Patent Application
20100131158
The present invention relates to a working vehicle, and to a hydraulic fluid amount control method for a working vehicle.
With a wheel loader, taken as an example as one type of working vehicle, an output of the engine is used as power for working and also as power for traveling. With the wheel loader, a load such as earth or sand or the like is scooped up by a bucket as a working apparatus, the bucket is lifted up by a boom, and then the load is dumped upon a bed or the like of a truck. It is possible to enhance working efficiency by raising the bucket which the load has been filled rapidly.
Thus, in the prior art, during loading operation, an operator operates a brake pedal and an accelerator pedal at the same time. Due to this, it has been proposed to increase a rotational speed of a hydraulic fluid pump during low speed traveling, so as to increase the amount of hydraulic fluid supplied to the working apparatus (refer to Patent Document #1). It should be understood that a technique is also per se known for controlling the degree of engagement of a clutch according to the difference between rotational speeds of left and right drive wheels.
In the prior art, it has been required to operate the accelerator pedal and the brake pedal at the same time in order to increase the amount of hydraulic fluid supplied to the working apparatus, and thus, from the point of view of operability, there has been room for improvement. Moreover it is basically useless for the power which is distributed to the traveling system to be thus wasted by being converted into heat by the brakes. Systems also exist in which, separately from the normal brake pedal, a special type of brake pedal is provided to the working vehicle which combines a function as a brake and a function for operating the clutch. Even with a working vehicle which is equipped with this special type of brake pedal, loss of power occurs due to braking operation, since this special type brake pedal is operated when operating the clutch in order to distribute the power to the working apparatus side.
The present invention has been conceived in the light of the problems described above, and its object is to provide a working vehicle, and a hydraulic fluid amount control method for a working vehicle, which make it possible to enhance the working efficiency. Another object of the present invention is to provide a working vehicle, and a hydraulic fluid amount control method for a working vehicle, which make it possible to detect automatically the fact that loading operation is being performed, thus enhancing the operability and improving the efficiency of such loading operation, and which make it possible to utilize the power of the engine in an efficient manner in order to raise the boom. Yet further objects of the present invention will become apparent from the following description of embodiments thereof.
In order to solve the problems described above, according to the present invention, there is proposed a working vehicle in which an output from an engine is distributed via a splitter to each of a traveling system and a hydraulic system, wherein: the traveling system comprises: a clutch connected to the engine via the splitter, a transmission which transmits drive force outputted from the clutch to drive wheels according to a set speed stage, and a vehicle speed detection means; and the hydraulic system comprises: one or more pumps driven via the splitter, a boom rotatably provided to one end of a vehicle body, a bucket rotatably provided to one end of the boom, a boom cylinder for rotating the boom, a bucket cylinder for rotating the bucket, a first control valve which supplies hydraulic fluid discharged from a first pump included in the pumps to the boom cylinder and to the bucket cylinder, according to the operation amounts of a boom lever and a bucket lever, and a second pump included in the pumps and capable of supplying hydraulic fluid to the boom cylinder via the first control valve; and comprising: an operational state detection means which detects the loading operation state of the working apparatus; and a hydraulic fluid amount increase control means which increases an amount of hydraulic fluid supplied to the boom cylinder, upon the detection of the loading operation state.
The operational state detection means may determine whether or not loading operation is being performed with the boom and the bucket. The expression “loading operation is being performed” may also include the starting of loading operation.
The operational state detection means may perform the detection as to whether or not loading operation is being performed, on the basis of at least two parameters among: the operation amount of the boom lever; an angle of the boom; a speed stage to which the transmission is set; a vehicle speed detected by the vehicle speed detection means; a traveling range to which the transmission is set; and a speed of extension of the boom cylinder.
The operational state detection means may determine that loading operation is being performed by the boom and the bucket, if: the boom lever is being operated so as to raise the boom; the angle of the boom is at least equal to a predetermined angle which is set in advance; the angle of the boom is less than a maximum angle which is set in advance; and also a ratio between an input rotational speed and an output rotational speed of the clutch is greater than or equal to a predetermined value which is set in advance.
