JP2001073413A - Mechanism operating device for stabilizing travel - Google Patents
Mechanism operating device for stabilizing travelInfo
- Publication number
- JP2001073413A JP2001073413A JP24642899A JP24642899A JP2001073413A JP 2001073413 A JP2001073413 A JP 2001073413A JP 24642899 A JP24642899 A JP 24642899A JP 24642899 A JP24642899 A JP 24642899A JP 2001073413 A JP2001073413 A JP 2001073413A
- Authority
- JP
- Japan
- Prior art keywords
- traveling
- stabilizing mechanism
- accumulator
- speed
- oil chamber
- 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.)
- Withdrawn
Links
Classifications
-
- 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
- E02F9/2217—Hydraulic or pneumatic drives with energy recovery arrangements, e.g. using accumulators, flywheels
-
- 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
- E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
- E02F9/2207—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for reducing or compensating oscillations
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
- Shovels (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、オフロード作業車
両の走行安定機構の作動と不作動とを切換えることので
きる走行安定機構作動装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a travel stabilizing mechanism operating device capable of switching between operation and non-operation of a travel stabilizing mechanism of an off-road work vehicle.
【０００２】[0002]
【従来の技術】ホイールローダや、ホイールローダをベ
ースにしたドーザ、オフロード用フォークリフト等のオ
フロード作業車両には、走行時の車体の振動を抑制する
ための走行安定機構を備えているものがある。この走行
安定機構は、バケット等の作業装置を支持しているリフ
トアームを昇降させるためのリフト用シリンダのボトム
側油室を油圧管路でアキュムレータと接続し、アキュム
レータの緩衝作用で、車体の振動を打ち消すようにリフ
トアームを揺動させるように構成されている。2. Description of the Related Art Off-road work vehicles such as wheel loaders, dozers based on wheel loaders, and off-road forklifts have a running stabilization mechanism for suppressing vibration of a vehicle body during running. is there. This running stabilization mechanism connects the bottom oil chamber of a lift cylinder for lifting and lowering a lift arm supporting a working device such as a bucket with an accumulator via a hydraulic line, and the vibration of the vehicle body is reduced by the buffering action of the accumulator. Is configured to swing the lift arm so as to cancel out.
【０００３】従って、走行時に車体を安定させるのには
有効であるが、作業時には作業装置の正確な位置制御が
できなくなるため、走行安定機構は、走行時には作動さ
せ、作業時には作動しないようにしなければならない。
オフロード作業車両による作業は一般に低速で行われ
る。そこで、従来の走行安定機構には、オフロード作業
車両の走行速度を検出し、予め設定されている走行速度
より高速であれば走行安定機構を作動させ、設定されて
いる走行速度より低速であれば走行安定機構を不作動と
する自動入切装置が設けられていた。[0003] Accordingly, although effective for stabilizing the vehicle body during traveling, accurate position control of the working device cannot be performed at the time of work. Therefore, the traveling stabilizing mechanism must be operated during traveling and not operated during work. Must.
Work by the off-road work vehicle is generally performed at a low speed. Therefore, the conventional traveling stability mechanism detects the traveling speed of the off-road work vehicle, activates the traveling stability mechanism if the traveling speed is higher than a preset traveling speed, and determines whether the traveling speed is lower than the preset traveling speed. For example, an automatic on-off device for disabling the running stabilization mechanism was provided.
【０００４】しかしながら、実際の作業は現場の状況に
よって多様である。従って、従来の自動入切装置のよう
に、走行時と作業時とを判別するための走行速度の値を
予め設定しておくものでは、あらゆる作業に対して最適
であるよう走行速度の値を設定するのは難しい。そこ
で、アキュムレータの緩衝作用で車体の振動を打ち消す
ようにリフトアームを揺動させる走行安定機構を備えた
オフロード作業車両において、オフロード作業車両の走
行速度を検出する速度検出器と、走行安定機構の作動す
る走行速度を設定する手動調整部と、この手動調整部で
設定した走行速度の設定値と速度検出器で検出した走行
速度の検出値とを比較して走行安定機構の作動の要否を
判別し、必要時のみ走行安定機構が作動するように切換
えを行う判別部とを設けたオフロード作業車両の走行安
定機構作動装置が提案されている（特開平９−７８６２
８号参照）。また、走行安定機構の作動の要否を作業装
置の位置によって決定したり、オペレータの判断によっ
て手動で行うものもある。[0004] However, actual work varies depending on the situation at the site. Therefore, as in a conventional automatic on / off device, in which a traveling speed value for discriminating between traveling and working is set in advance, the traveling speed value is set so as to be optimal for any work. Hard to set. Therefore, in an off-road work vehicle equipped with a travel stabilization mechanism that swings a lift arm so as to cancel the vibration of the vehicle body by the damping action of the accumulator, a speed detector that detects the traveling speed of the off-road work vehicle, and a travel stability mechanism A manual adjustment unit for setting the traveling speed at which the vehicle operates, and comparing the set value of the traveling speed set by the manual adjustment unit with the detected value of the traveling speed detected by the speed detector to determine whether the traveling stabilization mechanism needs to be operated. A device for operating a traveling stabilization mechanism of an off-road work vehicle, which is provided with a determination unit for determining whether the traveling stabilization mechanism is activated only when necessary, has been proposed (JP-A-9-7862).
