WO2018185918A1 - Véhicule de travail et procédé de commande d'un véhicule de travail - Google Patents

Véhicule de travail et procédé de commande d'un véhicule de travail Download PDF

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Publication number
WO2018185918A1
WO2018185918A1 PCT/JP2017/014416 JP2017014416W WO2018185918A1 WO 2018185918 A1 WO2018185918 A1 WO 2018185918A1 JP 2017014416 W JP2017014416 W JP 2017014416W WO 2018185918 A1 WO2018185918 A1 WO 2018185918A1
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WIPO (PCT)
Prior art keywords
torque
hydraulic pump
engine
traveling
speed
Prior art date
Application number
PCT/JP2017/014416
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English (en)
Japanese (ja)
Inventor
慎治 金子
一顕 小澤
Original Assignee
株式会社小松製作所
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Publication date
Application filed by 株式会社小松製作所 filed Critical 株式会社小松製作所
Priority to PCT/JP2017/014416 priority Critical patent/WO2018185918A1/fr
Priority to JP2017526152A priority patent/JP6603716B2/ja
Publication of WO2018185918A1 publication Critical patent/WO2018185918A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/38—Control of exclusively fluid gearing
    • F16H61/40—Control of exclusively fluid gearing hydrostatic
    • F16H61/42—Control of exclusively fluid gearing hydrostatic involving adjustment of a pump or motor with adjustable output or capacity

Definitions

  • the present invention relates to a work vehicle and a work vehicle control method.
  • a work vehicle including an HST (Hydro Static Transmission) type transmission device as disclosed in Patent Document 1 is known.
  • the HST transmission has a traveling hydraulic pump driven by an engine and a traveling hydraulic motor driven by hydraulic oil discharged from the traveling hydraulic pump.
  • the traveling device travels by transmitting the driving force generated by the traveling hydraulic motor to the traveling device of the work vehicle.
  • the work vehicle has a work machine hydraulic pump driven by an engine and a work machine hydraulic cylinder driven by hydraulic oil discharged from the work machine hydraulic pump.
  • the work machine operates by transmitting the driving force generated in the work machine hydraulic cylinder to the work machine of the work vehicle.
  • the traveling hydraulic pump and the working machine hydraulic pump are connected to the engine output shaft.
  • the traveling hydraulic pump and the work machine hydraulic pump operate based on the rotation of the output shaft.
  • the engine torque is distributed to each of the traveling hydraulic pump and the working machine hydraulic pump. From the viewpoint of suppressing fuel consumption, it is desirable that the traveling hydraulic pump and the working machine hydraulic pump operate sufficiently with the engine speed being low.
  • aspects of the present invention provide a work vehicle and a work vehicle control method capable of suppressing a shortage of operating speed of a work implement even when the engine speed is low, reducing fuel consumption, and improving work efficiency.
  • the purpose is to do.
  • a traveling hydraulic pump that is driven by an engine and discharges hydraulic oil that operates a traveling device, and a working machine that is driven by the engine and discharges hydraulic oil that operates a working machine.
  • a first torque that indicates an absorption torque of the traveling hydraulic pump is calculated based on a rotational speed of the engine when an acceleration command for increasing an operating speed of the working hydraulic pump and the working machine is acquired.
  • a characteristic acquisition unit that acquires an upper limit torque indicating an upper limit value of the absorption torque of the mechanical hydraulic pump; and a total torque of the first torque and the second torque that is equal to or less than the upper limit torque.
  • a traveling hydraulic pump that is driven by an engine and discharges hydraulic oil that operates a traveling device, and a working machine that is driven by the engine and discharges hydraulic oil that operates a working machine.
  • a first torque that indicates an absorption torque of the traveling hydraulic pump is calculated based on a rotational speed of the engine when an acceleration command for increasing an operating speed of the working hydraulic pump and the working machine is acquired.
  • the absorption torque of the traveling hydraulic pump driven by the engine is calculated based on the engine speed when the speed increase command for increasing the operating speed of the work implement is acquired. And calculating a second torque indicating an absorption torque of a hydraulic pump for a work machine driven by the engine based on the rotation speed of the engine when the speed increase command is acquired. And obtaining an upper limit torque indicating an upper limit value of the absorption torque of the hydraulic pump for work implement, and when the total torque of the first torque and the second torque is equal to or lower than the upper limit torque, the total And increasing the second torque based on a differential torque between the torque and the upper limit torque to set a maximum absorption torque of the working machine hydraulic pump.
  • the law is provided.
  • the absorption torque of the traveling hydraulic pump driven by the engine is calculated based on the engine speed when the speed increase command for increasing the operating speed of the work implement is acquired. And calculating a second torque indicating an absorption torque of a hydraulic pump for a work machine driven by the engine based on the rotation speed of the engine when the speed increase command is acquired. And adding a reduced torque of the traveling hydraulic pump reduced by the speed increase command to the second torque in the engine speed range equal to or lower than the maximum engine torque generation speed. And setting a maximum absorption torque of the machine hydraulic pump.
  • a work vehicle and a work vehicle control method capable of suppressing shortage of operating speed of a work machine even when the engine speed is low, reducing fuel consumption, and improving work efficiency.
  • FIG. 1 is a diagram schematically illustrating an example of a work vehicle according to the present embodiment.
  • FIG. 2 is a functional block diagram illustrating an example of a work vehicle control system according to the present embodiment.
  • FIG. 3 is a functional block diagram illustrating an example of a control device according to the present embodiment.
  • FIG. 4 is a diagram schematically illustrating an example of an absorption torque characteristic curve of the traveling hydraulic pump, an absorption torque characteristic curve of the working machine hydraulic pump, and an engine torque characteristic curve according to the present embodiment.
  • FIG. 5 is a diagram for explaining the inching rate and the mechanical brake rate according to the present embodiment.
  • FIG. 6 is a diagram schematically showing the relationship between the absorption torque and the inching rate of the traveling hydraulic pump according to the present embodiment.
