is equal to or greater than a predetermined value (accelerator pedal depression amount is large). Used.

The engine output torque characteristic E indicates the relationship between the actual engine speed and the maximum engine output torque. The maximum engine output torque means the maximum torque that the engine 190 can output at each rotational speed. The region defined by the engine output torque characteristic (maximum torque line) indicates the performance that the engine 190 can produce. The engine mounted on the wheel loader has a droop characteristic in which the torque is drastically reduced in a rotational speed region exceeding the rated point (rated maximum torque) Pe. In the figure, the droop line is defined by a straight line connecting the rated point Pe and the maximum engine speed in the pump no-load state.

As shown in FIG. 4, in the engine output torque characteristic E, the torque increases as the actual engine rotational speed Na increases in the range where the actual engine rotational speed Na is in the range of the low idle rotational speed (minimum rotational speed) Ns to Nv. When the actual engine rotation speed Na is Nv, the maximum torque Temax in the characteristic E is obtained (maximum torque point Tm). The low idle rotation speed is an engine rotation speed when the accelerator pedal 152 is not operated. In the engine output torque characteristic E, when the actual engine rotation speed Na becomes higher than Nv, the torque decreases according to the increase in the actual engine rotation speed Na, and when the rated point Pe is reached, a rated output is obtained. When the actual engine rotation speed Na increases beyond the rated rotation speed at the rated point Pe, the torque decreases rapidly.

Pump absorption torque characteristics A1 and A2 indicate the relationship between the actual engine speed and the maximum pump absorption torque (maximum pump input torque), respectively. Hereinafter, when the speed range in which the actual engine rotational speed Na changes is divided into three speed ranges, the low speed range, the medium speed range, and the high speed range, and the speed range in which the actual engine rotational speed Na changes is set to the low / medium speed range. The characteristics of the maximum pump absorption torque in each speed range in the case where the speed is divided into two speed ranges, that is, the high speed range and the medium and high speed range will be described. The medium speed range is a speed range including the engine rotation speed Nv corresponding to the maximum torque point Tm. The low speed range is a speed range lower than the medium speed range, and is a speed range including the low idle rotation speed Ns. In the present embodiment, as shown in FIG. 4, a speed range of Nu1 or lower is referred to as a low speed range. The high speed region is a speed region on the higher speed side than the medium speed region, and is a speed region including the engine rotational speed (rated rotational speed) at the rated point Pe. In addition, when the speed range where the actual engine speed Na changes is divided into two, the speed range on the low speed side with the engine speed Nv corresponding to the maximum torque point Tm as a boundary is called a low / medium speed range. The speed range is called the medium-high speed range.

In the pump absorption torque characteristic A1, when the actual engine rotation speed Na is Nd1 or less, the minimum torque value Tpmin in the characteristic A1 is obtained regardless of the actual engine rotation speed Na. When the actual engine rotation speed Na is equal to or higher than Nu1, the maximum torque value Tpmax in the characteristic A1 is obtained regardless of the actual engine rotation speed Na. In the characteristic A1, when the actual engine rotation speed Na is in the range of Nd1 to Nu1, the torque increases as the actual engine rotation speed Na increases. That is, as shown in the figure, the maximum pump absorption torque set by the characteristic A1 increases as the actual engine speed Na increases from the minimum value Tpmin to the maximum value Tpmax in the low speed range, and reaches the medium speed range and the high speed range. Is set to the maximum value Tpmax.