No. 8). In some cases, the necessity of the operation of the traveling stabilization mechanism is determined based on the position of the working device, or the operation is manually performed by an operator.
【０００５】[0005]
【発明が解決しようとする課題】走行安定機構作動装置
は、作業内容に合わせて走行安定機構の作動と不作動の
切換えを行うことができる。しかし、オフロード作業車
両の走行安定機構が作動を開始するとき、作業装置のリ
フト用シリンダのボトム側油室とアキュムレータとの油
圧力の差が大きいと、過渡的に作業装置が上下に振られ
ることがある。従って、走行安定機構の作動と不作動の
自動切換が頻繁に行われると、オフロード作業車両に過
渡的な揺れが頻繁に生じるおそれがある。The running stabilization mechanism operating device can switch between operation and non-operation of the running stabilization mechanism in accordance with the work content. However, when the traveling stabilization mechanism of the off-road work vehicle starts operating, if the difference in hydraulic pressure between the bottom oil chamber of the lift cylinder of the work device and the accumulator is large, the work device is transiently swung up and down. Sometimes. Therefore, when the automatic switching between the operation and the non-operation of the traveling stabilization mechanism is frequently performed, there is a possibility that the off-road work vehicle frequently undergoes a transient shaking.
【０００６】これを防止するため、リフト用シリンダの
ボトム側油室とアキュムレータとの間を、小さな絞りを
介して油圧配管で常時接続して油圧バランスをとること
が考えられるが、このように構成すると作業時における
作業装置の正確な位置決めが困難になる。本発明は、オ
フロード作業車両の走行安定機構における上記問題を解
決するものであって、作業内容に合わせて走行安定機構
の作動と不作動の切換えを行うことができ、且つ走行安
定機構の作動開始時に常に緩やかな挙動で作動を開始さ
せて過渡的な揺れを防止し、走行安定性を向上させるこ
とのできる走行安定機構作動装置を提供することを目的
とする。In order to prevent this, it is conceivable to always connect the bottom side oil chamber of the lift cylinder and the accumulator with a hydraulic pipe through a small throttle to maintain the hydraulic pressure balance. Then, it becomes difficult to accurately position the working device during work. An object of the present invention is to solve the above-described problem in the traveling stabilization mechanism of an off-road work vehicle, and can switch between operation and non-operation of the traveling stabilization mechanism in accordance with the work content, and operate the traveling stability mechanism. It is an object of the present invention to provide a travel stabilization mechanism operating device that can always start operation with a gentle behavior at the start to prevent a transient swing and improve traveling stability.
【０００７】[0007]
【課題を解決するための手段】この発明では、作業装置
を支持するリフトアームを昇降させるためのリフト用シ
リンダのボトム側油室を、油圧管路でアキュムレータと
接続し、アキュムレータの緩衝作用で車体の振動を打ち
消すようにリフトアームを揺動させる走行安定機構を備
えたオフロード作業車両において、リフト用シリンダの
ボトム側油室とアキュムレータとの間の油圧管路の途中
に並列に接続された走行安定機構切換弁及び電磁切換式
絞り弁と、リフト用シリンダのボトム側油室の圧力を検
出するシリンダ圧力検出器と、アキュムレータの圧力を
検出するアキュムレータ圧力検出器と、走行安定機構の
作動を要する場合にはシリンダ圧力検出器とアキュムレ
ータ圧力検出器との検出値の差を求め、差値が所定値よ
り大であればボトム側油室とアキュムレータとを電磁切
換式絞り弁を介して連通させ、差値が所定値以下であれ
ば走行安定機構が作動するよう走行安定機構切換弁を切
換える判別部とを設けることにより、上記課題を解決し
ている。また、請求項２の発明では、オフロード作業車
両が走行速度を検出する速度検出器と、走行安定機構の
作動する走行速度を設定する手動調整部とを備え、判別
部が手動調整部で設定した走行速度の設定値と前記速度
検出器で検出した走行速度の検出値とを比較して走行安
定機構の作動の要否を判別することを特徴としている。According to the present invention, a bottom-side oil chamber of a lift cylinder for raising and lowering a lift arm supporting a working device is connected to an accumulator by a hydraulic line, and the vehicle body is cushioned by the accumulator. In an off-road work vehicle equipped with a travel stabilization mechanism that swings the lift arm so as to cancel the vibration of the vehicle, traveling connected in parallel in the middle of the hydraulic pipeline between the bottom side oil chamber of the lift cylinder and the accumulator Requires operation of a stabilizing mechanism switching valve and an electromagnetic switching type throttle valve, a cylinder pressure detector for detecting a pressure in a bottom side oil chamber of a lift cylinder, an accumulator pressure detector for detecting an accumulator pressure, and a running stabilization mechanism. In this case, find the difference between the detected values of the cylinder pressure detector and the accumulator pressure detector. The side oil chamber and the accumulator are communicated via an electromagnetic switching type throttle valve, and a determination unit for switching the traveling stabilizing mechanism switching valve so that the traveling stabilizing mechanism is activated if the difference value is equal to or less than a predetermined value, The problem has been solved. Further, in the invention of claim 2, the off-road work vehicle includes a speed detector for detecting a traveling speed, and a manual adjustment unit for setting a traveling speed at which the traveling stabilization mechanism operates, and the determination unit is set by the manual adjustment unit. It is characterized by comparing the set value of the running speed with the detected value of the running speed detected by the speed detector to determine whether the running stabilization mechanism needs to be operated.
