CN103370479A - Wheel rotor - Google Patents
Wheel rotor Download PDFInfo
- Publication number
- CN103370479A CN103370479A CN2012800082462A CN201280008246A CN103370479A CN 103370479 A CN103370479 A CN 103370479A CN 2012800082462 A CN2012800082462 A CN 2012800082462A CN 201280008246 A CN201280008246 A CN 201280008246A CN 103370479 A CN103370479 A CN 103370479A
- Authority
- CN
- China
- Prior art keywords
- action bars
- scraper bowl
- dipper
- speed
- switch
- 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.)
- Granted
Links
Images
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
- E02F9/2004—Control mechanisms, e.g. control levers
- E02F9/2012—Setting the functions of the control levers, e.g. changing assigned functions among operations levers, setting functions dependent on the operator or seat orientation
-
- 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
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/283—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a single arm pivoted directly on the chassis
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/34—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with bucket-arms, i.e. a pair of arms, e.g. manufacturing processes, form, geometry, material of bucket-arms directly pivoted on the frames of tractors or self-propelled machines
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
-
- 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
- E02F9/02—Travelling-gear, e.g. associated with slewing gears
-
- 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
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2062—Control of propulsion units
- E02F9/2066—Control of propulsion units of the type combustion engines
-
- 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
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2079—Control of mechanical transmission
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2253—Controlling the travelling speed of vehicles, e.g. adjusting travelling speed according to implement loads, control of hydrostatic transmission
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
Abstract
This wheel rotor (100) is provided with: a vehicle body (110) having wheels (113, 114); a work machine (120) having an arm (121) attached to the anterior section of the vehicle body (110), a bucket (122), an arm cylinder (123) that drives the bucket (122) and the arm (121), and a bucket cylinder (124); and a work machine operation device (20) that designates the operation of the work machine (120). The work machine operation device (20) is provided with: an arm operation lever (11) for operating the arm and provided to the right side of a driving seat (21); and two kickdown switches respectively provided to the top surface and left side surface of the grip (11a) of the arm operation lever (11). As a result, it is possible to further increase operability.
Description
Technical field
The present invention relates to quilt is excavated the wheel loader that thing takes and carries.
Background technology
The working rig of wheel loader has usually makes dipper carry out the dipper hydraulic cylinder of pitching action and scraper bowl is toppled over moving or shovel the scraper bowl hydraulic cylinder that fills action, as the operating means that the action of these dipper hydraulic cylinders and scraper bowl hydraulic cylinder is indicated, the right-hand side such as at driver's seat that has possess dipper operation with and two action bars of scraper bowl operation usefulness (below be called " dipper action bars ", " scraper bowl action bars ") (with reference to patent documentation 1 etc.).
Patent documentation 1: international disclosing WO2010/147232 number
Here, typical action as wheel loader, (A) move to sand etc. excavated thing accumulation body (below, suitably be called " accumulation body ") near, (B) make the mouth of scraper bowl stretch into accumulation body towards the place ahead with the state that dipper descends, (C) one side is advanced further with the state that scraper bowl stretches into accumulation body, one side makes scraper bowl shovel the dress action when dipper is risen and will be excavated thing by scraper bowl and dig, (D) in scraper bowl, pack into to be excavated and retreated behind the thing and leave from accumulation body, move to the place of regulation and topple over and excavated thing.In this a series of action, in (A) and action (D), do not require for the large driving force of travelling (tractive force) that promotes to be excavated thing, so the attention fuel efficiency, but in (B) and action (C), require the large driving force of travelling in order to dig by the excavation thing in good time.
To this, such example is disclosed in above-mentioned patent documentation 1: be provided with on the top of dipper action bars for the mandatory down gear switch that lowers category fast, be provided with on the top of scraper bowl action bars for the interim solution of the restriction of engine peak speed divided by improving the travel mode selector switch of driving force (switching driving mode) of maximum.According to this example, operation mandatory down gear switch is guaranteed the needed driving force of travelling to drop to slow speed turbine stage when the action from (A) is transformed into the action of (B), and when the action of (C), if just can access the larger driving force of travelling according to situation operator scheme change-over switch.
At this moment, in have two this wheel loaders of action bars that dipper is used and scraper bowl is used for the operation task machine, operation dipper action bars mainly operates the scraper bowl action bars when the action of (C) when the action of (B).
The adjustment that is operating as the scraper bowl posture of when the action of (B), carrying out and lowering category.These operations all are for the preparatory function of excavating action, it or not the accurate operation that is accompanied by the adjustment that makes progress and need to be delicate, even be the operation that under the state on the dipper action bars, also can carry out in that have gentle hands is put down gently, so hold the dipper action bars or have gentle hands put down gently in the above or hold from the top or from laterally holding, according to the operator and difference.
On the other hand, at (C) while action the time carry out be operating as dipper to be risen indicate and carry out simultaneously that the scraper bowl shovel fills and the advancing of body.And, in the action of (C), not that the maximum driving force of travelling is the bigger the better.For example, exist the situation of being excavated thing and requiring the large driving force of travelling for scraper bowl is pushed, and on the other hand, if when higher by the load of travelling that is caused by the excavation thing, travel with the excessive driving force of travelling, thereby then may bring impact to later operation owing to skidding of vehicle causes the road surface depression.In the action of (C), although can carry out according to the vertical motion of dipper the shovel dress action of scraper bowl, Yi Bian Yi Bian needs avoid such unfavorable condition to improve as required the maximum driving force of travelling well.
Therefore, compare with the action indication of (B), action indication (C) needs delicate operation, needs to concentrate and carries out, so most operators has the tendency of holding the scraper bowl action bars and operating.