The pump absorption torque characteristic A2 is the same as the characteristic A1 when the actual engine rotation speed Na is Nd1 or less and the actual engine rotation speed Na is Nu2 or more. In the pump absorption torque characteristic A2, when the actual engine rotational speed Na is Nd2 or less, the minimum torque value Tpmin in the characteristic A2 is obtained regardless of the actual engine rotational speed Na. Nd2 is a rotational speed larger than Nd1 (Nd1 <Nd2) and is included in the medium speed range. When the actual engine speed Na is Nu2 or more, the maximum torque value Tpmax in the characteristic A2 is obtained regardless of the actual engine speed Na. Nu2 is a rotational speed larger than Nu1 (Nu1 <Nu2), and is included in the medium speed range. In the characteristic A2, when the actual engine rotation speed Na is in the range of Nd2 to Nu2, the torque increases as the actual engine rotation speed Na increases. The magnitude relationship between Nd2, Nv, and Nu2 is Nd2 <Nv <Nu2. That is, as shown in the figure, the maximum pump absorption torque set in the characteristic A2 is the minimum value Tpmin in the low speed range, and increases from the minimum value Tpmin to the maximum value Tpmax in the medium speed range as the actual engine speed Na increases. To increase. The maximum pump absorption torque set by the characteristic A2 is the maximum value Tpmax in the high speed range.

Thus, in the present embodiment, in the low speed range and the medium speed range, particularly in the low and medium speed range, the characteristic A2 and the actual pump absorption torque are determined with respect to the maximum pump absorption torque determined by the characteristic A1 and the actual engine rotational speed Na. Each of the characteristics A1 and A2 is set so that the maximum pump absorption torque determined by the engine rotation speed Na becomes small.

As shown in FIG. 2, the controller 100 functionally includes an operation amount determination unit 100b and a selection unit 100c. The operation amount determination unit 100b determines whether the target engine speed Nt set by the target speed setting unit 100a is equal to or higher than a predetermined speed (threshold) or less than a predetermined speed (threshold). When the target engine speed Nt is equal to or greater than the threshold value Nt1, the operation amount determination unit 100b determines that the amount of depression of the accelerator pedal 152 is large. When the target engine speed Nt is less than the threshold value Nt1, the operation amount determination unit 100b determines that the amount of depression of the accelerator pedal 152 is small. Information on the threshold value Nt1 is stored in advance in the storage device of the controller 100. The threshold value Nt1 is set to a value higher than the target engine speed that is set when the driver depresses the accelerator pedal 152 by about half, for example, Nu2 (see FIG. 4). .

The selection unit 100c selects the pump absorption torque characteristic according to the result determined by the operation amount determination unit 100b. When the operation amount determination unit 100b determines that the depression amount of the accelerator pedal 152 is small, the selection unit 100c selects the pump absorption torque characteristic A1. When the operation amount determination unit 100b determines that the depression amount of the accelerator pedal 152 is large, the selection unit 100c selects the pump absorption torque characteristic A2.

FIG. 5 is a diagram showing V-shape loading, which is one of the methods for loading earth and sand into a dump truck. FIG. 6 is a diagram illustrating excavation work by the wheel loader. In the V shape loading, as indicated by an arrow a, the wheel loader is advanced toward the natural ground 130 such as earth and sand.

As shown in FIG. 6, the bucket 112 is plunged into the natural ground 130 and the arm 112 is raised after the bucket 112 is operated, or the arm 111 is finally raised only while the bucket 112 and the arm 111 are operated simultaneously. And perform excavation work.

When the excavation work is completed, the wheel loader is temporarily retracted as shown by the arrow b in FIG. As indicated by an arrow c, the wheel loader is advanced toward the dump truck and stopped in front of the dump truck. Thereafter, the scooped earth and sand are loaded on the dump truck, and the wheel loader is moved back to the original position as indicated by an arrow d. The above is the basic operation of excavation and loading work by V-shape loading.

During the excavation and loading operations described above, for example, as shown by the arrow b in FIG. 5, when the wheel loader that is moving backward is moved forward as shown by the arrow c, the driver returns the accelerator pedal 152 to move forward and backward. The switching lever 17 is switched from reverse to forward, and the accelerator pedal 152 is depressed. Furthermore, considering the loading work on the dump truck, the arm 111 may be raised by operating the arm operation lever 31a to the up side when shifting from reverse to forward. In the transition from reverse to forward, the inertia energy of the vehicle body to the rear acts as a load on the engine 190 via the torque converter 2. For this reason, when the forward / reverse switching lever 17 is switched, the engine output torque necessary for driving the vehicle body and the front working device is insufficient, and engine stall is likely to occur.