【０００８】この走行安定機構作動装置では、手動調整
部で走行安定機構の作動する走行速度を設定した後にオ
フロード作業車両の運転を開始すると、速度検出器で検
出された走行速度の検出値が判別部へ送られ、手動調整
部で設定した設定値と比較される。走行速度の検出値が
設定値以下のときは、判別部が走行安定機構の作動は不
要と判断し、走行安定機構切換弁及び電磁切換式絞り弁
でリフト用シリンダのボトム側油室とアキュムレータと
の間の連通を遮断するので走行安定機構は作動しない。In this traveling stabilization mechanism operating device, when the driving speed of the off-road work vehicle is started after the traveling speed at which the traveling stabilization mechanism operates is set by the manual adjustment unit, the detected value of the traveling speed detected by the speed detector is changed. It is sent to the determination unit and compared with the set value set by the manual adjustment unit. When the detected value of the traveling speed is equal to or less than the set value, the determination unit determines that the operation of the traveling stabilization mechanism is unnecessary, and the traveling stabilization mechanism switching valve and the electromagnetic switching type throttle valve use the bottom side oil chamber of the lift cylinder, the accumulator, Therefore, the travel stabilizing mechanism does not operate.
【０００９】走行速度の検出値が設定値を超えたとき
は、判別部が走行安定機構の作動を要すると判断する。
この場合には、判別部はシリンダ圧力検出器とアキュム
レータ圧力検出器とから送られた検出値の差を求め、差
値が所定値以下であれば走行安定機構切換弁を作動位置
に切換え、リフト用シリンダ４のボトム側油室とアキュ
ムレータとを連通させるので、走行安定機構が振動を抑
制するように作動し、オフロード作業車両は安定した走
行が可能となる。When the detected value of the traveling speed exceeds the set value, the determining section determines that the operation of the traveling stabilizing mechanism is required.
In this case, the discriminating unit obtains a difference between the detection values sent from the cylinder pressure detector and the accumulator pressure detector, and if the difference value is equal to or less than a predetermined value, switches the traveling stabilization mechanism switching valve to the operating position, and lifts the lift. Since the bottom-side oil chamber of the cylinder 4 communicates with the accumulator, the running stabilization mechanism operates to suppress vibration, and the off-road work vehicle can run stably.
【００１０】差値が所定値より大であれば判別部が電磁
切換式絞り弁を切換え、ボトム側油室とアキュムレータ
とを電磁切換式絞り弁を介して連通させるので、ボトム
側油室とアキュムレータとの間の油圧が緩やかにバラン
スされる。そして、シリンダ圧力検出器とアキュムレー
タ圧力検出器とから判別部へ送られた検出値の差値が所
定値以下になると走行安定機構切換弁が作動位置に切換
えられ、リフト用シリンダのボトム側油室とアキュムレ
ータとが連通するので、走行安定機構が振動を抑制する
ように作動し、安定した走行が可能となる。If the difference value is larger than a predetermined value, the discriminating section switches the electromagnetic switching type throttle valve, and connects the bottom side oil chamber and the accumulator through the electromagnetic switching type throttle valve. And the hydraulic pressure between them is loosely balanced. When the difference between the detection values sent from the cylinder pressure detector and the accumulator pressure detector to the discriminating unit becomes equal to or less than a predetermined value, the travel stabilizing mechanism switching valve is switched to the operating position, and the bottom side oil chamber of the lift cylinder is operated. And the accumulator are communicated with each other, so that the traveling stabilizing mechanism operates to suppress vibration, and stable traveling is enabled.