Summary of the invention
The present invention considers that in view of such situation and from the angle of user friendly the actual conditions of operator's mode of operation finish just, and its purpose is to provide the wheel loader that can further improve operability.
(1) in order to reach above-mentioned purpose, the invention is characterized in, comprising: vehicle body, it has wheel; Working rig, it is installed on the front portion of this vehicle body; With the working rig operating means, it indicates the action of this working rig, and this working rig operating means comprises: the action bars of the action indication usefulness of described working rig, and described action bars is arranged at the sidepiece of driver's seat; With two switches, described two switches are arranged at the upper surface of handle of described action bars and the side of described driver's seat side, are used for carrying out the operation relevant with tractive force.
(2) in above-mentioned (1), preferred feature is, dipper hydraulic cylinder and scraper bowl hydraulic cylinder that described working rig has dipper and scraper bowl and drives these dippers and scraper bowl, described working rig operating means comprises: the dipper action bars of indicating usefulness as the action of dipper hydraulic cylinder described action bars, described; The scraper bowl action bars of the action indication usefulness of described scraper bowl hydraulic cylinder, described scraper bowl action bars is located at the described driver's seat side of this dipper action bars side by side; Two mandatory down gear switch are described two switches that are arranged on the side of the upper surface of handle of described dipper action bars and described driver's seat side, are used for making velocity stage to force to lower category; And mode selector switch, it is arranged at the side of described driver's seat side of the handle of described scraper bowl action bars, is used for the different a plurality of driving modes of the higher limit of maximum engine speed are switched.
(3) in above-mentioned (2), preferred feature is, replacement described mode selector switch is arranged on described scraper bowl action bars handle described driver's seat side the side and described mode selector switch is arranged on the upper surface of this handle, perhaps with described mode selector switch except being arranged on the side of this driver's seat side, also be arranged on the upper surface of this handle.
(4) in above-mentioned (2) or (3), preferred feature is that described mode selector switch is button, by the switching of the different a plurality of driving modes of the upper limit of monomer indication maximum engine speed.
(5) in each of above-mentioned (2) to (4), preferred feature is, comprises indication mechanism, and described indication mechanism shows the driving mode of being selected by described mode selector switch.
(6) in each of above-mentioned (2) to (5), preferred feature is, comprises stop mechanism, and described stop mechanism maintains the posture of described dipper action bars the position of indication dipper vertical motion.
According to the present invention, dispose flexibly mandatory down gear switch and mode selector switch by the actual conditions according to operator's mode of operation, can guarantee better operability.
Description of drawings
Fig. 1 is the lateral view of the wheel loader of an embodiment of the invention.
Fig. 2 is the block diagram of schematic configuration of the drive system that possesses of wheel loader of expression an embodiment of the invention.
Fig. 3 is the rideability line chart (torque line chart) that is illustrated in the wheel loader of an embodiment of the invention the relation of engine speed when gas pedal at utmost entered into and torque.
Fig. 4 is the figure of relation of the speed of a motor vehicle with the driving force of travelling of each velocity stage in the wheel loader of expression an embodiment of the invention.
Fig. 5 is the top view of the structure in the driver's cabin that possesses of wheel loader of expression an embodiment of the invention.
Fig. 6 is the ideograph that the driving mode that possesses of the wheel loader of an embodiment of the invention switches the main switch of usefulness.
Fig. 7 is the skeleton diagram of the outward appearance of observing from the rear of the working rig operating means that possesses of wheel loader of expression an embodiment of the invention.
Fig. 8 when to be the wheel loader of expression by an embodiment of the invention with quilt such as sand or gravels excavate thing and pack truck etc. into by the ideograph of the state that digs operation of excavation thing.
The specific embodiment
Below use the description of drawings embodiments of the present invention.
Fig. 1 is the lateral view of the wheel loader of an embodiment of the invention.
Dipper hydraulic cylinder 123 and scraper bowl hydraulic cylinder 124 that working rig 120 has dipper 121 and scraper bowl 122 and drives these dippers 121 and scraper bowl 122.Dipper 121 is accompanied by the telescopic drive of dipper hydraulic cylinder 123 and rotates (elevating movement) at above-below direction, and scraper bowl 122 is accompanied by the telescopic drive of scraper bowl hydraulic cylinder 124 and rotates (toppling over action or the action of shovel dress) at above-below direction.
Fig. 2 is the block diagram of schematic configuration of the drive system of expression wheel loader 100.
As shown in Figure 2, the drive system 130 of wheel loader 100 comprises: motor 131, fluid torque-converter 132, speed changer 133, hydraulic pump 134, control valve 135, controller 136, engine control section 137, transmission control section 138 etc.
Output shaft at motor 131 links the power shaft that fluid torque-converter 132 is arranged, and the output shaft of fluid torque-converter 132 is linked to speed changer 133.Fluid torque-converter 132 is the known fluid clutch that is made of impeller, turbine, stator, and the rotation of motor 131 is passed to speed changer 133 via fluid torque-converter 132.Speed changer 133 has the hydraulic clutch that its speed change level is carried out speed change, and the rotation of the output shaft of fluid torque-converter 132 is by speed changer 133 and by speed change.Rotation after the speed change is via power transmission shaft 141 and wheel shaft 142 and be passed to front-wheel 113 and trailing wheel 114, and thus, wheel loader 100 can travel.
In addition, in the present embodiment, mandatory down gear switch 16,17, auxiliary switch 19 all are the button-type switches.At this moment, so that can not stride when slightly being pressed down when they cover with regard to output function signal (for fear of operator's undesigned operation) at operator's finger, palm, mandatory down gear switch 16,17 and auxiliary switch 19 only when pressing required stroke, understand the output function signal with guaranteeing certain play.