The operational state detection means may determine that loading operation is being performed by the boom and the bucket, if at least two of the following conditions is satisfied: (a) the boom lever is being operated so as to raise the boom; (b) the angle of the boom is greater than or equal to a predetermined angle which is set in advance; (c) the angle of the boom is less than a maximum angle which is set in advance; (d) the ratio between the input rotational speed and the output rotational speed of the clutch is greater than or equal to a predetermined value which is set in advance; (e) the speed stage set for the transmission is the same as a predetermined speed stage which is set in advance; (f) the traveling range set for the transmission has been changed over from reverse to forward; (g) the speed of extension of the boom cylinder is positive; and (h) the vehicle speed detected by the vehicle speed detection means is greater than or equal to a predetermined speed which is set in advance.
The hydraulic fluid amount increase control means may increase the flow amount of hydraulic fluid supplied to the boom cylinder by decreasing the clutch pressure commanded for the clutch.
The hydraulic fluid amount increase control means may increase the flow amount of hydraulic fluid supplied to the boom cylinder by increasing the flow amount of hydraulic fluid discharged from the first pump.
The hydraulic fluid amount increase control means may increase the flow amount of hydraulic fluid supplied to the boom cylinder by supplying hydraulic fluid to the boom cylinder from the second pump, in addition to the hydraulic fluid discharged from the first pump.
The hydraulic fluid amount increase control means may increase the flow amount of hydraulic fluid supplied to the boom cylinder by decreasing the clutch pressure commanded for the clutch, and by supplying hydraulic fluid to the boom cylinder from the second pump, in addition to the hydraulic fluid discharged from the first pump.
And the operational state detection means may determine that loading operation is being performed by the boom and the bucket, if: the boom lever is being operated so as to raise the boom; the angle of the boom is at least equal to a predetermined angle which is set in advance; the angle of the boom is less than a maximum angle which is set in advance; and also the ratio between the input rotational speed and the output rotational speed of the clutch is greater than or equal to a predetermined value which is set in advance; with also the hydraulic fluid amount increase control means increasing the flow amount of hydraulic fluid supplied to the boom cylinder by decreasing the clutch pressure commanded for the clutch.
And, according to another aspect of the present invention, for a working vehicle which distributes an output from an engine via a splitter to each of a traveling system and a hydraulic system, and wherein: the traveling system comprises: a clutch connected to the engine via the splitter, and a transmission which transmits drive force outputted from the clutch to drive wheels according to a set speed stage; and the hydraulic system comprises: one or more pumps driven via the splitter, a boom rotatably provided to one end of a vehicle body, a bucket rotatably provided to one end of the boom, a boom cylinder for rotating the boom, a bucket cylinder for rotating the bucket, a first control valve which supplies hydraulic fluid discharged from a first pump included in the pumps to the boom cylinder and to the bucket cylinder, according to the operation amounts of a boom lever and a bucket lever, and a second pump included in the pumps and capable of supplying hydraulic fluid to the boom cylinder via the first control valve; there is provided a hydraulic fluid amount control method in which are executed: processing in which it is determined whether or not the loading operation is being performed by the working apparatus; and processing in which, if the loading operation state has been detected, the amount of hydraulic fluid supplied to the boom cylinder is increased.
According to the present invention, it is possible to detect the loading operation state automatically, so that it is possible to increase the amount of hydraulic fluid supplied to the boom cylinder. By doing this, it is possible to enhance the efficiency of the loading operation.
And, according to the present invention, it is possible to detect that the loading operation is being performed automatically, on the basis of a plurality of parameters which are set in advance.
Moreover, according to the present invention, it is possible to increase the amount of hydraulic fluid which is supplied to the boom cylinder by decreasing the clutch pressure, or by supplying hydraulic fluid from a first pump and a second pump to the boom cylinder, and thus it is possible to enhance the efficiency of operation.
In the following, several embodiments of the present invention will be described in detail with reference to drawings. In these embodiments, as will be explained below, the power which is distributed to the working apparatus side is automatically controlled according to the operational state.
In the following, an embodiment of the present invention will be described by citing an application of the present invention to a wheel loader, which is taken as an example of a working apparatus. However, this embodiment may also be applied to a working apparatus of some other type than a wheel loader.
