Work equipment

Abstract

To effectively perform shift shock reduction control during deceleration.SOLUTION: A work machine includes: an underframe 2; a traveling pump 53; and a control unit 60 that is configured so as to, when performing a series of deceleration processing to switch from a second state in which the rotational speed of a traveling motor 36 can be increased to a second maximum speed to a first state in which the rotational speed can be increased to a first maximum speed smaller than the second maximum speed, perform shift shock reduction control. The control unit 60 includes: a first operation unit 60a that calculates a first decrease amount to decrease the supply amount of hydraulic oil supplied from the traveling pump 53 to the traveling motor 36 based on a drop amount as the difference between a target number of revolutions and the actual number of revolutions of an engine 32; a second operation unit 60b that calculates a second decrease amount to decrease the supply amount of hydraulic oil supplied from the traveling pump 53 to the traveling motor 36 based on the straightness of underframe 2; and a reduction control unit 60c that performs shift shock reduction control based on the decrease amount that has the larger absolute value among the first decrease amount and the second decrease amount.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a work machine such as a skid steer loader, a compact track loader, a backhoe, or the like. [Background technology]

[0002] Conventionally, there is a technology for reducing gear shift shock during deceleration in a work machine, as disclosed in Patent Document 1. The work machine in Patent Document 1 includes a prime mover, a hydraulic pump that is operated by the power of the prime mover and discharges hydraulic oil, a detection unit that detects the state of the work machine, an index determination unit that determines an index value based on the state of the work machine detected by the detection unit, a calculation unit that calculates a drop amount that is the difference between the target rotation speed of the prime mover indicated by the index value determined by the index determination unit and the actual rotation speed of the prime mover, and an output reduction unit that reduces the output of the hydraulic pump when the drop amount is equal to or greater than a predetermined amount. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2017-115441 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the work machine of Patent Document 1, the output of the hydraulic pump is reduced according to the drop amount, which is the difference between the target rotation speed of the prime mover and the actual rotation speed of the prime mover, to reduce the gear shift shock during deceleration, but there are cases where the reduction is not adequate. For example, it is not possible to reduce the gear shift shock adequately when the machine decelerates while in a turning state. The present invention has been made to solve the problems of the conventional technology as described above, and has an object to provide a work machine that can effectively perform control to reduce gear change shock during deceleration. [Means for solving the problem]

[0005] The technical means adopted by the present invention to solve the technical problems are as follows. A working machine according to one aspect of the present invention includes a prime mover, a travel pump that is operated by the power of the prime mover and discharges hydraulic oil, a travel motor that can be rotated by the hydraulic oil discharged by the travel pump, a machine body on which the prime mover, the travel pump and the travel motor are provided, a travel switching valve that can switch between a first state in which the rotation speed of the travel motor can be increased to a first maximum speed and a second state in which the rotation speed of the travel motor can be increased to a second maximum speed that is greater than the first maximum speed, a travel operation device having an operation valve that can change the pressure of the hydraulic oil acting on the travel pump in response to operation of an operation member, and a speed change valve that reduces the amount of hydraulic oil supplied from the travel pump to the travel motor when performing a deceleration process to switch from the second state to the first state. and a control device that performs shock reduction control, the control device having a first calculation unit that calculates a first reduction amount for reducing the amount of hydraulic oil supplied from the travel pump to the travel motor in the gear shift shock reduction control based on a drop amount that is the difference between a target rotation speed of the prime mover and an actual rotation speed of the prime mover, a second calculation unit that calculates a second reduction amount for reducing the amount of hydraulic oil supplied from the travel pump to the travel motor in the gear shift shock reduction control based on a degree of straightness of the vehicle, and a reduction control unit that performs gear shift shock reduction control based on the reduction amount that has a larger absolute value between the first reduction amount calculated by the first calculation unit and the second reduction amount calculated by the second calculation unit.