In the present embodiment, since the pump absorption torque characteristics A1 and A2 as described above are set, as will be described below, engine stall at the time of transition from reverse to forward is prevented. That is, during the transition from reverse to forward, the actual engine rotational speed Na decreases to near the low idle rotational speed Ns due to the return operation of the accelerator pedal 152. However, as shown in FIG. 4, the actual engine rotational speed Na decreases. Accordingly, the maximum pump absorption torque also decreases. In this way, even when the inertia energy of the rear vehicle body acts as a load on the engine 190 during the transition from reverse to forward, engine stall is prevented by limiting the maximum pump absorption torque. .

Hereinafter, the selection control of the pump absorption torque characteristic performed according to the set value of the target engine speed Nt, that is, the operation amount of the accelerator pedal 152 will be described with reference to the flowchart of FIG. FIG. 7 is a flowchart showing the operation of the pump absorption torque characteristic selection control process by the controller 100. When an ignition switch (not shown) is turned on, a program for performing the process shown in FIG. 7 is started and repeatedly executed by the controller 100.

In step S100, the controller 100 acquires information on the operation amount L of the accelerator pedal 152 detected by the operation amount sensor 152a, and proceeds to step S110.

In step S110, the controller 100 refers to the table of the target engine speed characteristics Tn (see FIG. 3), sets the target engine speed Nt based on the operation amount L acquired in step S100, and proceeds to step S120.

In step S120, the controller 100 determines whether or not the target engine speed Nt set in step S110 is less than the threshold value Nt1. If an affirmative determination is made in step S120, the controller 100 determines that the amount of depression of the accelerator pedal 152 is small, and proceeds to step S130. If a negative determination is made in step S120, the controller 100 determines that the amount of depression of the accelerator pedal 152 is large, and proceeds to step S140.

In step S130, the controller 100 selects a table (see FIG. 4) of the pump absorption torque characteristic A1 from the storage device, and returns to step S100. In step S140, the controller 100 selects a table (see FIG. 4) of the pump absorption torque characteristic A2 from the storage device, and returns to step S100.

Although not shown, the controller 100 refers to the characteristic table E, and based on the target engine rotational speed Nt by the accelerator pedal 152 and the actual engine rotational speed Na detected by the rotational speed sensor 13, the fuel injection amount of the engine 190. To control. Further, the controller 100 refers to the selected characteristic table (A1, A2), calculates the maximum pump absorption torque value based on the actual engine rotational speed Na detected by the rotational speed sensor 13, and discharge pressure sensor 12 The displacement of the hydraulic pump 11 through the regulator 11a so as not to exceed the maximum pump absorption torque based on the discharge pressure (load pressure) detected in step S3 and the actual engine rotational speed Na detected by the rotational speed sensor 13. That is, the tilt angle is controlled.

Thus, when the depression amount of the accelerator pedal 152 is small, the maximum pump absorption torque is limited in the low speed range, and when the depression amount of the accelerator pedal 152 is large, the maximum pump absorption torque is limited in the low speed range and the medium speed range. Thus, the rate of increase of the actual engine speed Na can be increased. That is, the racing performance of the engine 190 can be improved. Hereinafter, the effect of improvement of the racing performance of the present embodiment will be described as compared with the comparative example.

8 (a) and 8 (b) are views similar to FIG. 4, and are torque diagrams of a wheel loader according to a comparative example. FIG. 8A shows the same engine output torque characteristic E as in this embodiment and the same pump absorption torque characteristic A1 as in this embodiment. FIG. 8B shows the same engine output torque characteristic E as in this embodiment and the same pump absorption torque characteristic A2 as in this embodiment.