The mechanical structure 100 comprises, for example, an engine 101, an output splitter (PTO: Power Take Off) 102 which distributes the output of the engine 101 between a traveling system 103 and a hydraulic system 104, the traveling system 103 which is for causing the wheel loader 1 to travel, and the hydraulic system 104 which is principally for operating a working apparatus 5.
Now reference will be made to
The vehicle body 2 comprises a rear vehicle body portion 21, a front vehicle body portion 22, and a link portion 23 which links together the rear vehicle body portion 21 and the front vehicle body portion 22. Between the rear vehicle body portion 21 and the front vehicle body portion 22, there are provided a pair of left and right steering cylinders 130. When the operator operates a steering lever 127 (refer to
The engine room contains the engine 101 and pumps 120 and so on. The working apparatus 5 comprises a boom 51 which is provided so as to be rotatable to extend forwards and backwards from the front vehicle body portion 22, a bucket 52 which is rotatably mounted at the end of the boom 51, a boom cylinder 128 for rotating the boom 51 in upwards and downwards direction, and a bucket cylinder 129 for rotating the bucket 52.
Returning to
The hydraulic system 104 comprises, for example, a loader pump 120, a switch pump 121, a steering pump 122, a main valve 123, a load sensing (steering) valve (in the figure, referred to as a CLSS: Closed-center Load Sensing System) 124, a bucket lever 125, a boom lever 126, a steering lever 127, a boom cylinder 128, a bucket cylinder 129, a steering cylinder 130, an auxiliary machinery pump 131, and auxiliary machinery 132.
Here, the loader pump 120 corresponds to the “first pump” in the Claims, the switch pump 121 corresponds to the “second pump”, and the main valve 123 corresponds to the “first control valve”. It should be understood that the load sensing valve 124 may also sometimes be referred to as the “second control valve”.
The loader pump 120 is a pump for supplying hydraulic fluid to the boom cylinder 128 and the bucket cylinder 129. The steering pump 122 is a pump for supplying hydraulic fluid to the steering cylinders 130. The switch pump 121 is a pump for supplying hydraulic fluid either to the steering cylinders 130 or the boom cylinder 128 and the bucket cylinder 129. These pumps 120, 121, and 122 may each, for example, be built as a swash plate type hydraulic pump, with the angle of each of these swash plates being controlled by a control signal from the controller 200.
According to the load, the load sensing valve 124 mechanically controls a destination of supply and the amount of supply of hydraulic fluid discharged from the switch pump 121. The load sensing valve 124 may also be termed a steering valve. During normal traveling, the hydraulic fluid discharged from the switch pump 121 is supplied to the steering cylinders 130 via the load sensing valve 124. In other words, during traveling, the switch pump 121 assists the steering pump 122, and acts for operating the steering cylinders 130. It should be understood that while, in this embodiment, a CLSS valve is used as one example of the load sensing valve (or steering valve) 124, the present invention may also be applied to a structure which utilizes a valve of a type different from a CLSS valve.
On the other hand, during operation, it is arranged for the hydraulic fluid discharged from the switch pump 121 to be supplied to the boom cylinder 128 via the load sensing valve 124 and the main valve 123. In other words, during loading operation, the switch pump 121 assists the loader pump 120, and acts for operating the boom cylinder 128.
The bucket lever 125 is a device for operating the bucket 52. And the boom lever 126 is a device for operating the boom 51. Moreover, the steering lever 127 is a device for operating the steering cylinders 130. Each of these levers 125, 126, and 127 may, for example, comprise an operation unit which is operated by the operator, and a pilot pressure control valve which controls a pilot pressure according to the amount of operation of the operation unit. Furthermore, the main valve 123 supplies hydraulic fluid discharged from the loader pump 120 (or from both the loader pump 120 and the switch pump 121) to the boom cylinder 128 or to the bucket cylinder 129, according to pilot pressure inputted from the bucket lever 125 or from the boom lever 126.
The auxiliary machinery 132 may, for example, include devices such as a cooling fan driven by a hydraulic motor and so on. And the auxiliary machinery pump 131 is a pump for supplying hydraulic fluid to the auxiliary machinery 132.
