Traveling control device and traveling control program for work vehicle or control device and control program for work vehicle
A working vehicle, driving control technology, applied to the working vehicle driving control device and the working vehicle control device and the field, which can solve the problems of not being able to feel the turning radius, not being able to obtain wide icon operation characteristics, and being difficult to turn and drive
Active Publication Date: 2008-10-15
KOMATSU LTD
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- Description
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Problems solved by technology
Therefore, the desired radius of gyration cannot be obtained according to the operator's operating feeling.
[0030] In other words, as long as the operation is performed in the icon areas L94, L95, icon operation characteristics can be obtained, but a wide range of icon operation characteristics cannot be obtained in all operation stroke ranges.
[0031] As a result, such as Figure 8 As shown, the turning tracks of the left and right crawler belts 10L, 10R of the vehicle tend to vibrate, making it difficult to perform stable turning travel
Method used
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[0134] Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0135] In this embodiment, as a work vehicle, it is assumed that figure 1 Bulldozer shown.
[0136] like figure 1As shown, a work vehicle (bulldozer) 1 is provided with a pair of crawler belts 10L, 10R on the left and right sides of a vehicle body 9 . The sprockets 15, 16 mesh with the left and right crawler belts 10L, 10R, respectively. A working machine (a bulldozer blade) 18 is provided in front of the vehicle body 9, and the working machine 18 can be moved up and down freely. The engine 2 is mounted on the front inner side of the vehicle body 9 . A driver's seat 19 is provided at the rear upper part of the vehicle body 9 . On the side of the driver's seat 19 , a traveling control lever 21 a is provided at a portion that can be operated by an operator.
[0137] Fig. 2 shows the system (control device) of the first embodiment. This system is mounted on the wo...
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A traveling control device and a traveling control program for a work vehicle or a control device and a control program for the work vehicle capable of fixing a control amount to a specified value since variation in control amount (speed ratio) due to the effect of the vibration of a vehicle body is less even if an operation device with shorter operation stroke is adopted and also capable of providing a control amount according to the feeling of an operator even when fine-adjustment is performed by increasing or decreasing the operation stroke. When an operation lever device is operated from a point on a first line (L11) in the direction for increasing the operation stroke and decreasing the speed ratio, the speed ratio is calculated according to the first line. When the operation lever device is operated from a point on a second line (L12) in the direction for reducing the operation stroke and increasing the speed ratio, the speed ratio is calculated according to the second line. When the operation lever is operated from the point on the first line in the direction for decreasing the operation stroke and increasing the speed ratio or from the point on the second line in the direction for increasing the operation stroke and decreasing the speed ratio, the speed ratio is calculated according to third lines (L131)-(L134).
Description
technical field [0001] The present invention relates to a device for controlling control quantities such as right and left crawlers of a work vehicle or a vehicle speed ratio based on an operation amount of an operating device such as a joystick, or a control program incorporated in the control device. Background technique [0002] HST (hydrostatic transmission; hydrostatic transmission) is mounted on work vehicles such as bulldozers. [0003] Figure 9 Indicates a system that controls the speed ratio of the left and right crawler belts using a hydraulic joystick device and HST. [0004] That is, if the same Figure 9 As shown, the drive shafts of the left and right constant volume hydraulic motors 7, 8 are connected to the sprockets 15, 16 provided on the left and right sides of the vehicle body. In addition, the left and right sprockets 15, 16 mesh with the left and right crawlers provided on the left and right sides of the vehicle body, respectively. The inflow and outf...
Claims
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IPC IPC(8): B62D11/04B62D11/18B62D11/00B62D11/10E02F9/22
CPCB62D11/003B62D11/04B62D11/183
Inventor 石桥永至小野寺由孝桥本英博广泽佳之深泽敏彦杉本丰
Owner KOMATSU LTD