In the comparative example (1) shown in FIG. 8A, the displacement volume of the hydraulic pump 11 is controlled by the pump absorption torque characteristic A1 regardless of the depression amount of the accelerator pedal 152. In the comparative example (2) shown in FIG. 8B, the displacement of the hydraulic pump 11 is controlled by the pump absorption torque characteristic A2 regardless of the depression amount of the accelerator pedal 152. That is, in Comparative Examples (1) and (2), the pump absorption torque characteristic does not change depending on the operation amount L of the accelerator pedal 152.

Although not shown, a work vehicle such as a wheel loader is controlled such that the engine output torque is kept low in order to satisfy exhaust gas regulations, such as when working at high altitudes. In this case, as shown by an arrow c in FIG. 5, if the raising operation of the arm 111 is performed simultaneously with the depression of the accelerator pedal 152 or immediately after the operation, the increase of the engine load due to the increase of the pump discharge pressure is prevented. Thus, the engine output torque cannot be increased sufficiently.

In Comparative Example (1) in which the displacement of the hydraulic pump 11 is controlled only by the pump absorption torque characteristic A1 shown in FIG. 8A, the maximum pump absorption torque increases as the actual engine rotational speed Na increases in the low speed range. In the middle speed range, the maximum pump absorption torque is controlled to the maximum value Tpmax in the characteristic A1. For this reason, if the raising operation of the arm 111 is performed simultaneously with or immediately after the depression of the accelerator pedal 152 in the state where the control for suppressing the engine output torque is performed low, the engine due to the increase in the discharge flow rate of the hydraulic pump 11 is performed. Due to the increase in load, the rate of increase of the actual engine speed, that is, the engine speed increases. As a result, even if the accelerator pedal 152 is fully depressed, the vehicle speed and the ascending speed of the arm 111 are not easily increased, and the working efficiency may be reduced.

On the other hand, in Comparative Example (2) in which the displacement of the hydraulic pump 11 is controlled only by the pump absorption torque characteristic A2 shown in FIG. 8B, the maximum pump absorption torque is controlled to the minimum value Tpmin in the characteristic A2 in the low speed range. The maximum pump absorption torque increases as the actual engine rotational speed Na increases in the medium speed range, and the maximum pump absorption torque is controlled to the maximum value Tpmax in the characteristic A2 in the high speed range. Thus, in the comparative example (2), an increase in the discharge flow rate of the hydraulic pump 11 is suppressed in the low speed range and the medium speed range, and the engine load can be reduced. Further, in the comparative example (2), the maximum pump absorption torque is increased after the actual engine rotational speed has increased to a medium speed range where the engine output torque has increased to some extent. As a result, in a state where the engine output torque is controlled to be low as in work at high altitudes, the arm 111 is raised at the same time as or immediately after the accelerator pedal 152 is depressed. However, the actual engine rotation speed Na can be quickly increased.

That is, in Comparative Example (2), since the engine 190 has higher performance compared to Comparative Example (1), the working efficiency at high altitudes can be improved compared to Comparative Example (1). However, in the case where the wheel loader according to the comparative example (2) is operated on a flat ground and the operation is performed by the half accelerator operation, for example, the actual engine rotation speed Na is in the range of Nd2 to Nu2, that is, in the middle speed range. When work that is controlled is performed, a sufficient pump discharge flow rate cannot be obtained as compared with the comparative example (1), and there is a concern that the operation of the front working device is delayed.

On the other hand, in the present embodiment, as shown in FIGS. 4 and 7, the characteristic A2 is selected when the accelerator pedal 152 is fully depressed, and the displacement of the hydraulic pump 11 is controlled based on the characteristic A2. Is done. Further, when the accelerator pedal 152 is depressed by a step smaller than the threshold value Nt1, such as a half accelerator operation, the characteristic A1 is selected, and the displacement of the hydraulic pump 11 is controlled based on the characteristic A1. For this reason, it is possible to increase the rate of increase of the engine speed at high altitude without impairing workability on flat ground.