Sensors 140 of various types are provided at certain positions within the mechanical structure 100. These sensors 140 of various types are a generic term for sensors 141 through 149 which will be described hereinafter with reference to
The controller 200 is built as an electronic circuit which, for example, comprises a calculation unit 210, a memory 220, and an input and output interface unit 230. The calculation unit 210 comprises a loading operation detection means 211 and a working hydraulic fluid amount increase control means 212 (sometimes hereinafter abbreviated as the “hydraulic fluid amount increase control means 212”).
The loading operation detection means 211 is a function for detecting whether or not loading operation is currently being performed, as will be described hereinafter. And the hydraulic fluid amount increase control means 212 is a function for increasing the amount of hydraulic fluid supplied to the boom cylinder 128 during loading operation.
The memory 220 is a storage medium for storing, for example, a program 221, parameters 222, and tables 223. By reading in the program 221 from the memory 220, the calculation unit 210 detects whether or not loading operation is being performed, and increases the amount of hydraulic fluid supplied to the boom cylinder 128. The parameters 222 are threshold values and setting values which are used by the loading operation detection means 211 and the hydraulic fluid amount increase control means 212. And the tables 223 are tables which are used by the loading operation detection means 211 and the hydraulic fluid amount increase control means 212.
The input and output interface unit 230 is a circuit for sending and receiving electrical signals between the sensors 140 of various types, the clutch 110, the transmission 112, and the pumps 120 through 122 and 131. The calculation unit 210 receives signals from the various sensors 140 via the input and output interface unit 230. Moreover, the calculation unit 20 outputs control signals to the clutch 110 and the pumps 120 through 122 and 131 via the input and output interface unit 230. It should be understood that the structure of the controller 200 described above is shown as simplified down to a level required for understanding and implementation of the present invention; thus, the present invention should not be considered as being limited to the structure described above.
A boom lever operation amount sensor 142 detects the operating direction and the operation amount of the boom lever 126. A boom angle sensor 143 detects the angle of the boom 51. An engine rotational speed sensor 144 detects the rotational speed of the engine 101. A clutch output rotational speed sensor 145 detects the output rotational speed of the clutch 110. A transmission output rotational speed sensor 146 detects the output rotational speed of the transmission 112. A brake pedal operation amount sensor 147 detects the operation amount of a brake pedal within the operator compartment 6. An accelerator pedal operation amount sensor 148 detects the operation amount of an accelerator pedal within the operator compartment 6. And a vehicle speed meter 149 detects the speed of the body of the working vehicle 1, and is one example of the “vehicle speed detection means” of the Claims.
By appropriately utilizing the signals from the various sensors 141 through 149, the loading operation detection means 211 within the controller 200 makes a decision as to whether or not loading operation is being performed. And, if it is detected that loading operation is being performed, then the hydraulic fluid amount increase control means 212 increases the amount of hydraulic fluid supplied to the boom cylinder 128 by increasing an angle of the swash plate of the loader pump 120, and/or by decreasing the clutch pressure of the clutch 110.
The hydraulic fluid amount increase control means 212 comprises, for example, a swash plate command signal control means 212A and a clutch command pressure control means 212B. The first control means 212A outputs a control signal for controlling the angle of the swash plate. And the second control means 212B outputs a control signal for controlling the clutch pressure of the clutch 110.
During loading operation, the first control means 212A outputs a control signal, so as to cause the flow amount of hydraulic fluid discharged from the loader pump 120 to be increased. If some other control signal is also outputted from some other control means for controlling the angle of the swash plate, then the one of the control signal from the first control means 212A and the other control signal, whose value is the larger, is inputted to the loader pump 120.
On the other hand, during loading operation, the second control means 212B outputs a control signal so as to decrease the clutch pressure of the clutch 110, and so as thus to distribute more of the output of the engine 101 to the side of the working apparatus 5. If some other control signal is also outputted from some other control means for controlling the clutch pressure, then the one of the clutch pressure control signal from the second control means 212B and the other clutch pressure control signal, whose value is the smaller, is inputted to the clutch 110. For example, if a special type of brake is provided to the working vehicle (the special type of brake is also sometimes termed a “left brake”), then the clutch command pressure due to the special type of brake corresponds to one such other clutch pressure control signal.