  • FIG. 7 is a diagram for explaining the maximum absorption torque of the working machine hydraulic pump set by the maximum absorption torque setting unit according to the present embodiment.
  • FIG. 8 is a flowchart illustrating an example of a work vehicle control method according to the
  • FIG. 1 is a diagram schematically illustrating an example of a work vehicle 1 according to the present embodiment. In the present embodiment, it is assumed that the work vehicle 1 is a forklift 1.
  • the forklift 1 includes a vehicle body 2, a traveling device 3 that supports the vehicle body 2, a work machine 4 that is supported by the vehicle body 2, and a driver's seat 7 that is supported by the vehicle body 2.
  • the forklift 1 is driven by an engine 8, a traveling hydraulic pump 10 driven by the engine 8, a traveling hydraulic motor 20 driven by hydraulic oil discharged from the traveling hydraulic pump 10, and the engine 8.
  • the vehicle body 2 supports the working machine 4, the driver's seat 7, the engine 8, the traveling hydraulic pump 10, the traveling hydraulic motor 20, the working machine hydraulic pump 30, the working machine hydraulic cylinder 40, and the control device 50.
  • the traveling device 3 has a front wheel 3F and a rear wheel 3R.
  • the front wheel 3F and the rear wheel 3R are rotatable about a rotation axis.
  • a front tire 3FT is attached to the front wheel 3F.
  • a rear tire 3RT is attached to the rear wheel 3R.
  • the work machine 4 includes a mast 5 supported by the vehicle body 2 and a fork 6 supported by the mast 5.
  • the traveling hydraulic pump 10 discharges hydraulic oil that operates the traveling device 3.
  • the traveling hydraulic pump 10 is driven by the engine 8.
  • the traveling hydraulic motor 20 is driven by hydraulic fluid discharged from the traveling hydraulic pump 10.
  • the traveling hydraulic motor 20 drives the traveling device 3.
  • the traveling hydraulic motor 20 is connected to a front wheel 3F that is a driving wheel of the traveling device 3. When the front wheel 3F is rotated by the traveling hydraulic motor 20, the traveling device 3 travels.
  • the work machine hydraulic pump 30 discharges hydraulic fluid that operates the work machine 4.
  • the work machine hydraulic pump 30 is driven by the engine 8.
  • the working machine hydraulic cylinder 40 is driven by the hydraulic oil discharged from the working machine hydraulic pump 30.
  • the work machine hydraulic cylinder 40 drives the work machine 4.
  • the working machine hydraulic cylinder 40 includes a tilt cylinder 41 that tilts the mast 5 in the front-rear direction and a lift cylinder 42 that moves the fork 6 in the vertical direction.
  • the fork 6 is tilted in the front-rear direction while being supported by the mast 5.
  • the fork 6 moves up and down while being supported by the mast 5 by driving the lift cylinder 42.
  • the forklift 1 is operated by a driver seated in the driver's seat 7.
  • the forklift 1 includes a steering wheel 71 operated by a driver, an accelerator pedal 72, an inching pedal 73, a work implement lever 74, and a forward / reverse lever 75.
  • the steering wheel 71 is arranged in front of the driver's seat 7.
  • the driver steers the traveling device 3 by operating the steering wheel 71 by hand.
  • Accelerator pedal 72 and inching pedal 73 are arranged below steering wheel 71.
  • the driver operates the accelerator pedal 72 and the inching pedal 73 with his / her feet to drive and brake the traveling device 3.
  • the accelerator pedal 72 functions as an accelerator operating device that drives the traveling device 3.
  • the inching pedal 73 functions as an inching operation device that brakes the traveling device 3 and increases the operating speed of the work machine 4.
  • the work machine lever 74 is disposed in front of the driver's seat 7. The driver operates the work implement lever 74 to operate the work implement 4.
  • the forward / reverse lever 75 is disposed in front of the driver's seat 7.
  • the driver operates the forward / reverse lever 75 to switch the traveling direction of the traveling device 3.
  • FIG. 2 is a functional block diagram illustrating an example of the control system 200 for the forklift 1 according to the present embodiment.
  • the control system 200 includes a control device 50 and a hydraulic circuit 100.
  • the hydraulic circuit 100 includes an HST (Hydro Static Transmission) type transmission device that transmits a driving force generated by the engine 8 to the traveling device 3 of the forklift 1 by applying a static pressure to the hydraulic oil.
  • the hydraulic circuit 100 includes a traveling hydraulic pump 10 driven by the engine 8, a traveling hydraulic motor 20 driven by hydraulic oil discharged from the traveling hydraulic pump 10, a traveling hydraulic pump 10, and a traveling hydraulic motor. 20 and a main flow path 101 which is a closed circuit connecting the
  • the main channel 101 includes a first supply channel 101A and a second supply channel 101B that connect the traveling hydraulic pump 10 and the traveling hydraulic motor 20.
  • the hydraulic circuit 100 includes a working machine hydraulic pump 30 driven by the engine 8 and a working machine hydraulic cylinder 40 (41, 42) driven by hydraulic fluid discharged from the working machine hydraulic pump 30. Have.
  • the hydraulic circuit 100 has a charge pump 9 driven by the engine 8.
  • the output shaft 8S of the engine 8 is connected to each of the working machine hydraulic pump 30, the charge pump 9, and the traveling hydraulic pump 10.
  • Each of the working machine hydraulic pump 30, the charge pump 9, and the traveling hydraulic pump 10 operates based on the rotation of the output shaft 8S.
  • Torque generated in the engine 8 is distributed to each of the working machine hydraulic pump 30, the charge pump 9, and the traveling hydraulic pump 10.
  • control system 200 includes an engine speed sensor 81 that detects the speed Nr per unit time of the engine 8, an accelerator operation amount sensor 82 that detects an operation amount As of the accelerator pedal 72, and an operation amount of the inching pedal 73.
  • An inching operation amount sensor 83 that detects Is and a forward / reverse switch 85 that generates a traveling direction command signal Cs by operating the forward / reverse lever 75.