According to the first embodiment described above, the following operational effects can be obtained.
The maximum absorption torque of the hydraulic pump 11 with respect to the actual engine rotational speed Na is changed in accordance with the operation amount L of the accelerator pedal 152. When the target engine speed Nt set according to the operation amount L is larger than the threshold value Nt1, the lower engine speed range and the medium speed are set when the target engine speed Nt set according to the operation amount L is smaller than the threshold value Nt1. The maximum pump absorption torque set according to the actual engine rotational speed Na in the speed range is made small. As a result, the rate of increase of the actual engine rotation speed at high altitude, that is, the racing performance of the engine 190 can be improved without impairing workability on flat ground.

-Second Embodiment-
A second embodiment of the present invention will be described with reference to FIGS. In addition, the same code | symbol is attached | subjected to the part which is the same as that of 1st Embodiment, or an equivalent, and difference with 1st Embodiment is mainly demonstrated. FIG. 9 is a diagram similar to FIG. 2, and is a diagram showing a schematic configuration of a wheel loader according to the second embodiment of the present invention. The wheel loader according to the second embodiment has the same configuration as the wheel loader according to the first embodiment.

FIG. 10 is a view similar to FIG. 4 and is a torque diagram of the wheel loader according to the second embodiment. In the second embodiment, the storage device of the controller 200 stores three characteristics A1, A2, and A3 shown in FIG. The characteristics A1 and A2 are the same as the characteristics A1 and A2 described in the first embodiment shown in FIG.

The pump absorption torque characteristic A3 is the same as the characteristic A1 when the actual engine rotation speed Na is Nd1 or less and the actual engine rotation speed Na is Nu3 or more. In the pump absorption torque characteristic A3, when the actual engine rotational speed Na is Nd1 or less, the minimum torque value Tpmin in the characteristic A3 is obtained regardless of the actual engine rotational speed Na. When the actual engine speed Na is Nu3 or more, the maximum torque value Tpmax in the characteristic A3 is obtained regardless of the actual engine speed Na. Nu3 is larger than Nu1 and smaller than Nu2 (Nu1 <Nu3 <Nu2). In the characteristic A3, when the actual engine rotation speed Na is in the range of Nd1 to Nu3, the torque increases as the actual engine rotation speed Na increases.

The storage device of the controller 200 stores the threshold value Nt1 described in the first embodiment and the threshold value Nt2 smaller than the threshold value Nt1 (Nt2 <Nt1). As shown in FIG. 9, in the second embodiment, the operation amount determination unit 200b determines that the accelerator pedal 152 is in a large depressed position when the target engine speed Nt is equal to or greater than the threshold value Nt1. . When the target engine speed Nt is less than the threshold value Nt1 and greater than or equal to the threshold value Nt2, the operation amount determination unit 200b determines that the depression amount of the accelerator pedal 152 is in a medium state. When the target engine speed Nt is less than the threshold value Nt2, the operation amount determination unit 200b determines that the amount of depression of the accelerator pedal 152 is small.

When the operation amount determination unit 200b determines that the depression amount of the accelerator pedal 152 is small, the selection unit 200c selects the pump absorption torque characteristic A1. When the operation amount determination unit 200b determines that the depression amount of the accelerator pedal 152 is large, the selection unit 200c selects the pump absorption torque characteristic A2. The selection unit 200c selects the pump absorption torque characteristic A3 when the operation amount determination unit 200b determines that the depression amount of the accelerator pedal 152 is in a medium state.

According to the second embodiment as described above, the same effects as those of the first embodiment can be obtained. Since there are more characteristics depending on the depression amount of the accelerator pedal 152 than in the first embodiment, the engine rotation speed is adjusted while adjusting the depression amount according to the altitude, that is, the degree of decrease in engine output torque. Can be raised promptly.

-Third embodiment-
A third embodiment of the present invention will be described with reference to FIGS. In addition, the same code | symbol is attached | subjected to the part which is the same as that of 2nd Embodiment, or an equivalent, and difference with 2nd Embodiment is mainly demonstrated. FIG. 11 is a view similar to FIG. 9 and showing a schematic configuration of the wheel loader according to the third embodiment. The wheel loader according to the third embodiment has the same configuration as the wheel loader according to the second embodiment. A hydraulic oil temperature sensor 314 is connected to the controller 300. The hydraulic oil temperature sensor 314 detects the temperature of the hydraulic oil discharged from the hydraulic pump 11 and outputs an oil temperature signal to the controller 300.