Thus, in a first working process P1, the operator drives the wheel loader 1 towards the object of excavation 11, in the state in which the bucket 52 is lowered down to be close to the ground surface. Then, after having thrust the bucket 52 into the object of excavation 11, the operator rotates the bucket 52 in the tilt direction, so that a load is held in the bucket 52.
Next, in a second working process P2, the operator raises the bucket 52 by a certain amount from the ground surface, with the load held in it, makes the wheel loader 1 in traveling position and drives the wheel loader 11 to move in reverse.
Then, in a third working process P3, while keeping the boom 51 raised, the operator approaches the dump truck, and then, as shown in
Finally, in a fourth working process P4, the operator goes back the wheel loader 1 while lowering the boom 51. Then the cycle returns back to the first working process P1 again.
And it may be decided that loading operation has been started, when a line A2-A2 which connects the rotation center of the boom 51 and the rotation center of the bucket 52 is positioned more upwards than its position in which it has been rotated by θb in the anticlockwise direction from the reference line A1-A1. By doing this, in this embodiment, raise of the boom 51 by at least the angle of the boom 51 during traveling is detected.
It should be understood that the definition shown in
In a range of boom lever operation amount from 0% to 50%, the clutch command pressure is kept high, so that the output of the engine 101 is distributed to the traveling system more. When the boom lever operation amount is greater than 50%, the clutch command pressure is decreased according to the boom lever operation amount. The table T1 sets that the greater the operation amount of the accelerator pedal becomes, the higher decrease rate of the clutch pressure become. In other words, in this embodiment, the greater the operation amount of the accelerator pedal becomes, the more the clutch 110 is slipped, so that the output of the engine 101 is distributed to the side of the working apparatus 5 more. During clutch operation with the left brake, the clutch command pressure value due to the left brake is compared with a command value obtained from the table T1, and the lower of these command values is adopted.
As a first condition, the controller 200 makes a decision as to whether or not the boom lever 126 has been operated in its raise direction (a step S10). Operation of the boom 51 in the raise direction means operation of the boom 51 in order to raise it. This decision as to whether or not the boom lever 126 has been operated in the raise direction, is taken because, during loading operation, it is necessary to raise the boom 51.
As a second condition, the controller 200 makes a decision as to whether or not the boom angle θb is greater than a predetermined angle θ1 which is set in advance (a step S11). As shown in
As a third condition, the controller 200 makes a decision as to whether or not the boom angle θb is less than an upper limit angle θmax which is set in advance (a step S12). This check as to whether or not the boom angle θb is less than the upper limit angle θmax is performed because, during loading operation, if the boom 51 is already raised to its upper limit, more hydraulic fluid than the amount being supplied at the present is not required.
As a fourth condition, the controller 200 makes a decision as to whether or not it is the case either that a speed ratio is greater than R1 while the brake is OFF, or that the brake is ON (a step S13). The brake being OFF means that the brake pedal is not being operated. The speed ratio is the value obtained by dividing the output rotational speed of the torque converter 111 by the input rotational speed of the torque converter 111. It would also be acceptable for it to be the value obtained by dividing the output rotational speed of the clutch 110 by the input rotational speed of the clutch 110. And the brake ON state is the state in which the brake is being applied by operation of the brake pedal.
If, while the brake is OFF, the speed ratio is less than R1 (where R1 may be set, for example, to 0.3) (i.e., when the speed ratio<R1), this means that the wheel loader 1 is being accelerated, or that the digging operation shown in
If all of the four conditions described above are satisfied, then the controller 200 decides that loading operation is now taking place (a step S14).
In a first stage hydraulic fluid amount increase procedure, using the table T1 shown in
In a second stage hydraulic fluid amount increase procedure, using the table T2 shown in
In a third stage hydraulic fluid amount increase procedure, the controller 200 sets the swash plate angle so as to increase the discharge amount from the switch pump 121, and outputs an appropriate control signal to the switch pump 121 (a step S23). For example, the controller 200 may set the swash plate angle of the switch pump 121 on the basis of the calculation equation: swash plate angle of switch pump 121 (%)=swash plate angle determined by load sensing valve 124 (%)+amount to be added corresponding to the boom lever operation amount (%).