  • the traveling hydraulic pump 10 is a variable displacement hydraulic pump. By adjusting the angle of the swash plate of the traveling hydraulic pump 10, the capacity of the traveling hydraulic pump 10 and the discharge direction of the hydraulic oil discharged from the traveling hydraulic pump 10 are adjusted.
  • the displacement of the traveling hydraulic pump 10 is the amount of hydraulic oil discharged from the traveling hydraulic pump 10 when the output shaft 8S of the engine 8 connected to the traveling hydraulic pump 10 makes one revolution [cc / rev]. Say.
  • the traveling hydraulic pump 10 is driven by the engine 8. As the rotational speed of the engine 8 increases and the rotational speed per unit time of the output shaft 8S connected to the traveling hydraulic pump 10 increases, the operating oil discharged from the traveling hydraulic pump 10 per unit time is reduced. The flow rate [l / min] increases. When the rotational speed of the engine 8 is decreased and the rotational speed per unit time of the output shaft 8S connected to the traveling hydraulic pump 10 is decreased, the flow rate of hydraulic oil discharged from the hydraulic motor 10 per unit time [ l / min] decreases.
  • the traveling hydraulic motor 20 is a variable displacement hydraulic motor. By adjusting the angle of the swash plate of the traveling hydraulic motor 20, the capacity of the traveling hydraulic motor 20 and the rotation direction of the output shaft 20S of the traveling hydraulic motor 20 are adjusted.
  • the capacity of the traveling hydraulic motor 20 refers to the discharge amount [cc / rev] of hydraulic fluid discharged from the traveling hydraulic motor 20 when the output shaft 20S of the traveling hydraulic motor 20 makes one rotation.
  • the traveling hydraulic motor 20 is connected to the traveling hydraulic pump 10 via the main flow path 101.
  • the traveling hydraulic motor 20 is driven by hydraulic oil discharged from the traveling hydraulic pump 10.
  • the output shaft 20S rotates in one rotational direction.
  • the output shaft 20S rotates in the other rotational direction.
  • the output shaft 20S is connected to a front wheel 3F that is a driving wheel of the traveling device 3 through a power transmission mechanism 20T.
  • the traveling device 3 moves forward.
  • the traveling device 3 moves backward.
  • the working machine hydraulic pump 30 is a variable displacement hydraulic pump.
  • the capacity of the working machine hydraulic pump 30 is adjusted by adjusting the angle of the swash plate of the working machine hydraulic pump 30.
  • the capacity of the work implement hydraulic pump 30 is the amount of hydraulic oil discharged from the work implement hydraulic pump 30 when the output shaft 8S of the engine 8 connected to the work implement hydraulic pump 30 makes one rotation. cc / rev].
  • the working machine hydraulic pump 30 is driven by the engine 8.
  • the hydraulic fluid flow [l / min] per hit increases.
  • the rotational speed per unit time of the drive shaft of the output shaft 8S of the engine 8 connected to the working machine hydraulic pump 30 is lowered and the engine 8 is reduced, the engine 8 is discharged from the working machine hydraulic pump 30.
  • the flow rate [l / min] of hydraulic oil per unit time decreases.
  • the working machine hydraulic cylinder 40 is connected to the working machine hydraulic pump 30 via the supply flow path 102.
  • the work machine hydraulic cylinder 40 is driven by hydraulic fluid discharged from the work machine hydraulic pump 30.
  • the working machine hydraulic cylinder 40 extends.
  • the working oil discharged from the work machine hydraulic pump 30 is supplied to the rod-side space of the work machine hydraulic cylinder 40, the work machine hydraulic cylinder 40 contracts.
  • the working machine hydraulic cylinder 40 includes the tilt cylinder 41 and the lift cylinder 42.
  • the fork 6 is inclined in the front-rear direction.
  • the hydraulic oil is supplied to one of the bottom side space and the rod side space of the lift cylinder 42, the fork 6 moves in the vertical direction.
  • control system 200 includes a capacity adjusting device 11 that adjusts the capacity of the traveling hydraulic pump 10, a capacity adjusting device 21 that adjusts the capacity of the traveling hydraulic motor 20, and the capacity of the working machine hydraulic pump 30. And a control valve 43 that controls the direction of hydraulic fluid supplied to the working machine hydraulic cylinder 40.
  • the capacity adjustment device 11 adjusts the capacity of the traveling hydraulic pump 10 by driving the swash plate of the traveling hydraulic pump 10.
  • the capacity adjusting device 11 includes an operating hydraulic cylinder 14 that can drive the swash plate of the traveling hydraulic pump 10, and a control valve 12 and a control valve 13 that adjust the pressure of hydraulic fluid supplied to the operating hydraulic cylinder 14. Have.
  • the operating hydraulic cylinder 14 is driven by the hydraulic oil discharged from the charge pump 9.
  • the angle of the swash plate of the traveling hydraulic pump 10 is adjusted based on the amount of movement of the piston 14P of the operating hydraulic cylinder 14.
  • Each of the control valve 12 and the control valve 13 is an electromagnetic proportional control valve, and adjusts the pressure of the hydraulic oil supplied from the charge pump 9 to the operating hydraulic cylinder 14.
  • the control valve 12 and the control valve 13 operate based on a command signal output from the control device 50.
  • the pressure of the hydraulic oil supplied to the operation hydraulic cylinder 14 is adjusted by the control valve 12 and the control valve 13.
  • the amount of movement of the piston 14P of the operating hydraulic cylinder 14 is adjusted by adjusting the pressure of the hydraulic oil supplied to the operating hydraulic cylinder 14.
  • the angle of the swash plate of the traveling hydraulic pump 10 is adjusted by adjusting the movement amount of the piston 14P.
  • the piston 14P of the operating hydraulic cylinder 14 is held in a neutral position in a no-load state.
  • the angle of the swash plate of the traveling hydraulic pump 10 is a neutral angle (for example, 0 [°])
  • the piston 14P is disposed at the neutral position.
  • hydraulic fluid is not discharged from the traveling hydraulic pump 10.