FIG. 12 is a view similar to FIG. 10 and is a torque diagram of the wheel loader according to the third embodiment. As shown in FIGS. 12A and 12B, in the third embodiment, six characteristics AH1, AH2, AH3, AL1, AL2, and AL3 are stored in the storage device of the controller 300. Characteristics AH1, AH2, and AH3 are the same characteristics as the characteristics A1, A2, and A3 (see FIG. 10) described in the second embodiment. The characteristics AL1, AL2, and AL3 are characteristics in which the increase start point of the maximum pump absorption torque with respect to the increase in the actual engine speed Na is set slower than the characteristics AH1, AH2, and AH3, that is, the increase in the maximum pump absorption torque starts. The actual engine rotation speed Na is set to be higher.

The increase start point of the maximum pump absorption torque of the characteristic AH1 is Nd1, whereas the increase start point of the maximum pump absorption torque of the characteristic AL1 is NdL1 higher than Nd1. Similarly, the increase start point of the maximum pump absorption torque of the characteristic AH3 is Nd1, whereas the increase start point of the maximum pump absorption torque of the characteristic AL3 is NdL1 higher than Nd1. The increase start point of the maximum pump absorption torque of the characteristic AH2 is Nd2, whereas the increase start point of the maximum pump absorption torque of the characteristic AL2 is NdL2 higher than Nd2.

The controller 300 shown in FIG. 11 functionally includes an oil temperature determination unit 300d, and a threshold value T1 is stored in the storage device of the controller 300. When the hydraulic oil temperature To is equal to or higher than the threshold value T1, the oil temperature determination unit 300d determines that the hydraulic oil is in a high temperature state and has a low viscosity and a high engine load. When the hydraulic oil temperature To is less than the threshold value T1, the oil temperature determination unit 300d determines that the hydraulic oil is in a low temperature state and has a high viscosity and is likely to increase the engine load.

The selection unit 300c selects the pump absorption torque characteristic according to the result determined by the oil temperature determination unit 300d and the result determined by the operation amount determination unit 200b. When the oil temperature determination unit 300d determines that the hydraulic oil is in a high temperature state and the operation amount determination unit 200b determines that the depression amount of the accelerator pedal 152 is small, the selection unit 300c absorbs the pump. Torque characteristic AH1 is selected. When the oil temperature determination unit 300d determines that the hydraulic oil is in a high temperature state, and the operation amount determination unit 200b determines that the depression amount of the accelerator pedal 152 is large, the selection unit 300c has a pump absorption torque characteristic. Select AH2. When the selection unit 300c determines that the hydraulic oil is in a high temperature state by the oil temperature determination unit 300d and the operation amount determination unit 200b determines that the depression amount of the accelerator pedal 152 is in a medium state, The pump absorption torque characteristic AH3 is selected.

When the oil temperature determination unit 300d determines that the hydraulic oil is in a low temperature state and the operation amount determination unit 200b determines that the depression amount of the accelerator pedal 152 is small, the selection unit 300c absorbs the pump. Select torque characteristic AL1. When the oil temperature determination unit 300d determines that the hydraulic oil is in a low temperature state and the operation amount determination unit 200b determines that the depression amount of the accelerator pedal 152 is large, the selection unit 300c absorbs the pump. Select torque characteristic AL2. When the selection unit 300c determines that the hydraulic oil is in a low temperature state by the oil temperature determination unit 300d and the operation amount determination unit 200b determines that the depression amount of the accelerator pedal 152 is in a medium state, The pump absorption torque characteristic AL3 is selected.