Fluid torque-converter 132 has the function that the output torque is increased with respect to input torque, and soon torque ratio is made as the function more than 1.Torque ratio be accompanied by the power shaft of fluid torque-converter 132 and the rotating speed of output shaft ratio, be the increase of fluid torque-converter velocity ratio e (output speed Nt/ input speed Ni) and diminishing.For example when being to travel load in travelling under certain state when becoming large in engine speed, the output speed Nt of fluid torque-converter 132 is that the speed of a motor vehicle reduces, and fluid torque-converter speed diminishes than e.At this moment, torque ratio increases, so vehicle can travel with the larger driving force of travelling (tractive force).Be that the speed of a motor vehicle driving force of travelling when slower becomes large (low-speed high-torque), the driving force of travelling when the speed of a motor vehicle is very fast diminish (high speed low torque).
At this moment, about velocity stage, the velocity stage that will be selected by velocity stage switch 15 is as the upper limit and fluid drive.For example, selected in the situation of 2 speed by velocity stage switch 15, velocity stage becomes 1 speed or 2 speed according to speed than e, and in the situation of selecting 1 speed, velocity stage is fixed to 1 speed.In addition, although not special diagram, but also can consider to arrange the function that switches to manual shift mode from such automatic shift mode, can Negotiation speed level switch 15 under manual shift mode or the manual operation of the switch that arranges in addition come speed change to be velocity stage arbitrarily.
In addition, mandatory down gear switch 16, the 17th is be used to making velocity stage force the switch that lowers category, whenever the some of mandatory down gear switch 16 or 17 is operated 1 time, controller 136 is just to the transmission control section 138 outputs signal that lowers category, and the speed that makes velocity stage and this moment is than e 1 grade of mandatory down irrespectively.In automatic shift mode, by for example operation mandatory down gear switch 16 or 17 when the speed of a motor vehicle is low speed, velocity stage can be forced to lower category.
More than, speed change when fluid torque-converter speed strides across setting e1 or e2 than e, but also can be the structure that reaches speed change in the situation of setting in the speed of a motor vehicle.In this case, for example, by just realizing to the structure that transmission control section 138 exports upgrade signal or the signal that lowers category according to the signal from speed of vehicle detector 144.
In addition, controller 136 with control of engine speed is and the corresponding target engine speed of the operational ton of gas pedal 13.Namely gas pedal 13 trample quantitative change when large target engine speed become large, controller 136 is to the engine control section 137 outputs control signal corresponding with this target engine speed, with the control engine rotating speed.
Fig. 3 is the engine speed of expression when gas pedal 13 at utmost entered into and the rideability line chart (torque line chart) of the relation of torque.
In Fig. 3, characteristic Ap, Ae are respectively the torque line charts when driving mode is made as P pattern, E pattern.Engine peak speed and is restricted to low speed side with respect to the P pattern with the highest the turning of motor without limits under the E pattern under the P pattern.
Characteristic B0-B2 is an example of the input torque during by motor 131 drive speed transmission 133, and along with engine speed rises, input torque increases.This input torque comprises the input torque of hydraulic pump 134, and according to the absorption torque of fluid torque-converter speed than e and hydraulic pump 134, input torque changes as characteristic B0-B2.Specifically, input torque becomes large (characteristic B0) when fluid torque-converter speed diminishes than e, input torque diminish (characteristic B2) when fluid torque-converter speed becomes large than e.
The intersection point of characteristic Ap, Ae and characteristic B0-B2 is match point, and engine speed becomes the value of this match point.Therefore, the engine speed relative with the input torque of regulation is high under the P pattern than under the E pattern.When engine speed was positioned at match point, the driving force of travelling and this engine speed N's was square proportional.Therefore, large under the E pattern in the driving force ratio of travelling under the P pattern, the amount that engine speed improves that also accelerates of the max. speed under each velocity stage.
Fig. 4 is the figure of the relation of the speed of a motor vehicle under each velocity stage of expression and the driving force of travelling.Among the figure, solid line represents the characteristic of P pattern, and dotted line represents the characteristic of E pattern.
If in Fig. 4 under same velocity stage relatively, the speed of a motor vehicle driving force of more then travelling becomes large (low-speed high-torque), the speed of a motor vehicle driving force diminish (high speed low torque) of comparatively fast then travelling.In addition, velocity stage is less, then can obtain the larger driving force of travelling under the same speed of a motor vehicle.That is, the driving force ratio E pattern of travelling of the maximum under the P pattern is large, and max. speed is also very fast.For example the maximum of the P pattern under 2 velocity stages driving force F2 that travels is larger than the maximum of the E pattern driving force F2 ' that travels, and the max. speed V2hi of P pattern is faster than the max. speed V2 ' hi of E pattern.
Fig. 5 is the top view of the structure in the expression driver's cabin 116.
Be provided with side instrument face plate 22 and working rig operating means 20 on the right side of driver's seat 21.In addition, the front panel 23 in driver's seat 21 the place aheads is provided with steering handle 27, described forward-reverse change-over switch 14 and monitors panel 24, shows which the display part 25 of having selected E pattern and P pattern monitoring that panel 24 possesses.Leading section in forward-reverse change-over switch 14 is provided with described velocity stage switch 15.And then, be provided with below the place ahead of driver's seat 21 and the front panel 23 gas pedal 13 and about brake pedal 26.