  • the angle of the swash plate of the traveling hydraulic pump 10 is a neutral angle, even if the engine 8 operates and the output shaft 8S rotates, the amount of hydraulic oil discharged from the traveling hydraulic pump 10 is zero.
  • the capacity adjusting device 21 adjusts the capacity of the traveling hydraulic motor 20 by driving the swash plate of the traveling hydraulic motor 20.
  • the capacity adjusting device 21 includes an operating hydraulic cylinder 24 that can drive the swash plate of the traveling hydraulic motor 20, and a control valve 22 and a control valve 23 that adjust the pressure of hydraulic fluid supplied to the operating hydraulic cylinder 24. Have.
  • the hydraulic cylinder 24 for operation is driven by hydraulic oil whose pressure of HST is reduced. Based on the movement amount of the piston 24P of the operating hydraulic cylinder 24, the angle of the swash plate of the traveling hydraulic motor 20 is adjusted.
  • the control valve 22 is an electromagnetic proportional control valve, and adjusts the pressure of hydraulic fluid supplied from the charge pump 9 to the control valve 22.
  • the control valve 23 is a direction control valve, and is driven based on hydraulic oil discharged from the charge pump 9 and supplied via the control valve 22.
  • the control valve 22 and the control valve 23 operate based on a command signal output from the control device 50.
  • the pressure of the hydraulic oil supplied to the control valve 23 is adjusted by the control valve 22.
  • the control valve 23 is operated by adjusting the pressure of the hydraulic oil supplied to the control valve 23.
  • the direction of the hydraulic oil supplied to the operating hydraulic cylinder 24 is controlled by the operation of the control valve 23.
  • the operating hydraulic cylinder 24 contracts.
  • the hydraulic oil is supplied to one of the bottom side space and the rod side space of the operation hydraulic cylinder 24, and the operation hydraulic cylinder 24 expands and contracts.
  • the swash plate of the traveling hydraulic motor 20 is driven in synchronization with the operating hydraulic cylinder 24, and the angle of the swash plate of the traveling hydraulic motor 20 is adjusted.
  • the capacity adjustment device 31 adjusts the capacity of the work machine hydraulic pump 30 by driving the swash plate of the work machine hydraulic pump 30.
  • the capacity adjusting device 31 includes an operating hydraulic cylinder 34 that can drive the swash plate of the working machine hydraulic pump 30, and a control valve 32 that adjusts the pressure of hydraulic fluid supplied to the operating hydraulic cylinder 34.
  • the operating hydraulic cylinder 34 is driven by hydraulic oil in which the self-pressure of the working machine hydraulic pump 3 is reduced by the control valve 43. Based on the amount of movement of the piston 34P of the operating hydraulic cylinder 34, the angle of the swash plate of the working machine hydraulic pump 30 is adjusted.
  • the control valve 32 is an electromagnetic proportional control valve, and adjusts the pressure of the hydraulic oil supplied to the operating hydraulic cylinder 34 from the self pressure.
  • the control valve 32 operates based on a command signal output from the control device 50.
  • the pressure of the hydraulic oil supplied to the operation hydraulic cylinder 34 is adjusted by the control valve 32.
  • the amount of movement of the piston 34P of the operating hydraulic cylinder 34 is adjusted by adjusting the pressure of the hydraulic oil supplied to the operating hydraulic cylinder 34. By adjusting the movement amount of the piston 34P, the angle of the swash plate of the working machine hydraulic pump 30 is adjusted.
  • the piston 34P of the operating hydraulic cylinder 34 is held in a neutral position in a no-load state.
  • the angle of the swash plate of the working machine hydraulic pump 30 is a neutral angle (for example, 0 [°])
  • the piston 34P is disposed at the neutral position.
  • the angle of the swash plate of the work machine hydraulic pump 30 is a neutral angle
  • hydraulic fluid is not discharged from the work machine hydraulic pump 30.
  • the angle of the swash plate of the work implement hydraulic pump 30 is a neutral angle, even if the engine 8 operates and the output shaft 8S rotates, the discharge amount of hydraulic oil discharged from the work implement hydraulic pump 30 is zero. is there.
  • the control valve 43 is a direction control valve, and controls the direction of hydraulic oil supplied to the hydraulic cylinder 40 for work implements.
  • the control valve 43 causes the hydraulic oil discharged from the work implement hydraulic pump 30 to be discharged from the work implement hydraulic pump 30 based on the command signal from the control device 50. It operates so that it may be supplied to either one of 40 bottom side space and rod side space. As a result, the working machine hydraulic cylinder 40 expands and contracts.
  • the engine speed sensor 81 detects the speed Nr of the engine 8 per unit time. Data indicating the rotational speed Nr of the engine 8 detected by the engine rotational speed sensor 81 is output to the control device 50.
  • the accelerator operation amount sensor 82 detects the operation amount As of the accelerator pedal 72.
  • the operation amount As of the accelerator pedal 72 includes the amount of depression of the accelerator pedal 72 by the driver.
  • the accelerator operation amount sensor 82 includes, for example, a potentiometer. Data indicating the operation amount As of the accelerator pedal 72 detected by the accelerator operation amount sensor 82 is output to the control device 50.
  • the inching operation amount sensor 83 detects the operation amount Is of the inching pedal 73.
  • the operation amount Is of the inching pedal 73 includes the amount of depression of the inching pedal 73 by the driver.
  • the inching operation amount sensor 83 includes, for example, a potentiometer. Data indicating the operation amount Is of the inching pedal 73 detected by the inching operation amount sensor 83 is output to the control device 50.
  • the forward / reverse switch 85 generates a traveling direction command signal Cs indicating the traveling direction of the forklift 1 based on the operation of the forward / reverse lever 75.
  • the traveling direction command signal Cs includes a forward command signal for moving the forklift 1 forward, a reverse command signal for moving the forklift 1 backward, and a neutral command signal for not moving the forklift 1.
  • a forward command signal is generated.
  • a reverse command signal is generated.
  • a neutral command signal is generated.
