WO2008069072A1 - 作業車両の走行駆動装置、作業車両および走行駆動方法 - Google Patents
作業車両の走行駆動装置、作業車両および走行駆動方法 Download PDFInfo
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- WO2008069072A1 WO2008069072A1 PCT/JP2007/072949 JP2007072949W WO2008069072A1 WO 2008069072 A1 WO2008069072 A1 WO 2008069072A1 JP 2007072949 W JP2007072949 W JP 2007072949W WO 2008069072 A1 WO2008069072 A1 WO 2008069072A1
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- WIPO (PCT)
- Prior art keywords
- drive device
- hst
- power
- vehicle speed
- electric motor
- Prior art date
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
- B60K6/46—Series type
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- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- F16H—GEARING
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Definitions
- the present invention relates to a travel drive device, a work vehicle, and a travel drive method for a work vehicle such as a wheel loader or a wheeled hydraulic excavator.
- Patent Document 1 Japanese Patent Laid-Open No. 5-306768
- the travel drive device described above can exhibit a large traction force during low-speed travel due to the characteristics of HST, but on the other hand, there is a problem that gear transmission loss increases during high-speed travel and fuel consumption deteriorates. .
- a traveling drive device for a work vehicle includes a hydraulic pump driven by a prime mover, an HST drive device having a hydraulic motor connected to the hydraulic pump in a closed circuit, and electric power generated by driving the prime mover.
- the ratio of the first power distributed to the HST drive unit decreases, and the output of the prime mover becomes the same as the HST drive unit so that the ratio of the second power distributed to the electric motor increases.
- a control unit that distributes the electric motor.
- the electric motor instead of the electric motor, it is driven using the electric power generated by the drive of the prime mover and functions as an electric motor. On the other hand, it is driven by the kinetic energy during travel and functions as a generator.
- a motor generator that can function as well as a determination unit that determines the output of the acceleration / deceleration command of the vehicle. If the determination unit determines that the acceleration command is output, the motor generator functions as an electric motor. As the vehicle speed detected by the vehicle speed detector increases, the proportion of the first power distributed to the HST drive device decreases and the proportion of the second power distributed to the motor generator increases.
- the output of the prime mover is distributed to the HST drive unit and the motor generator, and if the determination unit determines that the deceleration command is output, the motor generator may be stored as a generator.
- the power generation amount of the motor generator can be increased as the deceleration command value increases.
- An acceleration detection unit that detects the acceleration command value is provided, and the power of the prime mover is distributed to the HST drive device and the electric motor so that the first power and the second power increase as the acceleration command value increases. Monkey.
- the first driving wheel is a front wheel and the second driving wheel is a rear wheel.
- the ratio of the first power is controlled to a constant ratio larger than the ratio of the second power and detected by the vehicle speed detector.
- the vehicle speed detected by the vehicle speed detection unit is gradually decreased in a range where the vehicle speed is larger than the first predetermined value and smaller than the second predetermined value larger than the first predetermined value.
- the ratio of the first power can be set to 0 in a range where the speed is not less than the second predetermined value.
- the output torque of the electric motor is kept constant until the traction force by the HST drive becomes zero, and the traction force by the electric motor starts to decrease after the traction force force SO by the HST drive device becomes SO due to the increase in vehicle speed. It is good to have a torque control unit that controls the output torque.
- the work vehicle traveling drive method has an HST drive device in which a hydraulic pump driven by a prime mover and a hydraulic motor are connected in a closed circuit, and the first drive wheel is driven by the HST drive device to drive an electric motor.
- the second power is distributed to the electric motor that reduces the proportion of the first power distributed to the HST drive. Increase the power ratio.
- the first drive wheel is driven by the HST drive device
- the second drive wheel is driven by the electric motor
- the engine output is distributed to the HST drive device as the vehicle speed increases. Since the ratio of the HST is reduced, the HST drive can be operated efficiently and the fuel efficiency can be improved.
- FIG. 1 is a side view of a wheel loader to which a traveling drive device according to a first embodiment of the present invention is applied.
- FIG. 2 is a diagram showing a configuration of a travel drive device according to the first embodiment.
- FIG. 3 is a hydraulic circuit diagram showing details of the HST travel circuit of FIG. 2.
- FIG. 4 (a) is a diagram showing the relationship between the pump tilt angle of the hydraulic pump used in the circuit of FIG. 3 and the motor drive pressure
- FIG. 4 (b) is the motor tilt angle of the hydraulic motor. The figure which shows the relationship of motor drive pressure.