【００１１】このように、作業の状況に合わせて走行安
定機構の作動する走行速度を設定することにより、作業
中は走行安定機構が常に不作動となって作業装置の正確
な位置制御が可能となり、走行時には、ホイールローダ
の走行速度が手動調整部で設定した設定値より高速にな
れば、走行安定機構が作動して安定した走行が行われ
る。In this way, by setting the traveling speed at which the traveling stabilization mechanism operates in accordance with the situation of the work, the traveling stabilization mechanism is always inoperative during the work, and accurate position control of the working device becomes possible. During traveling, if the traveling speed of the wheel loader becomes higher than the set value set by the manual adjustment unit, the traveling stabilizing mechanism operates to perform stable traveling.
【００１２】また、ボトム側油室とアキュムレータとの
油圧の差が大きいときには、まずボトム側油室とアキュ
ムレータとが電磁切換式絞り弁を介して連通され、ボト
ム側油室とアキュムレータとの間の油圧を緩やかにバラ
ンスさせるので、走行安定機構を常に緩やかな挙動で作
動を開始させることができる。従って過渡的な揺れが防
止され、走行安定性がさらに向上する。When the oil pressure difference between the bottom oil chamber and the accumulator is large, the bottom oil chamber and the accumulator are first communicated with each other via an electromagnetic switching type throttle valve. Since the hydraulic pressure is moderately balanced, the running stabilization mechanism can always be started to operate with a moderate behavior. Therefore, transient shaking is prevented, and running stability is further improved.
【００１３】[0013]
【発明の実施の形態】図１は本発明の実施の一形態を示
す走行安定機構作動装置を備えたホイールローダの側面
図、図２は走行安定機構作動装置の構成の説明図であ
る。ホイールローダ１の車体１１の前部には、リフトア
ーム２の基端部が支持され、このリフトアーム２の先端
部にはバケット３が設けられており、車体１１とリフト
アーム２との間に取付けたリフト用シリンダ４の伸縮で
リフトアーム２を基端部を中心として回動させることに
より、バケット３が昇降されるようになっている。ま
た、リフトアーム２とバケット３との間にはリンク５を
介してチルト用シリンダ６が取付けられており、チルト
用シリンダ６の伸縮でバケット３が後前に傾動する。DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a side view of a wheel loader provided with a running stabilizing mechanism operating device according to an embodiment of the present invention, and FIG. 2 is an explanatory view of the configuration of the running stabilizing mechanism operating device. A base end of a lift arm 2 is supported at the front of the vehicle body 11 of the wheel loader 1, and a bucket 3 is provided at a distal end of the lift arm 2. The bucket 3 is moved up and down by rotating the lift arm 2 about the base end by the expansion and contraction of the attached lift cylinder 4. A tilt cylinder 6 is mounted between the lift arm 2 and the bucket 3 via a link 5, and the bucket 3 tilts rearward and forward by the expansion and contraction of the tilt cylinder 6.
【００１４】リフト用シリンダ４のボトム側油室４１
は、油圧管路４２でアキュムレータ８と接続され、アキ
ュムレータ８の緩衝作用で車体１１の振動を打ち消すよ
うにリフトアーム２を揺動させるための走行安定機構を
構成している。油圧管路４２の途中には、走行安定機構
切換弁７と電磁切換式絞り弁９とが並列に設けられてい
る。走行安定機構切換弁７は２位置の電磁切換弁であっ
てノーマルクローズとなっており、ソレノイド７Ｓが励
磁されると切換えられてボトム側油室４１とアキュムレ
ータ８とを連通させる。電磁切換式絞り弁９も２位置の
電磁切換弁であってノーマルクローズとなっており、ソ
レノイド９Ｓが励磁されると切換えられ、ボトム側油室
４１とアキュムレータ８とを絞り９Ｃを介して連通させ
る。Bottom side oil chamber 41 of lift cylinder 4
Is connected to the accumulator 8 via a hydraulic conduit 42, and constitutes a travel stabilizing mechanism for swinging the lift arm 2 so as to cancel the vibration of the vehicle body 11 by the buffering action of the accumulator 8. In the middle of the hydraulic line 42, a traveling stabilizing mechanism switching valve 7 and an electromagnetic switching type throttle valve 9 are provided in parallel. The traveling stabilizing mechanism switching valve 7 is a two-position electromagnetic switching valve which is normally closed, and is switched when the solenoid 7S is excited to make the bottom side oil chamber 41 and the accumulator 8 communicate with each other. The electromagnetic switching type throttle valve 9 is also a two-position electromagnetic switching valve and is normally closed. When the solenoid 9S is excited, it is switched to communicate the bottom oil chamber 41 and the accumulator 8 via the throttle 9C. .
【００１５】リフト用シリンダ４のボトム側油室４１に
はその圧力を検出するシリンダ圧力検出器３１、アキュ
ムレータ８にはその圧力を検出するアキュムレータ圧力
検出器３２が設けられている。ホイールローダ１のトラ
ンスミッション１２には走行速度を検出する速度検出器
２０が設置されており、運転室１３には、手動調整部２
１、判別部２２、及びメインスイッチ２３が設置されて
いる。The bottom oil chamber 41 of the lift cylinder 4 is provided with a cylinder pressure detector 31 for detecting the pressure, and the accumulator 8 is provided with an accumulator pressure detector 32 for detecting the pressure. The transmission 12 of the wheel loader 1 is provided with a speed detector 20 for detecting a traveling speed.