  • the traveling direction command signal Cs generated by the forward / reverse switch 85 is output to the control device 50.
  • FIG. 3 is a functional block diagram illustrating an example of the control device 50 according to the present embodiment.
  • the control device 50 includes an arithmetic processing device including a processor such as a CPU (Central Processing Unit) and a storage device including a memory and storage such as a ROM (Read Only Memory) or a RAM (Random Access Memory).
  • a processor such as a CPU (Central Processing Unit)
  • a storage device including a memory and storage such as a ROM (Read Only Memory) or a RAM (Random Access Memory).
  • ROM Read Only Memory
  • RAM Random Access Memory
  • the control device 50 includes a vehicle state acquisition unit 51, a characteristic acquisition unit 52, an inching rate calculation unit 53, a first torque calculation unit 54, a second torque calculation unit 55, a modulation control unit 56, and a maximum absorption torque.
  • a setting unit 57 and a pump control unit 58 are included.
  • the vehicle state acquisition unit 51 acquires the rotational speed Nr of the engine 8 from the engine rotational speed sensor 81. Further, the vehicle state acquisition unit 51 acquires the operation amount As of the accelerator pedal 72 from the accelerator operation amount sensor 82. In addition, the vehicle state acquisition unit 51 acquires the operation amount Is of the inching pedal 73 from the inching operation amount sensor 83. Further, the vehicle state acquisition unit 51 acquires the traveling direction command signal Cs from the forward / reverse switch 85.
  • the characteristic acquisition unit 52 acquires the absorption torque characteristic curve La of the traveling hydraulic pump 10, the absorption torque characteristic curve Lb of the working machine hydraulic pump 30, and the torque characteristic curve Le of the engine 8.
  • FIG. 4 schematically shows an example of the absorption torque characteristic curve La of the traveling hydraulic pump 10 according to the present embodiment, the absorption torque characteristic curve Lb of the working machine hydraulic pump 30, and the torque characteristic curve Le of the engine 8. It is.
  • the absorption torque characteristic curve La of the traveling hydraulic pump 10 is first characteristic data indicating the relationship between the rotational speed Nr of the engine 8 and the absorption torque of the traveling hydraulic pump 10.
  • the absorption torque characteristic curve Lb of the work implement hydraulic pump 30 is second characteristic data indicating the relationship between the rotational speed Nr of the engine 8 and the absorption torque of the work implement hydraulic pump 30.
  • the torque characteristic curve Le of the engine 8 is characteristic data indicating the relationship between the rotational speed Nr of the engine 8 and the torque of the engine 8.
  • the rotational speed Nr is appropriately referred to as the maximum rotational speed Nrm of the engine 8.
  • the upper limit torque indicating the upper limit value of the absorption torque of the traveling hydraulic pump 10 is Ma.
  • the upper limit torque indicating the upper limit value of the absorption torque of the work implement hydraulic pump 30 is Mb.
  • the absorption torque of the work implement hydraulic pump 30 is set to a value lower than the upper limit torque Mb of the work implement hydraulic pump 30 in the rotation speed range of the engine 8 that is equal to or less than the generation rotation speed Nrm of the maximum torque of the engine 8.
  • the inching rate calculating unit 53 calculates an inching rate indicating a decreasing rate of the absorption torque of the traveling hydraulic pump 10 based on the operation amount Is of the inching pedal 73.
  • FIG. 5 is a diagram for explaining the inching rate and the mechanical brake rate according to the present embodiment.
  • FIG. 5 shows a characteristic curve Li indicating the relationship between the operation amount Is of the inching pedal 73 and the inching rate, and a characteristic curve Lm indicating the relationship between the operation amount Is of the inching pedal 73 and the mechanical brake rate.
  • the inching rate is the rate of decrease in the absorption torque of the traveling hydraulic pump 10. As the inching rate is smaller, the absorption torque of the traveling hydraulic pump 10 is reduced, and the traveling device 3 is substantially braked. Further, as the inching rate is smaller, the torque of the engine 8 is distributed to the working machine hydraulic pump 30 and the working speed of the working machine 4 increases.
  • the mechanical brake rate refers to the braking force of a mechanical brake provided in the traveling device 3. The greater the mechanical brake rate, the greater the braking force of the mechanical brake.
  • the inching rate and the mechanical brake rate change based on the operation amount Is of the inching pedal 73.
  • the inching rate decreases as the operation amount Is of the inching pedal 73 increases.
  • the mechanical brake rate increases as the operation amount Is of the inching pedal 73 increases.
  • the inching pedal 73 When the inching pedal 73 is operated, a command signal for driving the swash plate of the traveling hydraulic pump 10 is output from the control device 50, and the inching rate is adjusted.
  • the inching pedal 73 When the inching pedal 73 is not operated and the operation amount Is is zero, the inching rate is 100 [%].
  • the inching rate When the inching rate is 100 [%], hydraulic oil is discharged from the traveling hydraulic pump 10 to the main circuit 101, and the traveling hydraulic motor 20 operates.
  • the inching pedal 73 When the inching pedal 73 is operated and the operation amount Is is an intermediate value, the inching rate is 0 [%].
  • the inching rate When the inching rate is 0 [%], hydraulic oil is not discharged from the traveling hydraulic pump 10 to the main circuit 101, and the traveling hydraulic motor 20 does not operate. That is, when the inching rate is 0 [%], the traveling device 3 is substantially braked.
  • the mechanical brake rate starts to increase.
  • the mechanical brake rate becomes 100 [%].
  • FIG. 6 is a diagram schematically showing the relationship between the absorption torque and the inching rate of the traveling hydraulic pump 10 according to the present embodiment.
  • the absorption torque characteristic curve La changes.
  • an absorption torque characteristic curve La1 indicates the absorption torque characteristic curve La when the operation amount Is of the inching pedal 73 is zero.
  • the absorption torque characteristic curve La2 indicates the absorption torque characteristic curve La when the operation amount Is of the inching pedal 73 increases.
  • the absorption torque characteristic curve La2 is derived by multiplying the absorption torque characteristic curve La1 by the inching rate.