- FIGS. 5 (a) to 5 (c) show the characteristics of the traction force of the entire vehicle obtained by the travel drive device according to the first embodiment, the traction force by the HST drive device, and the traction force by the electric motor, respectively.
- FIG. 5 shows the characteristics of the traction force of the entire vehicle obtained by the travel drive device according to the first embodiment, the traction force by the HST drive device, and the traction force by the electric motor, respectively.
- FIG. 6 is a block diagram showing a configuration in the controller of FIG.
- FIG. 7 is a diagram showing the relationship between traction force and power.
- FIG. 8 is a diagram showing a configuration of a travel drive apparatus according to a second embodiment.
- FIGS. 9 (a) to 9 (c) show the characteristics of the traction force of the entire vehicle, the traction force by the HST drive device, and the traction force by the electric motor obtained by the travel drive device according to the second embodiment, respectively.
- FIG. 9 shows the characteristics of the traction force of the entire vehicle, the traction force by the HST drive device, and the traction force by the electric motor obtained by the travel drive device according to the second embodiment, respectively.
- FIG. 1 is an example of a work vehicle to which the traveling drive device according to the first embodiment is applied. It is a side view of a wheel loader.
- the wheel loader 100 includes a front body 110 having an arm 111, a knot 112, tires (front wheels) 113, and a rear body 120 having a cab 121, an engine compartment 122, a tire (rear wheels) 123, and the like. Is done.
- the arm 111 moves up and down by driving the arm cylinder 114, and the packet 112 is dumped or clouded by driving the bucket cylinder 115.
- the front vehicle body 110 and the rear vehicle body 120 are rotatably connected to each other by a center pin 101, and the front vehicle body 110 is refracted left and right with respect to the rear vehicle body 120 by expansion and contraction of a steering cylinder (not shown).
- the front wheels 113 and the rear wheels 123 are driven by the following travel drive device, and the vehicle travels.
- FIG. 2 is a diagram showing a configuration of the travel drive device according to the first embodiment.
- the travel drive device includes a front wheel drive device 10 that drives the front wheels 113 and a rear wheel drive device 20 that drives the rear wheels 123.
- the front wheel drive device 10 includes a variable displacement hydraulic pump 11 driven by the engine 1 and a variable displacement hydraulic motor 12 driven by pressure oil from the hydraulic pump 11.
- the hydraulic pump 11 and the hydraulic motor 12 are connected in a closed circuit to form a so-called HST traveling circuit.
- the rotation of the hydraulic motor 12 is transmitted to the front wheels 113 via the speed reducer 13 and the axle 14, and the front wheels 113 are driven by the HST travel drive device.
- the reduction gear 13 has a gear mechanism that can be switched to a plurality of stages (for example, low / high).
- Such an HST travel drive device (hereinafter also simply referred to as HST) can exert a particularly large bow I force when traveling at low speeds.
- the shaft size and gear size tend to increase.
- the rear wheel drive device 20 is configured by an electric motor as described below, and the rear wheel 123 is driven by the electric motor during high speed traveling.
- the rear wheel drive device 20 includes a generator 21 driven by the engine 1, a battery 22 that stores electricity generated by the generator 21, an electric motor 23 driven by electric power generated by the generator 21, And an inverter 24 for controlling the drive of the electric motor 23.
- the rotation of the electric motor 23 is transmitted to the rear wheel 123 via the speed reducer 25 and the axle 26.
- the reducer 25, like the reducer 13, has a gear mechanism that can be switched to multiple stages (low / high).
- Inverter 24 is controlled by a control signal from controller 50.
- the controller 50 is connected to a vehicle speed detector 51 that detects the vehicle speed V and an operation amount detector 52 that detects an operation amount A of the accelerator pedal. Based on the signals from these, the controller 50 controls the output torque T of the electric motor 23 according to the target output Pw2 (FIG. 6) of the motor 23 as described later.
- FIG. 3 is a diagram showing details of the HST traveling circuit.
- a charge pump 15 is connected to the output shaft of the engine 1, and a throttle 16 is provided downstream of the charge pump 15.
- the discharge pressure of the charge pump 15 increases.
- the pressure oil from the charge pump 15 is guided to the tilt cylinder 18 via the forward / reverse switching valve 17 to drive the tilt cylinder 18.
- the forward / reverse switching valve 17 is switched by the control signal of the controller 50 force according to the operation of the forward / reverse switching lever 19, and the flow direction of the pressure oil to the hydraulic pump 11 force and the hydraulic motor 12 is controlled. .
- the pump tilt angle q also varies depending on the magnitude of the load acting on the hydraulic pump 11 that is not only depressed by the accelerator pedal. For example, when the accelerator pedal is fully depressed and engine 1 is outputting full horsepower, if the driving load increases, the engine speed decreases, the pump tilt angle decreases, and the pump discharge decreases. .