The swash plate angle due to the load sensing valve is a swash plate angle corresponding to the flow amount which has been determined as necessary for operating the steering cylinders 130. And the amount to be added corresponding to the boom lever operation amount is a swash plate angle corresponding to the flow amount which has been determined as necessary for supporting the loader pump 120. If the sum on the right side of the calculation equation described above is greater than 100%, then the swash plate angle of the switch pump 121 is limited to 100%.
And, in a fourth stage hydraulic fluid amount increase procedure, the controller 200 sets the swash plate angle of the auxiliary machinery pump 131 so that the flow amount of hydraulic fluid discharged from the auxiliary machinery pump 131 decreases, and outputs an appropriate control signal to the auxiliary machinery pump 131 (a step S24). If the auxiliary machinery pump 131 is connected to the output splitter 102 via a clutch pump, then the controller 200 may release the engagement of this pump clutch, instead of controlling the swash plate angle. Due to this, the output which was being distributed to the auxiliary machinery pump 131 is now distributed to the loader pump 120.
By implementing the first through the fourth hydraulic fluid amount increase procedures described above in this manner during loading operation, it is possible to supply a larger amount of hydraulic fluid to the boom cylinder 128, so that it is possible to enhance the speed of raise of the boom 51.
Although, in this embodiment, a case has been explained in which all of the first through the fourth hydraulic fluid amount increase procedures described above are performed, the present invention is not to be considered as being limited thereto. For example, it would also be acceptable for the controller 200 to be adapted to perform only one of the first hydraulic fluid amount increase procedure (the step S21) or the second hydraulic fluid amount increase procedure (the step S22). Moreover, it would also be acceptable for the controller 200 to be adapted to perform only the first, second, and third hydraulic fluid amount increase procedures (the steps S21, S22, and S23), or to perform only the first hydraulic fluid amount increase procedure and the second hydraulic fluid amount increase procedure (the steps S21 and S22), or to perform only the first hydraulic fluid amount increase procedure and the third hydraulic fluid amount increase procedure (the steps S21 and S23), or to perform only the second hydraulic fluid amount increase procedure and the third hydraulic fluid amount increase procedure (the steps S22 and S23).
In this embodiment, due to the structure described above, the following advantages are obtained. In this embodiment, it is possible to detect the loading operation state automatically on the basis of changes in the predetermined parameters such as the boom lever operation amount and the boom angle and so on. Accordingly, it is possible to perform control which responds to the fact of loading operation, so that it is possible to enhance the performance of the wheel loader 1.
In this embodiment, during loading operation, the flow amount of hydraulic fluid supplied to the boom cylinder 128 is increased. Accordingly it is possible to enhance the speed of raise of the boom 51, and thus to shorten the time required for loading operation, so that it is possible to improve the working efficiency. Moreover, since the flow amount of hydraulic fluid to the boom cylinder 128 is automatically increased when loading operation starts, accordingly it becomes unnecessary for the operator to perform any superfluous operation such as operating the brake pedal or the like, so that the operability during loading operation is enhanced.
In this embodiment it is decided that loading operation has been started, if all of the conditions for positively detecting that loading operation is taking place (the steps S10 and S11) and also all of the conditions for preventing erroneous detection (the steps S12 and S13) are satisfied. Accordingly, it is possible to determine that loading operation has started with superior reliability.
And, in this embodiment, when it is determined that loading operation is taking place, the first through the fourth hydraulic fluid amount increase procedures are executed (the steps S21 through S24). Accordingly, it is possible to supply more hydraulic fluid to the boom cylinder 128, and thus to raise the boom 51 more rapidly.
Now, certain variant embodiments of the processing for detecting loading operation will be explained. The each embodiment described below is variant of the first embodiment described above. In a second embodiment shown in
With this embodiment having this structure and operation, similar advantages are obtained as in the case of the first embodiment. In this embodiment, it is possible to simplify the control program as compared with the first embodiment, because the processing for detecting loading operation is shortened as compared with the case for the first embodiment.
In a third embodiment shown in
In a fourth embodiment shown in
However, the present invention is not to be considered as being limited to the case of the second forward speed stage. In other words, in the step S15, a decision is made as to whether or not a predetermined speed stage (or one of predetermined speed stages) determined in advance is set. Thus, in the above description, the second forward speed stage was cited as one example of such a predetermined speed stage. With this fourth embodiment having this structure and operation, similar advantages are obtained as in the case of the second embodiment.