  • the inching pedal 73 when the inching pedal 73 is operated and the inching rate decreases, the absorption torque of the traveling hydraulic pump 10 decreases.
  • the inching pedal 73 When the inching pedal 73 is operated while the rotational speed Nr of the engine 8 is constant and the absorption torque of the traveling hydraulic pump 10 decreases, the torque of the engine 8 is distributed to the working machine hydraulic pump 30 and the working machine 4 operates.
  • Speed increases.
  • a speed increase command for increasing the operating speed of the work implement 4 is generated.
  • the speed increase command includes data indicating the operation amount Is detected by the inching operation amount sensor 83.
  • the first torque calculation unit 54 absorbs the torque of the traveling hydraulic pump 10 based on the rotational speed Nrt of the engine 8 when a speed increase command for increasing the operating speed of the work implement 4 is acquired by the vehicle state acquisition unit 51. Is calculated.
  • the first torque Ta is an absorption torque of the traveling hydraulic pump 10 when a speed increase command for increasing the operating speed of the work implement 4 is acquired by the vehicle state acquisition unit 51.
  • the first torque Ta is an absorption torque of the traveling hydraulic pump 10 when the inching pedal 73 is operated.
  • the first torque calculator 54 calculates the first torque Ta based on the absorption torque characteristic curve La that is the first characteristic data.
  • the engine speed Nr of the engine 8 is detected by the engine speed sensor 81. Further, as described with reference to FIG. 6, when the inching pedal 73 is operated and the inching rate decreases, the absorption torque characteristic curve La changes so that the absorption torque of the traveling hydraulic pump 10 decreases.
  • the absorption torque characteristic curve La uniquely changes according to the operation amount Is (inching rate) of the inching pedal 73.
  • the absorption torque characteristic curve La (La1) acquired by the characteristic acquisition unit 52 is the absorption torque characteristic curve La when the inching rate before the inching pedal 73 is operated is 100 [%].
  • the absorption torque characteristic curve La (La1) acquired by the characteristic acquisition unit 52 is the absorption torque characteristic curve La before the speed increase command is acquired by the vehicle state acquisition unit 51.
  • the absorption torque characteristic curve La (La2) when the inching pedal 73 is operated is derived by multiplying the absorption torque characteristic curve La (La1) by the inching rate calculated by the inching rate calculation unit 53.
  • the first torque calculation unit 54 is detected by the engine rotation sensor 81 when the speed increase command generated by operating the inching pedal 73 is acquired by the vehicle state acquisition unit 51. Based on the rotational speed Nrt of the engine 8 and the absorption torque characteristic curve La (La2) of the traveling hydraulic pump 10 when the speed increase command is acquired by the vehicle state acquisition unit 51, the speed increase command is determined in the vehicle state.
  • the first torque Ta obtained by the obtaining unit 51 is calculated.
  • the first torque calculation unit 54 derives the absorption torque characteristic curve La2 based on the operation amount Is of the inching pedal 73 and the absorption torque characteristic curve La1 acquired by the characteristic acquisition unit 52, and derives the absorption absorption
  • the first torque Ta is calculated based on the torque characteristic curve La2 and the engine speed Nrt.
  • the second torque calculation unit 55 absorbs the work implement hydraulic pump 30 based on the rotational speed Nrt of the engine 8 when a speed increase command for increasing the operating speed of the work implement 4 is acquired by the vehicle state acquisition unit 51.
  • a second torque Tb indicating the torque is calculated.
  • the second torque Tb is an absorption torque of the work machine hydraulic pump 30 when a speed increase command for increasing the operating speed of the work machine 4 is acquired by the vehicle state acquisition unit 51.
  • the second torque Tb is an absorption torque of the working machine hydraulic pump 30 when the inching pedal 73 is operated.
  • the second torque calculator 55 calculates the second torque Tb based on the absorption torque characteristic curve Lb that is the second characteristic data.
  • the second torque calculation unit 55 is configured to determine the working torque of the work implement 4 based on the engine speed Nr detected by the engine speed sensor 81 and the absorption torque characteristic curve Lb of the work implement hydraulic pump 30.
  • the second torque Tb when the speed increase command for increasing the operating speed is acquired by the vehicle state acquisition unit 51 is calculated.
  • the maximum absorption torque setting unit 57 calculates the sum of the total torque Tt and the upper limit torque Mb when the total torque Tt indicating the sum of the first torque Ta and the second torque Tb is equal to or lower than the upper limit torque Mb of the work machine hydraulic pump 20.
  • the second torque Tb is increased based on the differential torque ⁇ Tb indicating the difference, and the maximum absorption torque of the working machine hydraulic pump 30 is set.
  • FIG. 7 is a diagram for explaining the maximum absorption torque Tbm of the working machine hydraulic pump 30 set by the maximum absorption torque setting unit 57 according to the present embodiment.
  • the maximum absorption torque setting unit 57 uses the second torque based on the differential torque ⁇ Tb so that the sum of the maximum absorption torque Tbm and the first torque Ta is equal to or less than the upper limit torque Mb.
  • the maximum absorption torque Tbm is set by increasing Tb.
  • the maximum absorption torque setting unit 57 sets the maximum absorption torque Tbm by increasing the second torque Tb so that the sum of the maximum absorption torque Tbm and the first torque Ta is equal to or less than the torque of the engine 8.
  • the characteristic acquisition unit 52 includes an absorption torque characteristic curve La (La1) indicating the absorption torque of the traveling hydraulic pump 10 before the speed increase command is acquired, and an absorption torque characteristic curve indicating the absorption torque of the work machine hydraulic pump 30. Lb is acquired.
  • the absorption torque characteristic curve Lb includes data indicating the upper limit torque Mb of the working machine hydraulic pump 30.
  • the inching pedal 73 When the inching pedal 73 is operated, a speed increase command is acquired, and the inching rate decreases, the absorption torque of the traveling hydraulic pump 10 decreases.