- the relationship between the load (motor drive pressure P) and the pump tilt angle qp in this case is shown in Fig. 4 (a).
- the characteristics fl to f3 in Fig. 4 (a) show the horsepower diagram with constant power.
- the horsepower diagram becomes fl ⁇ f2 ⁇ f3. Shift like this.
- the maximum value Pmax of the motor driving pressure is limited by a relief valve (not shown), and the maximum value qpmax of the pump tilt angle is physically limited by the structure of the pump itself.
- the drive pressure P of the hydraulic motor 12 is guided to the tilt cylinder 12a, and the motor tilt angle qm changes according to the motor drive pressure P. That is, the motor drive pressure P is less than the predetermined value Pa.
- the tilt cylinder 12a is driven to the large tilt side, and the motor tilt qm changes from the small tilt qml to the large tilt qm2 as shown in FIG. 4 (b).
- the tilting cylinder 12a is provided with an adjusting mechanism for adjusting the value Pa by the excitation of the solenoid 12b.
- the predetermined value Pa is controlled according to the target power Pwl of the HST by a control signal from the controller 50 described later. That is, when the target power Pwl increases, the predetermined value Pa increases as the characteristic g3 ⁇ g2 ⁇ gl.
- fl to f3 in Fig. 4 (a) and gl to g3 in Fig. 4 (b) correspond to the same power Pwl.
- the characteristic of the pump tilt angle qp is fl
- the characteristic of the motor tilt angle qm is gl.
- the predetermined value Pa is the motor drive pressure P 1 when the pump tilt angle is the maximum qpmax. Is set to be equal to As a result, if the HST power Pwl is maximum and the motor tilt angle is small and the travel load increases while traveling at qml, the motor tilt angle qm first increases to qm2 along the characteristic gl and then the pump tilt. The turning angle qp decreases along the characteristic f 1.
- FIGS. 5A to 5C are diagrams showing the relationship between the traveling speed V of the vehicle and the driving force (traction force) F.
- FIG. 5A to 5C are diagrams showing the relationship between the traveling speed V of the vehicle and the driving force (traction force) F.
- a in Fig. 5 (a) is the characteristics of the traction force of the entire vehicle when the accelerator pedal is fully depressed.
- This characteristic a shows the traction force Fa of the entire vehicle when the vehicle is maximizing its power, that is, when the engine 1 is outputting full power, and the traction force Fa decreases as the vehicle speed V increases.
- bl and cl are the traction force Fb of the front wheel 113 by the front wheel drive device 10 (HST drive device) when the accelerator pedal is fully depressed, and the rear wheel drive device 20 (electric motor 23).
- HST drive device front wheel drive device
- the rear wheel drive device 20 electric motor 23
- This is the characteristic of the traction force Fc of the rear wheel 123 due to the above.
- the characteristics of the traction force Fb of the front wheel 113 and the characteristics of the traction force Fc of the rear wheel 123 are set as shown in FIGS. 5 (b) and 5 (c).
- Figures 5 (b) and 5 (c) show several characteristics bl to b3 and cl to c3 corresponding to the operation amount of different accelerator pedals.
- the characteristic of the traction force Fb becomes b3.
- the characteristics of tractive force Fc change from c3 to c2 to cl, respectively from b2 to bl.
- the characteristics bl and cl are characteristics when the accelerator pedal is fully depressed.
- the front wheels 11 When the accelerator pedal is fully depressed, as shown in Fig. 5 (b), the front wheels 11 until the vehicle speed reaches vl.
- the traction force Fb of 3 is constant, and thereafter Fb gradually decreases and becomes 0 at vehicle speed v2.
- the traction force Fc of the rear wheel 123 is constant until the vehicle speed reaches v2, and thereafter, Fc gradually decreases and becomes 0 at the vehicle speed v3.
- the traction force Fb of the front wheel 113 and the traction force Fc of the rear wheel 123 are respectively shown in the figure.
- FIG. 6 is a block diagram showing a configuration within the controller 50.
- the characteristics of the target power Pwl of the HST drive device and the characteristics of the target power Pw2 of the electric motor 23 are stored in advance. These characteristics indicate whether the engine output is distributed to the HST and the electric motor 23 according to the vehicle speed V.
- the total value PwO of Pwl and Pw2 indicates the power of the entire vehicle, and the power PwO is constant regardless of the vehicle speed V. Since the engine output increases as the accelerator pedal operation amount A increases, the target powers Pwl and Pw2 are set to increase as the accelerator pedal operation amount A increases.