Dispose the main switch 18 (also with reference to Fig. 6) that described pattern is switched usefulness at described side instrument face plate 22.Main switch 18 is to be the P position of indicating the P pattern or some alternative expression switches of indicating the E position of E pattern by handover operation.Working rig operating means 20 is positioned at the place ahead of side instrument face plate 22, comprise: the described scraper bowl action bars 12 of the action indication usefulness of scraper bowl hydraulic cylinder 124, the described dipper action bars 11 of the action indication usefulness of dipper hydraulic cylinder 123, the described auxiliary switch 19 of the E pattern that the higher limit of switching engine maximum (top) speed is different/P pattern, and make velocity stage force two the described mandatory down gear switch 16,17 that lower category.
Fig. 7 is the outward appearance skeleton diagram of observing from the rear of expression working rig operating means 20.
As shown in Figure 7, dipper action bars 11 is set up in parallel the right side at the scraper bowl action bars 12 of being located at driver's seat 21 right sides.On the upper surface (top) and left surface (sides of driver's seat 21 sides) of the handle 11a of dipper action bars 11, be provided with described mandatory down gear switch 16,17.On the other hand, on the left surface (sides of driver's seat 21 sides) of the handle 12a of scraper bowl action bars 12, be provided with the described auxiliary switch 19 that pattern is switched usefulness.The left surface that replaces the handle 12a of scraper bowl action bars 12, this auxiliary switch 19 can be arranged at the upper surface of this handle 12a, the upper surface that perhaps can also be arranged at this handle 12a except left surface (namely, can only be arranged at the upper surface (top) of handle 12a, also can as mandatory down gear switch 16,17, be arranged at upper surface and the left surface of handle 12a).In addition, have in the raise up position of action of indication dipper at dipper action bars 11 and keep the stop mechanism 11b (indicative icon in Fig. 2) of its posture.
As mentioned above, mandatory down gear switch 16,17, auxiliary switch 19 are the switch of button-type, but all are the button of alternative expression in the present embodiment.Therefore, (exist in the situation of the velocity stage of low speed more) in the velocity stage situation of travelling beyond 1 speed, whenever mandatory down gear switch 16,17 some being operated 1 time, just according to this operation signal from controller 136 to transmission control section the 138 output signals that lower category, at every turn to 1 grade of low prompt drop, when operation mandatory down gear switch under 1 grade 16,17, turn back to the velocity stage that Negotiation speed level switch 15 is selected.But when Negotiation speed level switch 15 was selected 1 speed, then no matter have or not mandatory down gear switch 16,17 operation, velocity stage was not from 1 fast speed change.In addition, for auxiliary switch 19, only its operation is just accepted by controller 136 when having selected the E pattern by main switch 18.That is, when selecting the P pattern by main switch 18, driving mode is fixed as the P pattern, though operation auxiliary switch 19, can be from controller 136 to engine control section yet the switching signal of 137 output driving modes, driving mode can not switch to the E pattern yet.At this moment, the maximum speed of motor 131 can increase the driving force of travelling, and can improve max. speed without limits in its limit of power.On the other hand, selecting by main switch 18 in the situation of E pattern, when under steam auxiliary switch 19 being pressed from controller 136 to engine control section 137 output mode switching signals, driving mode switches to the P pattern, turns back to the E pattern when again auxiliary switch 19 being pressed.In the E pattern, the maximum speed of motor 131 is restricted to low speed side, and driving force and max. speed fuel efficiency improve thereby the original maximum of inhibition is travelled.Then also be to be positioned at 1 auxiliary switch 19 of every operation under the state of E pattern at main switch 18, driving mode just switches to P pattern, E pattern, P pattern repeatedly ....
Next, an example of the wheel loader of said structure typically being excavated action describes.
Fig. 8 is the ideograph that the state that digs operation of thing is excavated in expression when packing into the truck etc. such as sand or gravel by wheel loader 100.
As shown in Figure 8, digging when being excavated thing, typically, at first (A) advances to the accumulation body P that is excavated thing (below, referred to as " accumulation body P ") with the degree of for example 2 velocity stages, near accumulation body P.At this moment, main switch 18 is arranged at the E position, and driving mode is chosen as the E pattern in advance.Next (B) operation dipper action bars 11 and scraper bowl action bars 12 and dipper 121 is descended and the opening that makes scraper bowl 122 towards the place ahead, and before being about to insert accumulation body P, press mandatory down gear switch 16 or 17 and to force to lower category from 2 speed be 1 speed.It is that 1 speed is because of the large driving force of travelling of needs in the time will being packed into scraper bowl 122 by the excavation thing that pressure lowers category.
After inserting accumulation body P, next (C) uses the stop mechanism 11b of dipper action bars 11 to keep the dipper vertical motion.The operator leaves dipper action bars 11 rear dippers 121 with hand and also continues the dipper vertical motion thus.In addition, in the dipper vertical motion, thereby will be dug in the scraper bowl 122 by the excavation thing by making 12 actions of scraper bowl action bars make scraper bowl 122 shovel the dress action.When digging this and excavated thing, adjust the driving force of travelling (tractive force) by the plus-minus of entering into of gas pedal 13.At this moment, exist the driving force of travelling not rise to the situation of the larger driving force of travelling of necessary above preferably situation and requirement at the state according to the proterties of being excavated thing, road surface of digging in the operation that is excavated thing,, the operator switches E pattern and P pattern so judging by situation in good time, avoid the road surface to cave in owing to skidding on one side, will by excavation thing be dug scraper bowl 122 on one side.After will being piled up in scraper bowl 122 by the excavation thing like this, operator (D) operates forward-reverse change-over switch 14 and travel direction is switched to the rear, retreating from accumulation body P and leaving, and again travel direction is switched to the place ahead and mobile near the tipping lorry (not shown), operation dipper action bars 11 and scraper bowl action bars 12 and will be excavated thing and drop into the wagon box etc. of tipping lorry.