  • the maximum absorption torque Tbm set in the maximum absorption torque setting unit 57 adds the decrease torque ⁇ Ta of the traveling hydraulic pump 10 decreased by the speed increase command to the second torque Tb. It is the value.
  • the maximum absorption torque setting unit 57 reduces the torque ⁇ Ta of the traveling hydraulic pump 10 that has been decreased by the speed increase command in the engine speed range of the engine 8 that is equal to or less than the maximum engine torque generation speed Nrm. Is added to the second torque Tb to set the maximum absorption torque Tbm of the working machine hydraulic pump 30. In other words, when the inching pedal 73 is operated and the inching rate decreases, the second torque Tb is not increased in the high rotation range of the engine 8 but the second torque Tb is increased in the low rotation range of the engine 8.
  • the maximum absorption torque setting unit 57 uses the second torque Tb as the hydraulic pump for work implements.
  • the upper limit torque Mb indicating the upper limit value of the absorption torque of 30 is increased.
  • the modulation control unit 53 sets a time constant based on the decrease torque ⁇ Ta, and delays and outputs the decrease torque ⁇ Ta based on the set time constant.
  • the pump control unit 58 outputs a control signal for controlling the control valve 32 of the capacity adjusting device 31 based on the maximum absorption torque Tb of the working machine hydraulic pump 30 set by the maximum absorption torque setting unit 57. Thereby, the swash plate of the working machine hydraulic pump 30 is driven so that the maximum absorption torque Tbm is obtained when the engine 8 is rotating at the rotation speed Nrt, and the capacity of the working machine hydraulic pump 30 is adjusted. .
  • FIG. 8 is a flowchart illustrating an example of a method for controlling the forklift 1 according to the present embodiment. The process described with reference to FIG. 8 is performed at a specified sampling period.
  • the engine speed Nr of the engine 8 is detected by the engine speed sensor 81.
  • the operation amount Is of the inching pedal 73 is detected by the inching operation amount sensor 83.
  • the rotation speed Nr and the operation amount Is are output to the control device 50.
  • the vehicle state acquisition unit 51 acquires the rotation speed Nr and the operation amount Is.
  • the inching rate calculation unit 53 calculates the inching rate based on the operation amount Is of the inching pedal 73 (step S10). As described with reference to FIG. 5, the characteristic curve Li indicating the relationship between the inching rate and the operation amount Is is acquired by the characteristic acquisition unit 52. The characteristic curve Li is known data including table data. The inching rate calculation unit 53 calculates the inching rate based on the characteristic curve Li and the operation amount Is.
  • the first torque calculation unit 54 calculates the first torque Ta of the traveling hydraulic pump 10 based on the rotational speed Nr of the engine 8 when the operation amount Is including the speed increase command is acquired by the vehicle state acquisition unit 51. To do. That is, the first torque calculation unit 54 calculates the first torque Ta based on the inching rate calculated by the inching rate calculation unit 53 (step S20). The first torque calculator 54 calculates the first torque Ta by multiplying the absorption torque of the traveling hydraulic pump 10 determined based on the rotational speed Nr and the absorption torque characteristic curve La and the inching rate.
  • the second torque calculation unit 55 calculates the second torque Tb of the working machine hydraulic pump 30 based on the rotational speed Nr of the engine 8 when the operation amount Is including the speed increase command is acquired by the vehicle state acquisition unit 51. Calculate (step S30). The second torque calculator 55 calculates the second torque Tb based on the rotational speed Nr and the absorption torque characteristic curve Lb.
  • the maximum absorption torque setting unit 57 calculates a decrease torque ⁇ Ta of the traveling hydraulic pump 10 that has been decreased by the speed increase command (step S40).
  • the maximum absorption torque setting unit 57 sets the maximum absorption torque Tbm of the working machine hydraulic pump 30 by adding the decrease torque ⁇ Ta to the second torque Tb (step S50).
  • the pump control unit 58 outputs a control signal for controlling the control valve 32 of the capacity adjusting device 31 based on the maximum absorption torque Tb of the working machine hydraulic pump 30 set by the maximum absorption torque setting unit 57.
  • the working machine hydraulic pump 30 can generate the maximum absorption torque Tbn larger than the second torque Tb. Since the absorption torque of the working machine hydraulic pump 30 increases, the operating speed of the working machine 4 can be increased without increasing the rotational speed Nr of the engine 8 (without depressing the accelerator pedal 72).
  • the total torque Tt of the first torque Ta and the second torque Tb are calculated, the total torque Tt and the upper limit torque Mb are compared, and the differential torque ⁇ Tb is calculated.
  • the differential torque ⁇ Tb the maximum absorption torque Tbm can be set so that the sum of the maximum absorption torque Tbm and the first torque Ta does not become larger than the upper limit torque Mb.
  • the maximum absorption torque Tbm set in the maximum absorption torque setting unit 57 is a value obtained by adding the decrease torque ⁇ Ta of the traveling hydraulic pump 10 decreased by the speed increase command to the second torque Tb. . That is, in the present embodiment, the maximum absorption torque Tbm is the sum of the second torque Tb and the decrease torque ⁇ Ta. Thereby, the absorption torque of the working machine absorption pump 20 can be increased by the amount that the absorption torque of the traveling absorption pump 10 has decreased.
  • the maximum absorption torque setting unit 57 sets the maximum absorption torque Tbm by increasing the second torque Tb in the rotation speed range of the engine 8 that is equal to or less than the generation rotation speed Nrt of the maximum torque of the engine 8. To do. As shown in FIG. 4 and the like, in the absorption torque characteristic curve Lb, the absorption torque of the working machine hydraulic pump 30 is set to a value lower than the upper limit torque Mb.
  • the operating speed of the work implement 4 can be increased in a state where the rotational speed Nr is maintained at a low rotational speed.
  • the forward / reverse switch 85 when the forward / reverse switch 85 is operated for the third time and the vehicle state acquisition unit 51 acquires the neutral command signal, the speed increase command for the traveling device 3 becomes zero, and the maximum absorption torque setting unit 57 is Then, the second torque Tb is increased to the upper limit torque Mb indicating the upper limit value of the absorption torque of the working machine hydraulic pump 30.