1, a discrimination unit 22 and a main switch 23 are provided.
【００１６】図２に示すように、判別部２２は、電源安
定化回路２５、Ａ／Ｄ変換部２６、入力部２７、処理部
２８、及び出力部２９を備えている。走行安定機構切換
弁７のソレノイド７Ｓと電磁切換式絞り弁９のソレノイ
ド９Ｓとは、判別部２２の出力部２９に接続されてい
て、走行安定機構切換弁７と電磁切換式絞り弁９とは判
別部２２からの信号で切換えられる。速度検出器２０
は、判別部２２の入力部２７に接続されていて、検出信
号を入力部２７に送る。手動調整部２１とシリンダ圧力
検出器３１とアキュムレータ圧力検出器３２とは、入力
側が判別部２２の電源安定化回路２５と接続され、出力
側が判別部２２のＡ／Ｄ変換部２６を介して入力部２７
に接続されている。判別部２２の電源安定化回路２５
は、メインスイッチ２３を介して電源２４と接続されて
いる。As shown in FIG. 2, the determination unit 22 includes a power supply stabilizing circuit 25, an A / D conversion unit 26, an input unit 27, a processing unit 28, and an output unit 29. The solenoid 7S of the travel stabilizing mechanism switching valve 7 and the solenoid 9S of the electromagnetic switching type throttle valve 9 are connected to the output unit 29 of the discriminating unit 22, and the traveling stabilizing mechanism switching valve 7 and the electromagnetic switching type throttle valve 9 are connected to each other. Switching is performed by a signal from the determination unit 22. Speed detector 20
Is connected to the input unit 27 of the determination unit 22 and sends a detection signal to the input unit 27. The input side of the manual adjustment unit 21, the cylinder pressure detector 31, and the accumulator pressure detector 32 is connected to the power supply stabilization circuit 25 of the determination unit 22, and the output side is input via the A / D conversion unit 26 of the determination unit 22. Part 27
It is connected to the. Power supply stabilizing circuit 25 of determination unit 22
Are connected to a power supply 24 via a main switch 23.
【００１７】走行安定機構作動装置を用いて作業を行う
場合、オペレータは、先ずメインスイッチ２３をｏｎに
し、手動調整部２１で走行安定機構の作動する走行速度
を設定した後に運転を開始する。手動調整部２１に走行
速度を設定すれば、その設定値に対応する電圧がＡ／Ｄ
変換器２６に出力され、Ａ／Ｄ変換されてデジタル信号
として入力部２７に送られる。When performing an operation using the traveling stabilization mechanism operating device, the operator first turns on the main switch 23, sets the traveling speed at which the traveling stabilization mechanism operates with the manual adjusting unit 21, and then starts the operation. If the traveling speed is set in the manual adjustment unit 21, the voltage corresponding to the set value becomes A / D
The signal is output to the converter 26, A / D converted, and sent to the input unit 27 as a digital signal.
【００１８】速度検出器２０で検出されたホイールロー
ダ１の走行速度の検出値は、判別部２２の入力部２７へ
送られ、処理部２８において手動調整部２１で設定した
設定値と比較される。走行速度の検出値が設定値以下の
ときは、処理部２８が走行安定機構の作動は不要と判断
し、出力部２９からは走行安定機構切換弁７のソレノイ
ド７Ｓ及び電磁切換式絞り弁９のソレノイド９Ｓを励磁
させる信号を出力しない。従って、リフト用シリンダ４
のボトム側油室４１とアキュムレータ８との間は連通が
遮断されているので走行安定機構は作動しない。The detected value of the traveling speed of the wheel loader 1 detected by the speed detector 20 is sent to the input unit 27 of the discriminating unit 22 and compared with the set value set by the manual adjusting unit 21 in the processing unit 28. . When the detected value of the traveling speed is equal to or less than the set value, the processing unit 28 determines that the operation of the traveling stabilization mechanism is unnecessary, and outputs from the output unit 29 the solenoid 7S of the traveling stabilization mechanism switching valve 7 and the electromagnetic switching type throttle valve 9. It does not output a signal to excite the solenoid 9S. Therefore, the lift cylinder 4
Since the communication between the bottom oil chamber 41 and the accumulator 8 is interrupted, the traveling stabilization mechanism does not operate.