In addition, as driving mode, select some this situations of E pattern and P pattern, by based on from the operation signal of main switch 18 and auxiliary switch 19 and from the display that controller 136 is exported, be shown on the display part 25 in the place ahead of driver's seat 21.
According to present embodiment, can play following such action effect.
(1) raising of operability
In the situation of the driving force of travelling that temporary needs are large like that as mentioned above, if pressing operation auxiliary switch 19 then driving mode switches to the P pattern, so need to be in digging operation with hand from working rig operating means 20 leave take with main switch 18 handover operations of side instrument face plate 22 as the P pattern, so can guarantee good workability.In addition, can irrespectively immediately driving mode be switched to the P pattern with velocity stage by the pressing operation of auxiliary switch 19, so for for example making in the temporary transient situation about increasing of the driving force of travelling also useful when travelling with 2 speed climbings.In addition, after the operation by auxiliary switch 19 switches to the P pattern with driving mode, if operate again auxiliary switch 19 then can make driving mode turn back to the E pattern.Therefore main switch 18 can be operating as under the state of E pattern, switch arbitrarily driving mode by operator's hobby, can be rapidly and easily carry out the operation that pattern is switched, the flexibly control driving force of travelling.
Here, usually for dipper action bars 11, hold handle 11a or be placed on hand top gently or hold from the top or from laterally holding, have according to situation, operator's hobby and different tendencies.Therefore in the present embodiment, left side with scraper bowl action bars 12 person that is disposed at the Proximity operation, dipper action bars 11 is disposed at the right side far away apart from the operator, and at 2 positions of the upper surface of the handle 11a of dipper action bars 11 and the left surface side of driver's seat 21 sides (namely near) the mandatory down gear switch 16,17 that velocity stage is forced to lower category is set, which mandatory down gear switch 16,17 can both be forced the operation that lowers category.Therefore, in the situation of top handle 11a easily by the hand thumb operative configuration come from the left side of handle 11a in the mandatory down gear switch 17 of handle 11a left surface, in the situation of horizontal (right side) handle 11a, pass through easily the hand thumb operative configuration in the mandatory down gear switch 16 of the upper surface of handle 11a.By such upper surface and the left surface at the handle 11a of dipper action bars 11 2 mandatory down gear switch 16,17 are set respectively, with the operation that irrespectively can both easily lower category of the method for holding with a firm grip of handle 11a.
In addition, when having dug by the excavation thing by scraper bowl 122, need the parallel action that the scraper bowl shovel fills, dipper rises, body advances of carrying out, but on dipper, utilize in the lift operations in the situation of stop mechanism 11b of dipper action bars 11, have the tendency that the operator leaves dipper action bars 11 with hand and hold handle 12a operation scraper bowl action bars 12 from the top.In the operating process of this scraper bowl action bars 12, can require the larger driving force of travelling according to situation in good time, under these circumstances, owing to have the auxiliary switch 19 that pattern is switched usefulness on the scraper bowl action bars 12 in operation, so can keep the state direct control auxiliary switch 19 of hand-held scraper bowl action bars 12, need to hand not left or be changed to another action bars of operation from working rig operating means 20 in order to switch driving mode.And, owing at the left surface of handle 12a auxiliary switch 19 is set, carry out easily the handover operation of driving mode by the thumb that is placed on the right hand on the handle 12a.
Like this, can consider on one side to be excavated thing digging operation actual conditions and the auxiliary switch 19 that mandatory down gear switch 16,17, driving mode switch usefulness is distributed to dipper action bars 11 and scraper bowl action bars 12, on one side be made as by position, number with them and suitably and further improve operability.In addition, by with mandatory down gear switch 16,17 and the driving mode auxiliary switch 19 that switches usefulness distribute to dipper action bars 11 and scraper bowl action bars 12, can so that be not easy the handover operation of mistaken force to lower category operation and driving mode, can suppress maloperation.
Like this, according to present embodiment, can further improve operability.
In addition, during travelling beyond such digging operation etc. in the situation of inoperation working rig operating means 20, the temporary transient situation that improves the driving force of travelling when also existence is travelled when for example climbing, in this case too, because pattern is switched on the auxiliary switch 19 of the usefulness person's that is arranged at the Proximity operation the scraper bowl action bars 12, so that the handover operation of driving mode becomes is easy.This is also useful to guaranteeing good operability.
(2) effect of alternative expression switch
Be made as the alternative expression switch by the auxiliary switch 19 that mandatory down gear switch 16,17, pattern is switched usefulness, each switch 16,17,19 can be selected arbitrarily velocity stage, driving mode with monomer respectively, so can suppress to force to lower category each mechanism of the handover operation of operation and driving mode the space is set, these switches 16,17,19 can be disposed at suitably little the arranging in the space of each handle 11a, 12a of dipper action bars 11, scraper bowl action bars 12.Deploy switch 16,17,19 helps the realization of above-mentioned high operability widely on handle 11a, 12a like this.In addition, these switches 16,17,19 are alternative expression, so with for example in order directly to select each velocity stage respectively a plurality of mandatory down gear switch are set or the E pattern are set and the situation of 2 auxiliary switch that the P model selection is used is compared, by 1 switch just can the Set arbitrarily driving mode, velocity stage, so operation is also simple.