In a fifth embodiment shown in
As shown in
In a sixth embodiment shown in
During loading operation, the boom 51 is raised at the same time that the wheel loader 1 is being moved towards the dump truck 10. The boom 51 is rotated, so as to be raised, by the cylinder rod of the boom cylinder 128 extending. And, according to this extension of the cylinder rod of the boom cylinder 128, the boom cylinder 128 is rotated in a clockwise direction around its base end as a fulcrum. Accordingly, by obtaining the angular velocity of the boom 51 on the basis of the detection signal from the boom angle sensor 143, it is possible to determine whether or not the boom 51 is being raised.
With this sixth embodiment having this structure and operation, similar advantages are obtained as in the case of the second embodiment. It should be understood that the angular velocity of the boom 51 may also be detected as being the angular velocity of the boom cylinder 128. Furthermore it would also be acceptable to make a decision as to whether or not the speed of extension of the cylinder rod of the boom cylinder 128 (instead of its angular velocity) is greater than or equal to zero. The speed of extension of the cylinder rod may be calculated from the angular velocity of the boom cylinder 128; or, alternatively, it would also be acceptable to calculate the speed of extension of the cylinder rod using a linear sensor which detects the amount of displacement of the cylinder rod directly.
In a seventh embodiment shown in
In a eighth embodiment shown in
Finally, in a ninth embodiment shown in
It should be understood that the present invention is not limited to the embodiments described above. For a person of ordinary skill in the art, it is possible to make various additions and alterations and so on, within the range of the present invention. For example, in the embodiments described above, the following possibilities have been cited as information for determining that loading operation is being performed: whether the boom lever has been operated in its raise direction; whether the boom angle is greater than or equal to a predetermined value; whether the boom angle is in the “Carry Position” as defined by the SAE standard; whether the boom angle is less than an upper limit angle; whether the speed ratio while the brake is OFF is greater than or equal to a predetermined value; whether a predetermined speed stage is set; whether the traveling range has changed over from reverse to forward; and whether the angular velocity of the boom (i.e. the boom cylinder angular velocity) is greater than or equal to a predetermined value. And, in the various embodiments, a plurality of examples have been explained in which the information (i.e. the parameters) thus cited by way of example has been combined in various appropriate combinations. However, the present invention is not limited to those combinations of the above conditions which have been explicitly described above, which are only particular examples of specific implementations; other combinations are also to be considered as being included within the scope of the present invention.
1: wheel loader, 2: vehicle body, 3: tires, 4: engine room, 5: working apparatus, 6: operator compartment, 10: dump truck, 11: subject of excavation, 21: rear vehicle body portion, 22: front vehicle body portion, 23: link portion, 51: boom, 52: bucket, 100: mechanical structure, 101: engine, 102: output splitter, 103: traveling system, 104: hydraulic system, 110: clutch, 111: torque converter, 112: transmission, 113: axle, 120: loader pump, 121: switch pump, 122: steering pump, 123: main valve, 124: load sensing valve, 125: bucket lever, 126: boom lever, 127: steering lever, 128: boom cylinder, 129: bucket cylinder, 130: steering cylinder, 131: auxiliary machinery pump, 132: auxiliary machinery, 140: sensors of various types, 141: traveling range sensor, 142: boom lever operation amount sensor, 143: boom angle sensor, 144: engine rotational speed sensor, 145: clutch output rotational speed sensor, 146: transmission output rotational speed sensor, 147: brake pedal operation amount sensor, 148: accelerator pedal operation amount sensor, 149: vehicle speed meter, 200: controller, 210: calculation unit, 211: working detection means, 212: hydraulic fluid amount increase control means, 212: hydraulic fluid amount increase control means, 212A: swash plate command signal control means, 212B: clutch command pressure control means, 220: memory, 221: program, 222: parameters, 223: tables, 230: input and output interface unit.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2007-207740 | Aug 2007 | JP | national |
| Filing Document | Filing Date | Country | Kind | 371c Date |
|---|---|---|---|---|
| PCT/JP2008/063122 | 7/22/2008 | WO | 00 | 1/28/2010 |