【００１９】走行速度の検出値が設定値を超えたとき
は、処理部２８が走行安定機構の作動を要すると判断す
る。この場合には、処理部２８はシリンダ圧力検出器３
１とアキュムレータ圧力検出器３２とから入力部２７へ
送られた検出値の差を求め、差値が所定値以下であれば
出力部２９からは走行安定機構切換弁７のソレノイド７
１を励磁させる信号を出力する。よって、走行安定機構
切換弁７が図１に示す作動位置に切換えられ、リフト用
シリンダ４のボトム側油室４１とアキュムレータ８とが
連通するので、アキュムレータ８は車体１１の振動を抑
制するように作動し、安定した走行が可能となる。When the detected value of the traveling speed exceeds the set value, the processing unit 28 determines that the operation of the traveling stabilizing mechanism is required. In this case, the processing unit 28 controls the cylinder pressure detector 3
1 and the accumulator pressure detector 32 to determine the difference between the detection values sent to the input unit 27. If the difference value is equal to or smaller than a predetermined value, the output unit 29 outputs from the output unit 29 the solenoid 7 of the traveling stabilization mechanism switching valve 7.
A signal for exciting 1 is output. Accordingly, the travel stabilizing mechanism switching valve 7 is switched to the operating position shown in FIG. 1, and the bottom side oil chamber 41 of the lift cylinder 4 communicates with the accumulator 8, so that the accumulator 8 suppresses the vibration of the vehicle body 11. It operates and stable running becomes possible.
【００２０】差値が所定値より大であれば出力部２９か
らは電磁切換式絞り弁９のソレノイド９Ｓを励磁させる
信号を出力する。従って電磁切換式絞り弁９が切換えら
れ、ボトム側油室４１とアキュムレータ８とが絞り９Ｃ
を介して連通するので、ボトム側油室４１とアキュムレ
ータ８との間の油圧が緩やかにバランスされる。そし
て、シリンダ圧力検出器３１とアキュムレータ圧力検出
器３２とから入力部２７へ送られた検出値の差値が所定
値以下になると出力部２９からは走行安定機構切換弁７
のソレノイド７１を励磁させる信号を出力する。そこ
で、走行安定機構切換弁７が作動位置に切換えられ、リ
フト用シリンダ４のボトム側油室４１とアキュムレータ
８とが連通するので、アキュムレータ８は車体１１の振
動を抑制するように作動し、安定した走行が可能とな
る。If the difference value is larger than a predetermined value, a signal for exciting the solenoid 9S of the electromagnetic switching type throttle valve 9 is output from the output unit 29. Accordingly, the electromagnetic switching type throttle valve 9 is switched, and the bottom side oil chamber 41 and the accumulator 8 are connected to the throttle 9C.
The hydraulic pressure between the bottom side oil chamber 41 and the accumulator 8 is moderately balanced. When the difference between the detection values sent from the cylinder pressure detector 31 and the accumulator pressure detector 32 to the input unit 27 becomes equal to or less than a predetermined value, the output stabilizing mechanism switching valve 7 is output from the output unit 29.
A signal for exciting the solenoid 71 is output. Then, the travel stabilizing mechanism switching valve 7 is switched to the operating position, and the bottom side oil chamber 41 of the lift cylinder 4 and the accumulator 8 communicate with each other. Therefore, the accumulator 8 operates to suppress the vibration of the vehicle body 11, and is stable. It becomes possible to run.
【００２１】走行安定機構の作動する走行速度がオペレ
ータが手動調整部２１で任意に設定できるので、例え
ば、整地作業のような走行速度を比較的高速にして行う
作業では、作業状況に応じて、走行安定機構の作動する
走行速度をより高速側の最適な値に設定し、積み込み作
業やかき上げ作業のような走行速度を低速にして行う作
業では、走行安定機構の作動する走行速度を低速側の最
適な値に設定する。Since the traveling speed at which the traveling stabilizing mechanism operates can be arbitrarily set by the operator using the manual adjusting unit 21, for example, in a work performed at a relatively high traveling speed, such as a leveling operation, depending on the work situation, Set the traveling speed at which the traveling stabilization mechanism operates to an optimal value on the higher speed side, and set the traveling speed at which the traveling stabilization mechanism operates at the lower speed side for work such as loading and scraping work where the traveling speed is low. To the optimal value of.
【００２２】このように、作業の状況に合わせて走行安
定機構の作動する走行速度を設定することにより、作業
中は走行安定機構が常に不作動となって作業装置の正確
な位置制御が可能となり、走行時には、ホイールローダ
１の走行速度が手動調整部２１で設定した設定値より高
速になれば、走行安定機構が作動して安定した走行が行
われる。As described above, by setting the traveling speed at which the traveling stabilization mechanism operates in accordance with the situation of the work, the traveling stabilization mechanism is always inoperative during the work, and accurate position control of the working device becomes possible. During traveling, if the traveling speed of the wheel loader 1 becomes higher than the set value set by the manual adjusting unit 21, the traveling stabilizing mechanism operates to perform stable traveling.