According to such 3rd Embodiment, in addition to the effect similar to 2nd Embodiment, there exists the following effect.
When the hydraulic oil temperature is low, the viscosity of the hydraulic oil increases, so that the flow resistance of the hydraulic pump 11 and the pipe increases, and the engine load is likely to increase as compared with the case where the hydraulic oil temperature is high. That is, when the hydraulic oil temperature is low, the rate of increase in the actual engine rotational speed Na is worse than when the hydraulic oil temperature is high. In the third embodiment, the maximum pump absorption torque with respect to the actual engine rotational speed Na is changed in consideration of the hydraulic oil temperature. By setting the actual engine speed at which the maximum pump absorption torque starts to increase when the hydraulic oil temperature is low compared to when the hydraulic oil temperature is high, the actual engine speed can be increased even when the hydraulic oil temperature is low. The rate of increase in engine rotation speed, that is, the engine performance of the engine 190 can be increased.

The following modifications are also within the scope of the present invention, and one or a plurality of modifications can be combined with the above-described embodiment.
(Modification 1) In the embodiment described above, an example in which the operation amount determination units 100b and 200b determine the state of the depression amount of the accelerator pedal 152 according to the target engine rotation speed set by the target speed setting unit 100a will be described. However, the present invention is not limited to this. For example, it may be determined whether or not the amount of depression of the accelerator pedal 152 is greater than or equal to a predetermined value, and the state of the amount of depression of the accelerator pedal 152 may be determined.

(Modification 2) In the first embodiment, it is determined whether the depression amount of the accelerator pedal 152 is large or small, and one of the characteristics A1 and A2 is selected according to the depression amount of the accelerator pedal 152. The characteristics were selected. In the second embodiment, the accelerator pedal 152 is judged to have a large depression amount, a small depression amount, or a medium depression state, and any one of the characteristics A1, A2, and A3 is determined according to the depression amount of the accelerator pedal 152. One characteristic was selected. However, the present invention is not limited to these. The state of the depression amount of the accelerator pedal 152 may be further subdivided, and four or more characteristics corresponding to the depression amount may be provided.

(Modification 3) In the above-described embodiment, the wheel loader including the traveling drive device that transmits the driving force of the engine 190 to the tire 113 via the torque converter 2 has been described, but the present invention is not limited to this. The present invention may be applied to a wheel loader including an HST traveling drive device in which a traveling hydraulic pump and a traveling hydraulic motor are connected in a closed circuit.

(Modification 4) In the third embodiment, the example in which the maximum pump absorption torque with respect to the actual engine speed is changed in consideration of the hydraulic oil temperature has been described. However, the present invention is not limited to this. Instead of the hydraulic oil temperature, the maximum pump absorption torque with respect to the actual engine rotation speed may be changed in consideration of atmospheric pressure. In this case, an atmospheric pressure sensor that detects the atmospheric pressure is provided, and when the atmospheric pressure detected by the atmospheric pressure sensor is equal to or higher than a predetermined pressure, the accelerator pedal 152 is depressed from the characteristics AH1, AH2, and AH3 shown in FIG. Depending on the quantity, one characteristic is selected. When the depression amount of the accelerator pedal 152 is large, the characteristic AH1 is selected, when the depression amount of the accelerator pedal 152 is small, the characteristic AH2 is selected, and when the depression amount of the accelerator pedal 152 is medium, the characteristic AH3 is selected. . When the atmospheric pressure detected by the atmospheric pressure sensor is less than the predetermined pressure, one characteristic is selected from the characteristics AL1, AL2, and AL3 shown in FIG. 12B according to the depression amount of the accelerator pedal 152. The characteristic AL1 is selected when the amount of depression of the accelerator pedal 152 is large, the characteristic AL2 is selected when the amount of depression of the accelerator pedal 152 is small, and the characteristic AL3 is selected when the amount of depression of the accelerator pedal 152 is medium. .