  • the cargo handling work using the work implement 4 is often performed when the forward / reverse switch 83 is operated in the third operation (neutral operation).
  • the second torque Tb indicating the absorption torque of the working machine hydraulic pump 30 is increased to the upper limit torque Mb, whereby the rotational speed Nr of the engine 8 is reduced to a lower rotational speed.
  • the operating speed of the work machine 4 can be increased in the maintained state.
  • the maximum absorption torque Tbm of the working machine hydraulic pump 30 is the sum of the second torque Tb and the decrease torque ⁇ Ta. If the sum of the maximum absorption torque Tbm and the first torque Ta is equal to or less than the upper limit torque Mb and equal to or less than the torque of the engine 8, the amount of torque increase from the second torque Tb to the maximum absorption torque Tbm is arbitrary. .
  • SYMBOLS 1 ... Forklift (work vehicle), 2 ... Vehicle body, 3 ... Traveling device, 3F ... Front wheel, 3FT ... Front tire, 3R ... Rear wheel, 3RT ... Rear tire, 4 ... Working machine, 5 ... Mast, 6 ... Fork, 7 ... driver's seat, 8 ... engine, 8S ... output shaft, 9 ... charge pump, 10 ... traveling hydraulic pump, 11 ... capacity adjusting device, 12 ... control valve, 13 ... control valve, 14 ... hydraulic cylinder for operation, 14P ... Piston, 20 ... traveling hydraulic motor, 20S ... output shaft, 20T ... power transmission mechanism, 21 ... capacity adjusting device, 22 ... control valve, 23 ...
  • inching pedal 74 ... work machine lever, 75 ... forward / reverse lever, DESCRIPTION OF SYMBOLS 81 ... Engine speed sensor, 82 ... Accelerator operation amount sensor, 83 ... Inching operation amount sensor, 85 ... Forward / reverse switch, 100 ... Hydraulic circuit, 101 ... Main flow path, 101A ... First supply flow path, 101B ... Second Supply channel, 102... Supply channel, 200... Control system.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Control Of Fluid Gearings (AREA)
  • Operation Control Of Excavators (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

Le véhicule de travail selon la présente invention est pourvu : d'une pompe hydraulique de déplacement pour évacuer un fluide hydraulique pour actionner un dispositif de déplacement, la pompe hydraulique de déplacement étant entraînée par un moteur ; d'une pompe hydraulique d'outil pour évacuer un fluide hydraulique pour actionner un outil, la pompe hydraulique d'outil étant entraînée par le moteur ; d'une première unité de calcul de couple pour calculer un premier couple indiquant un couple d'absorption de la pompe hydraulique de déplacement sur la base de la vitesse du moteur lorsqu'une instruction d'augmentation de vitesse pour augmenter la vitesse de fonctionnement de l'outil est acquise ; d'une seconde unité de calcul de couple pour calculer un second couple indiquant un couple d'absorption de la pompe hydraulique d'outil sur la base de la vitesse du moteur lorsque l'instruction d'augmentation de vitesse est acquise ; d'une unité d'acquisition de caractéristique pour acquérir un couple de limite supérieure indiquant la valeur limite supérieure du couple d'absorption de la pompe hydraulique d'outil ; et d'une unité de réglage de couple d'absorption maximale pour augmenter le second couple sur la base d'un couple différentiel d'un couple total et du couple de limite supérieure et régler un couple d'absorption maximal de la pompe hydraulique d'outil lorsque le couple total du premier couple et du second couple est inférieur ou égal au couple de limite supérieure.
PCT/JP2017/014416 2017-04-06 2017-04-06 Véhicule de travail et procédé de commande d'un véhicule de travail WO2018185918A1 (fr)

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PCT/JP2017/014416 WO2018185918A1 (fr) 2017-04-06 2017-04-06 Véhicule de travail et procédé de commande d'un véhicule de travail
JP2017526152A JP6603716B2 (ja) 2017-04-06 2017-04-06 作業車両及び作業車両の制御方法

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JPS55104787U (fr) * 1979-01-16 1980-07-22
JPH06265015A (ja) * 1993-03-08 1994-09-20 Toyota Autom Loom Works Ltd 可変速用可変容量油圧ポンプを備えたエンジン車両
JPH0754146B2 (ja) * 1986-12-01 1995-06-07 日立建機株式会社 油圧駆動回路
JP2005061321A (ja) * 2003-08-12 2005-03-10 Hitachi Constr Mach Co Ltd 作業車両の制御装置
JP2008196565A (ja) * 2007-02-09 2008-08-28 Hitachi Constr Mach Co Ltd 建設機械用３ポンプシステムのトルク制御装置
JP2015131606A (ja) * 2014-01-15 2015-07-23 株式会社小松製作所 作業車両及び作業車両の制御方法

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Publication number Priority date Publication date Assignee Title
DE112013000267B4 (de) * 2013-12-27 2017-03-23 Komatsu Ltd. Gabelstapler und Steuerverfahren eines Gabelstaplers
US20160084275A1 (en) * 2014-09-18 2016-03-24 Komatsu Ltd. Work vehicle, and control method for work vehicle

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS55104787U (fr) * 1979-01-16 1980-07-22
JPH0754146B2 (ja) * 1986-12-01 1995-06-07 日立建機株式会社 油圧駆動回路
JPH06265015A (ja) * 1993-03-08 1994-09-20 Toyota Autom Loom Works Ltd 可変速用可変容量油圧ポンプを備えたエンジン車両
JP2005061321A (ja) * 2003-08-12 2005-03-10 Hitachi Constr Mach Co Ltd 作業車両の制御装置
JP2008196565A (ja) * 2007-02-09 2008-08-28 Hitachi Constr Mach Co Ltd 建設機械用３ポンプシステムのトルク制御装置
JP2015131606A (ja) * 2014-01-15 2015-07-23 株式会社小松製作所 作業車両及び作業車両の制御方法

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