(3) guarantee the identification of driving mode
Because selected driving mode is shown in the display part 25 that monitors panel 24 at any time, so even by the auxiliary switch 19 frequent driving modes that switch, the operator also can suitably confirm driving mode by display part 25.The operator can confirm that suitably driving mode operates on one side on one side thus, can easily carry out the setting operation by the driving mode of oneself intention, for example can suppress when driving mode is the P pattern, take for and selected the E pattern and the driving force of travelling is run counter to the operator when having entered into gas pedal 13 etc. wish rises and cause the maloperation such as road surface depression.
In addition, in above illustrative embodiment, having listed the example of situation of left surface that auxiliary switch 19 that driving mode switches usefulness only is arranged at the handle 12a of scraper bowl action bars 12 is illustrated, but be not limited to this mode, can adopt auxiliary switch 19 is only arranged 1 or the structure of 1 (2) respectively is set at upper surface and left surface at the upper surface of handle 12a.When hypothesis when laterally holding the handle 12a of scraper bowl action bars 12, if driving mode switches the top that the auxiliary switch 19 of usefulness is positioned at the handle 12a of scraper bowl action bars 12, then press by hand thumb easily.In addition, if according to the operator and the method for the holding difference of scraper bowl action bars 12, then just useful as long as auxiliary switch 19 is positioned at upper surface and the left surface both sides of handle 12a of scraper bowl action bars 12.
In addition, illustration in auxiliary switch 19, use the situation of alternative expression switch, but because hypothesis auxiliary switch 19 also can consider to be made as instantaneous formula switch for the operation of the switching usefulness of the temporary transient and short time of driving mode so both can consider the switch that is both button-type.In the situation that adopts instantaneous formula switch, if when having selected the E pattern by main switch 18, auxiliary switch 19 is pressed, then according to this operation signal from controller 136 to engine control section 137 output mode switching signals, only driving mode switches to the P pattern during auxiliary switch 19 is pressed, and driving mode turns back to the E pattern when pressing of auxiliary switch 19 is stopped.
In addition, although the output according to the control signal from controller 136 to engine control section 137, so that the maximum speed of motor 131 is unrestricted when having selected the P pattern, the maximum speed of motor 131 is limited in low speed side when having selected the E pattern, but owing to be positioned at high-speed side as long as the engine peak speed of the P pattern engine peak speed for the E pattern time is compared, so when the P pattern, need not make engine peak speed unrestricted.In addition, example shows the situation that driving mode is E pattern and two patterns of P pattern, but also can prepare the different driving mode more than 3 of the upper limit of engine peak speed.In this case, preferably, 1 auxiliary switch 19 of every operation, driving mode just switches in turn, so that 1 mandatory down gear switch 16 of every operation or 17, velocity stage just changes 1 grade.
In addition, although be to detect fluid torque-converter velocity ratio e by revolution detector 145,146, speed can be arbitrarily than the structure of detecting unit.Although via fluid torque-converter 132, speed changer 133, power transmission shaft 141, wheel shaft 142 rotation of motor 131 is passed to front-wheel 113 and trailing wheel 114, the structure of the driving force of travelling transmission mechanism can be arbitrarily.
In addition, not only with mandatory down gear switch 16,17, can also will also be arranged at the upper surface of handle of action bars and these two positions, side of driver's seat 21 sides as the auxiliary switch 19 of mode selector switch as mentioned above.Same with the operation that lowers category of being undertaken by mandatory down gear switch 16,17, the variable speed operation that is undertaken by auxiliary switch 19 also shares as the operation relevant with tractive force, if auxiliary switch 19 is arranged at 2 positions of handle, then according to operator, situation, can help sand etc. dig operation the time the raising of operability.
In addition, listed the situation that dipper action bars 11 and scraper bowl action bars 12 are arranged at the right side of driver's seat 21 and be illustrated, but also can have the situation in the left side that is arranged at driver's seat 21.In addition, preferably scraper bowl action bars 12 is disposed at driver's seat 21 sides of dipper action bars 11, but also can is the structure that scraper bowl action bars 12 is arranged at the driver's seat side.
At this moment, suppose mandatory down gear switch 16,17 and auxiliary switch 19 in be disposed at the switch thumb manipulation by from upper handle time the as mentioned above of side of the handle 12a of the side of handle 11a of dipper action bars 11 or scraper bowl action bars 12, therefore be disposed at the side of driver's seat 21 sides of handle 11a, 12a.Therefore, in the situation in the left side that dipper action bars 11 and scraper bowl action bars 12 is arranged at driver's seat 21, mandatory down gear switch 16,17 is disposed at upper surface and the right flank of the handle 11a of dipper action bars 11.Equally, in the situation of the side of the handle 12a of the scraper bowl action bars 12 that auxiliary switch 19 is arranged at the left side that is disposed at driver's seat 21, the side that this auxiliary switch 19 is disposed at driver's seat 21 sides of handle 12a is right flank.
Description of reference numerals
11: the dipper action bars
11a: handle
11b: stop mechanism
12: the scraper bowl action bars
12a: handle
16,17: the mandatory down gear switch
19: auxiliary switch (mode selector switch)
20: the working rig operating means
21: driver's seat
25: display part (indication mechanism)
100: wheel loader
110: vehicle body
113: front-wheel
114: trailing wheel
120: working rig
121: dipper
122: scraper bowl
123: the dipper hydraulic cylinder
124: the scraper bowl hydraulic cylinder
Claims (6)
1. a wheel loader is characterized in that, comprising:
Vehicle body, it has wheel;
Working rig, it is installed on the front portion of this vehicle body; With
The working rig operating means, it indicates the action of this working rig,
This working rig operating means comprises:
The action bars of the action indication usefulness of described working rig, described action bars is arranged at the sidepiece of driver's seat; With
Two switches, described two switches are arranged at the upper surface of handle of described action bars and the side of described driver's seat side, are used for carrying out the operation relevant with tractive force.
