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WO2008120545A1 - 作業車両の走行制御装置 - Google Patents

作業車両の走行制御装置 Download PDF

Info

Publication number
WO2008120545A1
WO2008120545A1 PCT/JP2008/054519 JP2008054519W WO2008120545A1 WO 2008120545 A1 WO2008120545 A1 WO 2008120545A1 JP 2008054519 W JP2008054519 W JP 2008054519W WO 2008120545 A1 WO2008120545 A1 WO 2008120545A1
Authority
WO
WIPO (PCT)
Prior art keywords
circuit
maximum value
work
hydraulic
negative pressure
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2008/054519
Other languages
English (en)
French (fr)
Inventor
Koji Hyodo
Kazuo Chonan
Yasuo Yamazaki
Nobuhiro Suzuki
Koji Takano
Genichiro Ishimaru
Nobuyuki Hidaka
Masaki Yoshikawa
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Construction Machinery Co Ltd
TCM Corp
Original Assignee
Hitachi Construction Machinery Co Ltd
TCM Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi Construction Machinery Co Ltd, TCM Corp filed Critical Hitachi Construction Machinery Co Ltd
Priority to EP08721935.8A priority Critical patent/EP2131072B1/en
Priority to US12/530,987 priority patent/US8671673B2/en
Priority to CN2008800080719A priority patent/CN101631973B/zh
Priority to KR1020097018965A priority patent/KR101414329B1/ko
Publication of WO2008120545A1 publication Critical patent/WO2008120545A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2253—Controlling the travelling speed of vehicles, e.g. adjusting travelling speed according to implement loads, control of hydrostatic transmission
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2289—Closed circuit
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2292—Systems with two or more pumps
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump
    • 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
    • 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
    • F16H61/4078—Fluid exchange between hydrostatic circuits and external sources or consumers
    • 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
    • F16H61/46—Automatic regulation in accordance with output requirements
    • F16H61/47—Automatic regulation in accordance with output requirements for achieving a target output speed
    • 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
    • F16H59/00—Control inputs to control units of change-speed- or reversing-gearings for conveying rotary motion
    • F16H59/68—Inputs being a function of gearing status
    • F16H2059/6838—Sensing gearing status of hydrostatic transmissions
    • F16H2059/6861—Sensing gearing status of hydrostatic transmissions the pressures, e.g. high, low or differential pressures
    • 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
    • F16H61/4148—Open loop circuits
    • 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
    • F16H61/425—Motor capacity control by electric actuators
    • 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
    • F16H61/433—Pump capacity control by fluid pressure control means

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Control Of Fluid Gearings (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

　可変容量形油圧ポンプ２と可変容量形油圧モータ３とを閉回路接続して形成され、油圧モータ３の押しのけ容積を制御するモータ制御部１０，１１を有する走行用の第１の回路ＨＣ１と、作業用油圧ポンプ４からの圧油により作業用油圧アクチュエータ１１４，１１５を駆動する作業用の第２の回路ＨＣ２と、第２の回路ＨＣ２の負荷圧Ｐｆに応じて油圧モータ３の押しのけ容積の最大値を制限する最大値制限部１０とを備える。最大値制限部１０は、第２の回路の負荷圧Ｐｆが所定値Ｐｓを超えると、押しのけ容積の最大値を、第２の回路の最大負荷圧Ｐｒに対応した最小制限値ｑ１まで減少させる。
PCT/JP2008/054519 2007-03-12 2008-03-12 作業車両の走行制御装置 Ceased WO2008120545A1 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP08721935.8A EP2131072B1 (en) 2007-03-12 2008-03-12 Travel control device for work vehicle
US12/530,987 US8671673B2 (en) 2007-03-12 2008-03-12 Travel control apparatus for working vehicle
CN2008800080719A CN101631973B (zh) 2007-03-12 2008-03-12 作业车辆的行驶控制装置
KR1020097018965A KR101414329B1 (ko) 2007-03-12 2008-03-12 작업 차량의 주행 제어 장치

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007061954A JP5129493B2 (ja) 2007-03-12 2007-03-12 作業車両の走行制御装置
JP2007-061954 2007-03-12

Publications (1)

Publication Number Publication Date
WO2008120545A1 true WO2008120545A1 (ja) 2008-10-09

Family

ID=39808128

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/054519 Ceased WO2008120545A1 (ja) 2007-03-12 2008-03-12 作業車両の走行制御装置

Country Status (6)

Country Link
US (1) US8671673B2 (ja)
EP (1) EP2131072B1 (ja)
JP (1) JP5129493B2 (ja)
KR (1) KR101414329B1 (ja)
CN (1) CN101631973B (ja)
WO (1) WO2008120545A1 (ja)