【００２３】また、ボトム側油室４１とアキュムレータ
８との油圧の差が大きいときには、まずボトム側油室４
１とアキュムレータ８とが絞り９Ｃを介して連通させ、
ボトム側油室４１とアキュムレータ８との間の油圧を緩
やかにバランスさせるので、走行安定機構を常に緩やか
な挙動で作動を開始させることができる。従って過渡的
な揺れによる荷こぼれ等が防止され、走行安定性がさら
に向上する。なお、走行安定機構の作動の要否の判断を
走行速度で行なう他に、バケット３の高さ等作業装置の
位置によって決定したり、オペレータが走行安定機構の
作動の要否を判断して手動操作で切換えることもでき
る。When the oil pressure difference between the bottom oil chamber 41 and the accumulator 8 is large, first, the bottom oil chamber 4
1 and the accumulator 8 communicate with each other through the diaphragm 9C,
Since the hydraulic pressure between the bottom side oil chamber 41 and the accumulator 8 is moderately balanced, the operation of the traveling stabilizing mechanism can always be started with a moderate behavior. Therefore, a load drop or the like due to a transient swing is prevented, and the running stability is further improved. In addition to the determination of the necessity of the operation of the traveling stabilization mechanism at the traveling speed, the necessity of the operation of the traveling stabilization mechanism is determined by determining the necessity of the operation of the traveling stabilization mechanism by determining the operation of the traveling stabilization mechanism such as the height of the bucket 3 or the like. It can also be switched by operation.
【００２４】ここではホイールローダ１について説明し
ているが、本発明の走行安定機構作動装置は、ホイール
ローダをベースにしたドーザ、オフロード用フォークリ
フト等、油圧シリンダを利用して作業装置を上下動させ
る構造のオフロード作業車両にも、同様に有効に使用で
きる。Although the wheel loader 1 has been described here, the traveling stabilization mechanism operating device of the present invention moves the working device up and down using a hydraulic cylinder such as a dozer based on a wheel loader, an off-road forklift, or the like. Similarly, the present invention can be effectively used for an off-road work vehicle having a structure that allows the vehicle to be used.
【００２５】[0025]
【発明の効果】以上説明したように、本発明によれば、
ボトム側油室とアキュムレータとの油圧の差が大きいと
きには、まずボトム側油室とアキュムレータとを絞りを
介して連通させ、ボトム側油室とアキュムレータとの間
の油圧を緩やかにバランスさせるので、走行安定機構を
常に緩やかな挙動で作動を開始させることができ、過渡
的な揺れを防止して走行安定性を向上させることができ
る。As described above, according to the present invention,
When the difference in oil pressure between the bottom oil chamber and the accumulator is large, the bottom oil chamber and the accumulator are first communicated with each other through a throttle, and the oil pressure between the bottom oil chamber and the accumulator is gently balanced, so traveling The operation of the stabilizing mechanism can be always started with a gentle behavior, and a transient swing can be prevented to improve running stability.
【００２６】また、作業内容に合わせて任意の走行速度
でオフロード作業車両の走行安定機構の作動と不作動の
切換えを行うことができるので、作業中は作業装置の正
確な位置制御が可能で、走行時には走行安定機構で車体
の振動を抑制し安定して走行するように制御することが
できる。In addition, the operation of the running stabilization mechanism of the off-road work vehicle can be switched between operation and non-operation at an arbitrary running speed in accordance with the work content, so that the work device can be accurately controlled during the work. When the vehicle is running, the vehicle can be controlled so as to stably run by suppressing the vibration of the vehicle body by the running stabilizing mechanism.
【図１】本発明の実施の一形態を示す走行安定機構作動
装置を備えたホイールローダの側面図である。FIG. 1 is a side view of a wheel loader provided with a travel stabilizing mechanism operating device according to an embodiment of the present invention.
【図２】走行安定機構作動装置の構成の説明図である。FIG. 2 is an explanatory diagram of a configuration of a traveling stabilization mechanism operating device.