2. wheel loader according to claim 1 is characterized in that,
Dipper hydraulic cylinder and scraper bowl hydraulic cylinder that described working rig has dipper and scraper bowl and drives these dippers and scraper bowl,
Described working rig operating means comprises:
Indicate the dipper action bars of usefulness as the action of dipper hydraulic cylinder described action bars, described;
The scraper bowl action bars of the action indication usefulness of described scraper bowl hydraulic cylinder, described scraper bowl action bars is located at the described driver's seat side of this dipper action bars side by side;
Two mandatory down gear switch are described two switches that are arranged on the side of the upper surface of handle of described dipper action bars and described driver's seat side, are used for making velocity stage to force to lower category; With
Mode selector switch, it is arranged at the side of described driver's seat side of the handle of described scraper bowl action bars, is used for the different a plurality of driving modes of the higher limit of maximum engine speed are switched.
3. wheel loader according to claim 2 is characterized in that,
Replacement described mode selector switch is arranged on described scraper bowl action bars handle described driver's seat side the side and described mode selector switch is arranged on the upper surface of this handle, perhaps with described mode selector switch except being arranged on the side of this driver's seat side, also be arranged on the upper surface of this handle.
4. according to claim 2 or 3 described wheel loaders, it is characterized in that,
Described mode selector switch is button, by the switching of the different a plurality of driving modes of the upper limit of monomer indication maximum engine speed.
5. each described wheel loader in 4 according to claim 2 is characterized in that,
Comprise indication mechanism, described indication mechanism shows the driving mode of being selected by described mode selector switch.
6. each described wheel loader in 5 according to claim 2 is characterized in that,
Comprise stop mechanism, described stop mechanism maintains the posture of described dipper action bars the position of indication dipper vertical motion.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2011057076 | 2011-03-15 | ||
| JP2011-057076 | 2011-03-15 | ||
| PCT/JP2012/056714 WO2012124767A1 (en) | 2011-03-15 | 2012-03-15 | Wheel rotor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103370479A true CN103370479A (en) | 2013-10-23 |
| CN103370479B CN103370479B (en) | 2016-06-01 |
Family
ID=46830832
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201280008246.2A Active CN103370479B (en) | 2011-03-15 | 2012-03-15 | Wheel loader |
Country Status (6)
| Country | Link |
|---|---|
| US (1) | US20140003900A1 (en) |
| EP (1) | EP2687638B1 (en) |
| JP (1) | JP5814258B2 (en) |
| KR (1) | KR101882406B1 (en) |
| CN (1) | CN103370479B (en) |
| WO (1) | WO2012124767A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104822922A (en) * | 2014-10-31 | 2015-08-05 | 株式会社小松制作所 | Wheel loader and wheel loader control method |
| CN107960111A (en) * | 2015-07-03 | 2018-04-24 | 卡特彼勒Sarl | The traveling control system of Work machine |
| CN108301457A (en) * | 2018-03-14 | 2018-07-20 | 华侨大学 | A kind of excavator start-up and shut-down control method |
| CN111051741A (en) * | 2018-03-27 | 2020-04-21 | 日立建机株式会社 | Working vehicle |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6034773B2 (en) * | 2013-11-13 | 2016-11-30 | 株式会社クボタ | Working machine |
| CN103671888A (en) * | 2013-12-18 | 2014-03-26 | 徐州凯尔农业装备股份有限公司 | Electric control gear shifting device of roller tractor |
| US10041229B2 (en) * | 2015-11-02 | 2018-08-07 | Caterpillar Inc. | System and method for controlling operation of machine |
| JP6487822B2 (en) * | 2015-11-05 | 2019-03-20 | ヤンマー株式会社 | Tractor |
| WO2020003948A1 (en) * | 2018-06-29 | 2020-01-02 | 株式会社クボタ | Work machine |
| CN109515537B (en) * | 2018-11-16 | 2020-06-09 | 中联重科股份有限公司 | Control method and system for crawler vehicle travelling mechanism and crawler vehicle |
| EP4015277A1 (en) * | 2020-12-15 | 2022-06-22 | Kubota Corporation | Work vehicle, control method, control program and recording medium |
| CN112982538B (en) * | 2021-02-24 | 2022-06-21 | 索特传动设备有限公司 | Control method and device of wheel loader, wheel loader and storage medium |
| JP2023082323A (en) * | 2021-12-02 | 2023-06-14 | 株式会社小松製作所 | Cab and work machine |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050034549A1 (en) * | 2003-08-11 | 2005-02-17 | Manitou Bf | Device for interactive control with the hand of an operator |
| US20050279561A1 (en) * | 2004-06-22 | 2005-12-22 | Caterpillar Inc. | Work machine joystick control system |
| CN101310101A (en) * | 2005-12-22 | 2008-11-19 | 株式会社小松制作所 | Engine control device for working vehicle |
| CN101639121A (en) * | 2008-07-29 | 2010-02-03 | 迪尔公司 | Lever lockout assembly |
| US7784581B1 (en) * | 2006-09-14 | 2010-08-31 | Deere & Company | Machine control interlocks for an electrohydraulically controlled vehicle |
| WO2010147232A1 (en) * | 2009-06-19 | 2010-12-23 | 日立建機株式会社 | Motor control device for working vehicle |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000105618A (en) * | 1998-07-28 | 2000-04-11 | Komatsu Ltd | Lever type signal generator |