Families Citing this family (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ATE549544T1 (de) * 2007-09-26 2012-03-15 Hitachi Construction Machinery Hydraulische druckzufuhrvorrichtung für ein nutzfahrzeug
US8839920B2 (en) 2008-04-17 2014-09-23 Levant Power Corporation Hydraulic energy transfer
WO2010104138A1 (ja) * 2009-03-12 2010-09-16 株式会社小松製作所 作業機を備えた建設車両
JP5208986B2 (ja) * 2010-03-19 2013-06-12 株式会社小松製作所 作業機を備えた建設車両
WO2013029054A1 (en) * 2011-08-25 2013-02-28 Cnh America Llc Proportional parking brake control in cooperation with operation of a continuously variable transmission
US8639429B2 (en) 2012-03-30 2014-01-28 Komatsu Ltd. Wheel loader and method for controlling a wheel loader
US9556590B2 (en) 2012-06-04 2017-01-31 Hitachi Construction Machinery Co., Ltd. Construction vehicle
ES2707281T3 (es) * 2012-09-04 2019-04-03 Clark Equipment Co Máquina motorizada
US9702349B2 (en) 2013-03-15 2017-07-11 ClearMotion, Inc. Active vehicle suspension system
EP2968709B1 (en) 2013-03-15 2019-10-02 ClearMotion, Inc. Active vehicle suspension improvements
EP2969608B1 (en) 2013-03-15 2021-11-17 ClearMotion, Inc. Multi-path fluid diverter valve
JP6368495B2 (ja) * 2014-01-29 2018-08-01 株式会社小松製作所 作業車両及びその制御方法
JP5717923B1 (ja) 2014-05-30 2015-05-13 株式会社小松製作所 作業車両の制御方法、作業車両の制御装置及び作業車両
JP6555592B2 (ja) 2016-09-28 2019-08-07 日立建機株式会社 作業車両
DE102018211586A1 (de) 2018-06-29 2020-01-02 Robert Bosch Gmbh Radantriebsanordnung für einen hydrostatischen Fahrantrieb und hydrostatischer Fahrantrieb
CN112601865B (zh) 2018-09-28 2022-12-16 日立建机株式会社 装卸作业车辆
EP3795755B1 (en) 2019-03-13 2023-07-05 Hitachi Construction Machinery Co., Ltd. Cargo handling work vehicle
US11866912B2 (en) 2019-09-19 2024-01-09 Doosan Bobcat North America, Inc. Drive motor displacement control
US12146301B2 (en) * 2021-04-29 2024-11-19 Caterpillar Inc. Automatic torque control system

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63259182A (ja) * 1987-04-16 1988-10-26 Daikin Ind Ltd 流体制御装置
JP2818474B2 (ja) 1990-07-04 1998-10-30 日立建機株式会社 油圧駆動回路
JP2000193086A (ja) * 1998-12-28 2000-07-14 Hitachi Constr Mach Co Ltd 無段変速油圧走行駆動装置
JP2004144254A (ja) * 2002-10-28 2004-05-20 Komatsu Ltd 油圧駆動車両
JP2007061954A (ja) 2005-08-31 2007-03-15 Institute Of Physical & Chemical Research 腰上下動による二足歩行ロボットとその歩行制御方法

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Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63259182A (ja) * 1987-04-16 1988-10-26 Daikin Ind Ltd 流体制御装置
JP2818474B2 (ja) 1990-07-04 1998-10-30 日立建機株式会社 油圧駆動回路
JP2000193086A (ja) * 1998-12-28 2000-07-14 Hitachi Constr Mach Co Ltd 無段変速油圧走行駆動装置
JP2004144254A (ja) * 2002-10-28 2004-05-20 Komatsu Ltd 油圧駆動車両
JP2007061954A (ja) 2005-08-31 2007-03-15 Institute Of Physical & Chemical Research 腰上下動による二足歩行ロボットとその歩行制御方法

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP2131072A4

Also Published As

Publication number Publication date
US8671673B2 (en) 2014-03-18
US20100095663A1 (en) 2010-04-22
CN101631973B (zh) 2012-11-14
KR101414329B1 (ko) 2014-07-02
EP2131072A1 (en) 2009-12-09
JP5129493B2 (ja) 2013-01-30
KR20090119972A (ko) 2009-11-23
CN101631973A (zh) 2010-01-20
EP2131072A4 (en) 2013-03-06
EP2131072B1 (en) 2021-08-11
JP2008223858A (ja) 2008-09-25

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