１ ホイールローダ ２ リフトアーム ３ バケット ４ リフト用シリンダ ７ 走行安定機構切換弁 ７Ｓ ソレノイド ８ アキュムレータ ９ 電磁切換式絞り弁 ９Ｃ 絞り ９Ｓ ソレノイド １１ 車体 １２ トランスミッション ２０ 速度検出器 ２１ 手動調整部 ２２ 判別部 ２３ メインスイッチ ２４ 電源 ２５ 電源安定化回路 ２６ Ａ／Ｄ変換器 ２７ 入力部 ２８ 処理部 ２９ 出力部 ３１ シリンダ圧力検出器 ３２ アキュムレータ圧力検出器 REFERENCE SIGNS LIST 1 wheel loader 2 lift arm 3 bucket 4 lift cylinder 7 traveling stabilization mechanism switching valve 7S solenoid 8 accumulator 9 electromagnetic switching throttle valve 9C throttle 9S solenoid 11 vehicle body 12 transmission 20 speed detector 21 manual adjustment unit 22 discrimination unit 23 main switch Reference Signs List 24 power supply 25 power supply stabilization circuit 26 A / D converter 27 input unit 28 processing unit 29 output unit 31 cylinder pressure detector 32 accumulator pressure detector
Claims (2)
させるためのリフト用シリンダのボトム側油室を、油圧
管路でアキュムレータと接続し、アキュムレータの緩衝
作用で車体の振動を打ち消すようにリフトアームを揺動
させる走行安定機構を備えたオフロード作業車両におい
て、リフト用シリンダのボトム側油室とアキュムレータ
との間の油圧管路の途中に並列に接続された走行安定機
構切換弁及び電磁切換式絞り弁と、リフト用シリンダの
ボトム側油室の圧力を検出するシリンダ圧力検出器と、
アキュムレータの圧力を検出するアキュムレータ圧力検
出器と、走行安定機構の作動を要する場合にシリンダ圧
力検出器とアキュムレータ圧力検出器との検出値の差を
求め、差値が所定値より大であればボトム側油室とアキ
ュムレータとを電磁切換式絞り弁を介して連通させ、差
値が所定値以下であれば走行安定機構が作動するよう走
行安定機構切換弁を切換える判別部とを設けたことを特
徴とする走行安定機構作動装置。1. A lift arm that lifts and lowers a lift arm that supports a working device is connected to an accumulator by a hydraulic line to a bottom oil chamber of a lift cylinder, and the lift arm is configured to cancel vibration of a vehicle body by a buffering action of the accumulator. In an off-road work vehicle equipped with a running stabilizing mechanism for swinging the vehicle, a running stabilizing mechanism switching valve and an electromagnetic switching type connected in parallel in a hydraulic line between the bottom oil chamber of the lift cylinder and the accumulator. A throttle valve, a cylinder pressure detector for detecting the pressure of the bottom oil chamber of the lift cylinder,
The accumulator pressure detector that detects the accumulator pressure and the difference between the cylinder pressure detector and the accumulator pressure detector when the operation of the traveling stabilization mechanism is required are determined, and if the difference value is larger than a predetermined value, the bottom is determined. The side oil chamber and the accumulator are communicated via an electromagnetic switching type throttle valve, and a discriminator for switching the traveling stabilizing mechanism switching valve so that the traveling stabilizing mechanism is activated when the difference value is equal to or less than a predetermined value is provided. Travel stabilizing mechanism operating device.
る速度検出器と、走行安定機構の作動する走行速度を設
定する手動調整部とを備え、判別部が手動調整部で設定
した走行速度の設定値と前記速度検出器で検出した走行
速度の検出値とを比較して走行安定機構の作動の要否を
判別することを特徴とする請求項１記載の走行安定機構
作動装置。2. An off-road work vehicle includes a speed detector for detecting a running speed, and a manual adjusting unit for setting a running speed at which a running stabilizing mechanism operates, and a determining unit for determining a running speed set by the manual adjusting unit. 2. The travel stabilizing mechanism operating device according to claim 1, wherein a set value and a detected value of the traveling speed detected by the speed detector are compared to determine whether the traveling stabilization mechanism needs to be operated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP24642899A JP2001073413A (en) | 1999-08-31 | 1999-08-31 | Mechanism operating device for stabilizing travel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP24642899A JP2001073413A (en) | 1999-08-31 | 1999-08-31 | Mechanism operating device for stabilizing travel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JP2001073413A true JP2001073413A (en) | 2001-03-21 |
Family
ID=17148342
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP24642899A Withdrawn JP2001073413A (en) | 1999-08-31 | 1999-08-31 | Mechanism operating device for stabilizing travel |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2001073413A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005155242A (en) * | 2003-11-27 | 2005-06-16 | Komatsu Ltd | Hydraulic circuit for suppressing traveling vibration of wheel type construction machine |
| JP2005155230A (en) * | 2003-11-27 | 2005-06-16 | Komatsu Ltd | Hydraulic circuit for suppressing traveling vibration of wheel type construction machine |
| CN106930988A (en) * | 2017-03-24 | 2017-07-07 | 南京航空航天大学 | Sound state bidirectional hydraulic loading device and its control method based on accumulator |
-
1999
- 1999-08-31 JP JP24642899A patent/JP2001073413A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005155242A (en) * | 2003-11-27 | 2005-06-16 | Komatsu Ltd | Hydraulic circuit for suppressing traveling vibration of wheel type construction machine |
| JP2005155230A (en) * | 2003-11-27 | 2005-06-16 | Komatsu Ltd | Hydraulic circuit for suppressing traveling vibration of wheel type construction machine |
| CN106930988A (en) * | 2017-03-24 | 2017-07-07 | 南京航空航天大学 | Sound state bidirectional hydraulic loading device and its control method based on accumulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A300 | Withdrawal of application because of no request for examination |
Free format text: JAPANESE INTERMEDIATE CODE: A300 Effective date: 20061107 |