| US6098481A (en) * | 1998-12-15 | 2000-08-08 | Caterpillar Inc. | High force variable position detent mechanism |
| US6643577B1 (en) * | 2002-08-22 | 2003-11-04 | Caterpillar Inc | Operator control station and method for a work machine having more than one function |
| KR100621982B1 (en) * | 2004-04-13 | 2006-09-14 | 볼보 컨스트럭션 이키프먼트 홀딩 스웨덴 에이비 | Apparatus for setting function of switches of working vehicle |
| US9074352B2 (en) * | 2006-03-27 | 2015-07-07 | John R. Ramun | Universal control scheme for mobile hydraulic equipment and method for achieving the same |
| WO2009048364A1 (en) * | 2007-10-08 | 2009-04-16 | Svab Hydraulik Ab | A control lever for operating a machine, a procedure for operating a machine via a control lever and the use of the control lever |
| JP5238448B2 (en) * | 2008-10-20 | 2013-07-17 | キャタピラー エス エー アール エル | Work vehicle |
| DE102009034154A1 (en) * | 2009-07-20 | 2011-02-03 | Claas Selbstfahrende Erntemaschinen Gmbh | Multi-function handle |
-
2012
- 2012-03-15 US US13/996,247 patent/US20140003900A1/en not_active Abandoned
- 2012-03-15 KR KR1020137020848A patent/KR101882406B1/en active IP Right Grant
- 2012-03-15 JP JP2012547350A patent/JP5814258B2/en active Active
- 2012-03-15 EP EP12758204.7A patent/EP2687638B1/en active Active
- 2012-03-15 WO PCT/JP2012/056714 patent/WO2012124767A1/en active Application Filing
- 2012-03-15 CN CN201280008246.2A patent/CN103370479B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050034549A1 (en) * | 2003-08-11 | 2005-02-17 | Manitou Bf | Device for interactive control with the hand of an operator |
| US20050279561A1 (en) * | 2004-06-22 | 2005-12-22 | Caterpillar Inc. | Work machine joystick control system |
| CN101310101A (en) * | 2005-12-22 | 2008-11-19 | 株式会社小松制作所 | Engine control device for working vehicle |
| US7784581B1 (en) * | 2006-09-14 | 2010-08-31 | Deere & Company | Machine control interlocks for an electrohydraulically controlled vehicle |
| CN101639121A (en) * | 2008-07-29 | 2010-02-03 | 迪尔公司 | Lever lockout assembly |
| WO2010147232A1 (en) * | 2009-06-19 | 2010-12-23 | 日立建機株式会社 | Motor control device for working vehicle |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104822922A (en) * | 2014-10-31 | 2015-08-05 | 株式会社小松制作所 | Wheel loader and wheel loader control method |
| CN104822922B (en) * | 2014-10-31 | 2017-11-28 | 株式会社小松制作所 | The control method of wheel loader and wheel loader |
| CN107960111A (en) * | 2015-07-03 | 2018-04-24 | 卡特彼勒Sarl | The traveling control system of Work machine |
| CN108301457A (en) * | 2018-03-14 | 2018-07-20 | 华侨大学 | A kind of excavator start-up and shut-down control method |
| CN111051741A (en) * | 2018-03-27 | 2020-04-21 | 日立建机株式会社 | Working vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| EP2687638B1 (en) | 2017-05-10 |
| CN103370479B (en) | 2016-06-01 |
| EP2687638A4 (en) | 2014-12-17 |
| WO2012124767A1 (en) | 2012-09-20 |
| KR20140051120A (en) | 2014-04-30 |
| JP5814258B2 (en) | 2015-11-17 |
| EP2687638A1 (en) | 2014-01-22 |
| JPWO2012124767A1 (en) | 2014-07-24 |
| KR101882406B1 (en) | 2018-07-26 |
| US20140003900A1 (en) | 2014-01-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103370479A (en) | Wheel rotor | |
| CN101387117B (en) | Traveling-type hydraulic working machine | |
| CN102459854B (en) | Working vehicle control apparatus | |
| CN104011302B (en) | Working truck | |
| US10011273B2 (en) | Work vehicle and method for controlling same | |
| CN103597256B (en) | Wheel rotor and method for controlling wheel rotor | |
| CN103703257B (en) | There is the hydraulic control system of rotary actuator energy regenerating | |
| CN104603430B (en) | Wheel loader and the engine control of wheel loader | |
| EP2413005B1 (en) | Construction vehicle | |
| CN102803685B (en) | The prime mover control device of working truck | |
| CN102753867B (en) | Work vehicle and work vehicle control method | |
| US8788156B2 (en) | Wheel loader | |
| CN102459770B (en) | Work machine and control method for work machines | |
| JPH10195930A (en) | System and method for automatic bucket loading by using coefficient of density | |
| CN106460889B (en) | Work machine | |
| CN102277890B (en) | Prime mover revolution speed control device of hydraulic construction machine | |
| CN102656390A (en) | Gear shifting control device for operation vehicle | |
| JP6959899B2 (en) | Wheel loader | |
| CN106436789B (en) | It is a kind of to shovel dress system, control method and loading machine automatically | |
| JP6258593B2 (en) | Automatic transmission for work vehicle | |
| CN104619543A (en) | Operation vehicle travel control device | |
| JP7146665B2 (en) | work machine | |
| JP7155039B2 (en) | work machine | |
| JP7155037B2 (en) | work machine | |
| JP7155038B2 (en) | work machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170302 Address after: Hyogo Patentee after: KCM K. K. Address before: Tokyo, Japan, Japan Patentee before: Hitach Construction Machinery Co., Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190828 Address after: Tokyo, Japan, Japan Patentee after: Hitach Construction Machinery Co., Ltd. Address before: Hyogo Patentee before: KCM K. K. |