- the target power calculation unit 58 calculates the target powers Pwl and Pw2 according to the vehicle speed V and the accelerator pedal operation amount A, and calculates the target powers Pwl and Pw2 respectively with the predetermined value calculation unit 54 and Output to torque calculator 53.
- the torque calculation unit 53 stores in advance the relationship between the target torque T of the electric motor 23, the rotational speed Nm of the motor 23, and the power Pw2.
- the current motor speed Nm is known by the controller itself, and the torque calculator 53 calculates the target power Tw corresponding to the target power Pw2 and the motor speed Nm based on the characteristics shown in the figure. Then, the inverter 24 is controlled so that the electric motor 23 outputs the target torque T. As a result, the power Pw2 of the electric motor 23 Force The value set in the target power calculator 58.
- the predetermined value calculation unit 54 stores the relationship between the target power Pwl and the predetermined value Pa in advance. Based on this relationship, the predetermined value calculator 54 calculates a predetermined value Pa corresponding to the target power Pwl, and outputs a control signal to the solenoid 12b of the hydraulic motor 12. This controls the default value Pa.
- FIG. 7 is a diagram showing the relationship between the HST tractive force Fb and the HST power Pwl, where bl is the same characteristic as shown in FIG. 5 (b).
- bl l to bl4 are curves with constant power, and the relationship of 1 ? 11> 1 3 12> 1 3 13> 1 3 14 is shown. Since the power Pwl is constant in the range of vehicle speed v ⁇ va (Fig. 6), the tractive force Fb varies along the constant power curve bl l.
- the front wheel 113 is driven by the HST travel drive unit and the rear wheel 123 is driven by the electric motor 23.
- the accelerator pedal operation amount A is detected by the operation amount detector 52, and as the operation amount A increases, the power Pwl of the HST and the power Pw2 of the electric motor 23 are increased (Fig. 6). The output can always be efficiently distributed to HST and electric motor 23.
- the load acting on the axle is large! /
- the front wheel 113 is driven by HST, the shaft load is small! /, And the rear wheel 123 is driven by the electric motor 23.
- the HST and the electric motor 23 can be used to construct an optimal travel system.
- FIG. 8 is a diagram showing the configuration of the travel drive apparatus according to the second embodiment. The same parts as those in FIG. 2 are denoted by the same reference numerals, and the differences will be mainly described below.
- the controller 50 includes a brake.
- An operation amount detector 57 that detects pedal operation amount B is connected! The controller 50 subtracts the operation amount B of the operation amount detector 57 from the operation amount A of the operation amount detector 52, and outputs an acceleration command if the subtraction value is positive and a deceleration command if it is negative.
- the generator motor 55 functions as an electric motor
- the deceleration command is output, it functions as a generator.
- a work pump is connected to the engine output shaft of the wheel loader, and the accelerator pedal is also operated to adjust the work horsepower during work. For this reason, in industrial vehicles such as wheel loaders, the accelerator pedal and brake pedal may be operated simultaneously.
- the generator motor 55 functions as an electric motor, the driving current force corresponding to the control signal from the controller 50 is supplied to the generator motor 55 via the S inverter / converter 56, and the generator motor 55 is driven. .
- the power Pw2 of the generator motor 55 is equal to the accelerator pedal operation amount A and the vehicle speed V as shown in FIG. Will change accordingly.
- the generator motor 55 functions as a generator, the electric power generated by the generator motor 55 is charged to the battery 22 via the inverter / converter 56.
- FIGS. 9 (a) to 9 (c) are diagrams showing the relationship between the vehicle speed v and the traction force F in the second embodiment, and FIG. 5 (a) to (c) in the first embodiment. Corresponds to c).
- a deceleration command (brake command) is output while the vehicle is running
- the generator motor 55 functions as a generator, so the traction force Fc becomes negative and the braking force acts on the vehicle.
- the kinetic energy during deceleration can be recovered in the battery 22.
- the greater the deceleration command value the greater the amount of power generated and the braking force.
- the hydraulic brake by HST is activated simultaneously. In this case, the brake by the generator motor 55 is actuated first, and if that is not enough, the hydraulic brake by the HST is actuated. By doing so, power is preferentially generated by the generator motor 55, and kinetic energy can be efficiently recovered.
- the rear wheel 123 is driven by the generator motor 55 and power is generated during deceleration, the kinetic energy that is no longer necessary during deceleration is used as electric energy. It can be recovered and fuel consumption can be improved.