The lower the atmospheric pressure, that is, the lower the air density, the more the engine output is limited. Therefore, the rate of increase in the actual engine speed Na is worse than when the atmospheric pressure is high. In this modification, the maximum pump absorption torque with respect to the actual engine rotational speed Na is changed in consideration of the atmospheric pressure. By setting the actual engine speed at which the maximum pump absorption torque starts to increase when the atmospheric pressure is low compared to when the atmospheric pressure is high, the actual engine speed is reduced even when the atmospheric pressure is low. The increase rate of the engine 190, that is, the engine performance of the engine 190 can be increased. Note that the maximum pump absorption torque with respect to the actual engine rotational speed Na can be changed in consideration of both the hydraulic oil temperature and the atmospheric pressure.

(Modification 5) In the above-described embodiment, the example in which the engine output torque characteristic and the pump absorption torque characteristic are stored in the storage device of the

controllers

100, 200, and 300 in the look-up table format has been described. It is not limited to this. For example, each characteristic may be stored in the storage device of the

controllers

100, 200, and 300 in a function format corresponding to the engine rotation speed.

(Modification 6) Although the wheel loader has been described as an example of the work vehicle in the above-described embodiment, the present invention is not limited to this. The work vehicle may be, for example, another work vehicle such as a forklift that assumes a work form in which the front work device is operated at the same time as or after the accelerator pedal is depressed.

As long as the characteristics of the present invention are not impaired, the present invention is not limited to the above-described embodiments, and other forms conceivable within the scope of the technical idea of the present invention are also included in the scope of the present invention. .

The disclosure of the following priority application is hereby incorporated by reference.
Japanese Patent Application No. 2013-225370 (filed on October 30, 2013)

2 Torque converter, 3 transmission, 4 propeller shaft, 5 axle device, 6 axle, 11 hydraulic pump, 11a regulator, 12 discharge pressure sensor, 13 rotation speed sensor, 17 forward / reverse switching lever, 18 shift switch, 19 engine controller, 20 Transmission control unit, 21a, 21b control valve, 31a arm operation lever, 31b bucket operation lever, 100 controller, 100a target speed setting unit, 100b operation amount determination unit, 100c selection unit, 101 center pin, 110 front body, 111 arm, 112 bucket, 113 tire, 115 bucket cylinder, 116 steering cylinder, 117 arm cylinder, 120 rear body, 121 operation , 122 machine room, 130 ground, 152 accelerator pedal, 152a operation amount sensor, 190 engine, 190a fuel injection device, 200 controller, 200b operation amount determination unit, 200c selection unit, 300 controller, 300c selection unit, 300d oil temperature determination 314 Hydraulic oil temperature sensor

Claims

A work vehicle equipped with a front work device,
A variable displacement hydraulic pump (11) that is driven by an engine and supplies pressure oil to an actuator (115, 117) that drives the front working device;
An operation amount detector (152a) for detecting the operation amount of the accelerator pedal;
A rotational speed detector (13) for detecting an actual rotational speed of the engine;
A work comprising a control unit (100, 200, 300) that changes the maximum absorption torque of the hydraulic pump with respect to the actual rotational speed of the engine according to the operation amount detected by the operation amount detection unit (152a). vehicle.
The work vehicle according to claim 1,
The control unit (100, 200, 300) has a predetermined speed when the operation amount detected by the operation amount detection unit (152a) is larger than a predetermined value compared to when the operation amount is smaller than the predetermined value. A work vehicle that reduces the maximum absorption torque of the hydraulic pump with respect to the actual rotational speed of the engine in a region.
The work vehicle according to claim 2,
A storage device (100, 200, 300) that stores at least two characteristics of the maximum absorption torque of the hydraulic pump that changes according to the actual rotational speed of the engine;
The maximum absorption torque of the hydraulic pump set by the second characteristic is low when the speed range of the actual rotational speed of the engine is divided into three speed ranges, a low speed range, a medium speed range, and a high speed range. A work vehicle that is smaller than a maximum absorption torque of the hydraulic pump set by a first characteristic in a speed range and the medium speed range.
The work vehicle according to claim 1,
The control unit (100, 200, 300) is a work vehicle that changes the maximum absorption torque of the hydraulic pump with respect to the actual rotational speed of the engine in consideration of at least one of hydraulic oil temperature and atmospheric pressure.