- Accelerator pedal operation The operation amount B and the operation amount B of the brake pedal are detected, and the deceleration command is judged based on the difference between the operation amounts A and B. The larger the deceleration command value, the greater the power generation amount of the generator motor 55 and the braking force. As a result of increasing the braking force, an appropriate braking force can be applied to the vehicle.
- a so-called motor generator 55 as a motor generator is used as a generator, so that the brake force is applied to the vehicle.
- a mechanical brake may be used in combination.
- the force / determination unit that determines the acceleration / deceleration command by the controller 50 from the difference between the operation amount A of the accelerator pedal and the operation amount B of the brake pedal is not limited to this.
- the HST hydraulic circuit was formed to mechanically change the pump tilt angle qp and motor tilt angle qm of the HST travel drive device, even if the tilt angles qp and qm were directly controlled by electronic control, Good.
- the front wheel 113 as the first driving wheel is driven by the HST and the rear wheel 123 as the second driving wheel is driven by the electric motor 23, but the front wheel 113 is driven by the electric motor 23 and the rear wheel 123 is driven by the HST.
- the combination of the driving methods of the wheels 113 and 123 that can be driven by is not limited to the above. Force that detects the amount of accelerator pedal operation A with the operation amount detector 52 Other acceleration detectors may be used!
- the configuration of the controller 50 as the control unit is not limited to that described above. Therefore, the characteristics of the traction forces Fa to Fc are not limited to those shown in FIGS. If the output torque T of the electric motor 23 is controlled so that the vehicle speed v2 when the tractive force Fb force SO becomes equal to the vehicle speed v2 when the tractive force Fc starts to decrease (Fig. 5), The configuration of the controller 50 is! /, It can be something! / ...
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Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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US12/517,435 US8146691B2 (en) | 2006-12-04 | 2007-11-28 | Travel drive system for work vehicle, work vehicle, and travel drive method |
CN2007800406085A CN101535109B (zh) | 2006-12-04 | 2007-11-28 | 作业车辆的行驶驱动装置、作业车辆及行驶驱动方法 |
EP07832671A EP2098430B1 (en) | 2006-12-04 | 2007-11-28 | Travel drive device for working vehicle, working vehicle, and travel drive method |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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JP2006326694A JP4295308B2 (ja) | 2006-12-04 | 2006-12-04 | 作業車両の走行駆動装置 |
JP2006-326694 | 2006-12-04 |
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WO2008069072A1 true WO2008069072A1 (ja) | 2008-06-12 |
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PCT/JP2007/072949 WO2008069072A1 (ja) | 2006-12-04 | 2007-11-28 | 作業車両の走行駆動装置、作業車両および走行駆動方法 |
Country Status (6)
Country | Link |
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US (1) | US8146691B2 (ja) |
EP (1) | EP2098430B1 (ja) |
JP (1) | JP4295308B2 (ja) |
KR (1) | KR101344836B1 (ja) |
CN (1) | CN101535109B (ja) |
WO (1) | WO2008069072A1 (ja) |
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- 2007-11-28 EP EP07832671A patent/EP2098430B1/en not_active Not-in-force
- 2007-11-28 CN CN2007800406085A patent/CN101535109B/zh not_active Expired - Fee Related
- 2007-11-28 US US12/517,435 patent/US8146691B2/en not_active Expired - Fee Related
- 2007-11-28 WO PCT/JP2007/072949 patent/WO2008069072A1/ja active Application Filing
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Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
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CN111038520A (zh) * | 2018-10-15 | 2020-04-21 | 罗伯特·博世有限公司 | 静液压的行驶驱动器、带有行驶驱动器的移动的作业机械和用于数据输入的方法 |
CN117341535A (zh) * | 2023-12-04 | 2024-01-05 | 四川鼎鸿智电装备科技有限公司 | 一种智能电动工程机械能量管理方法和*** |
CN117341535B (zh) * | 2023-12-04 | 2024-02-06 | 四川鼎鸿智电装备科技有限公司 | 一种智能电动工程机械能量管理方法和*** |
Also Published As
Publication number | Publication date |
---|---|
EP2098430A4 (en) | 2011-04-27 |
EP2098430B1 (en) | 2012-10-10 |
JP4295308B2 (ja) | 2009-07-15 |
KR20090091156A (ko) | 2009-08-26 |
JP2008137524A (ja) | 2008-06-19 |
US20100032219A1 (en) | 2010-02-11 |
KR101344836B1 (ko) | 2013-12-26 |
US8146691B2 (en) | 2012-04-03 |
CN101535109B (zh) | 2012-10-17 |
CN101535109A (zh) | 2009-09-16 |
EP2098430A1 (en) | 2009-09-09 |
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