[0006] In one embodiment of the present invention, the first calculation unit calculates a first amount of reduction in the rotation speed of the prime mover in the gear shift shock reduction control based on a drop amount, which is the difference between the target rotation speed of the prime mover and the actual rotation speed of the prime mover, and the second calculation unit calculates a second amount of reduction in the rotation speed of the prime mover in the gear shift shock reduction control based on the degree of straightness of the vehicle, and the reduction control unit performs the gear shift shock reduction control to reduce the amount of hydraulic oil supplied from the travel pump to the travel motor by reducing the rotation speed of the prime mover based on the reduction amount having a larger absolute value between the first reduction amount calculated by the first calculation unit and the second reduction amount calculated by the second calculation unit.

[0007] In one aspect of the present invention, the reduction control section sets a value obtained by subtracting the reduction amount from the actual rotation speed of the prime mover as a reduction value of the prime mover in the gear shift shock reduction control. In addition, in one aspect of the present invention, the reduction control unit keeps a first reduction rate of the actual rotation speed of the prime mover constant from a start point to an end point of the reduction section in a reduction section until the actual rotation speed of the prime mover reaches a reduction value.

[0008] In addition, in one embodiment of the present invention, the reduction control unit makes a second reduction rate of the actual rotation speed of the prime mover from the start of the reduction section to the middle of the reduction section, in the reduction section until the actual rotation speed of the prime mover reaches a reduction value, greater than a third reduction rate of the actual rotation speed of the prime mover from the middle of the reduction section to the end point. In one aspect of the present invention, the reduction control unit changes a timing for switching the travel switching valve from the second state to the first state in accordance with the drop amount.

[0009] In addition, a work machine of one embodiment of the present invention includes a change-over switch that issues a speed change command to either increase or decrease speed, and an accelerator that sets a target rotation speed of the prime mover, and when the change-over switch issues the speed change command, the reduction control unit reduces the actual rotation speed of the prime mover toward a reduction value determined based on the reduction amount, and switches the travel switching valve to either the first state or the second state in response to the speed change command.

[0010] In one aspect of the present invention, the reduction control unit sets the reduction amount to a large value when the drop amount is small, and sets the reduction amount to a small value when the drop amount is large. In addition, in a work machine according to one aspect of the present invention, an operating valve is provided that is connected to the operating valve on the upstream or downstream side of the operating valve and is capable of controlling hydraulic oil flowing through the operating valve, and when performing the deceleration process, the control device outputs a control signal to the operating valve to reduce an opening degree of the operating valve, thereby performing control to reduce the amount of hydraulic oil supplied from the travel pump to the travel motor, and the first calculation unit calculates the speed change shock based on a drop amount that is a difference between a target rotation speed of the prime mover and an actual rotation speed of the prime mover. The second calculation unit calculates a first amount of reduction in the opening of the operating valve in the gear shift shock reduction control based on the degree of straightness of the vehicle, and the reduction control unit performs the gear shift shock reduction control by reducing the opening of the operating valve based on the first amount of reduction calculated by the first calculation unit and the second amount of reduction calculated by the second calculation unit, whichever has a larger absolute value, thereby reducing the amount of hydraulic oil supplied from the travel pump to the travel motor.

[0011] In one aspect of the present invention, the operating valve is a valve whose opening degree increases as a control value corresponding to the control signal increases and whose opening degree decreases as the control value decreases, and the control device sets an amount of reduction in the control value as an amount of reduction in the opening degree of the operating valve based on the degree of straightness of the aircraft, and calculates a reduction value in the gear shift shock reduction control based on the amount of reduction.

[0012] In one aspect of the invention, the control device keeps a first decrease rate of the control value constant from a start point to an end point of the decrease interval until the control value reaches the decrease value. In addition, in one embodiment of the present invention, the control device makes a second rate of decrease of the control value from the start of the reduction interval to the middle of the reduction interval greater than a third rate of decrease of the control value from the middle of the reduction interval to the end of the reduction interval, in a reduction interval until the control value reaches a reduction value.

[0013] In one aspect of the present invention, the control device changes a timing for switching the traveling changeover valve from the first state to the second state according to the degree of straight traveling. In one aspect of the present invention, the control device is big When the degree of straightness is small, the amount of decrease is set to be small. In addition, in one embodiment of the work machine of the present invention, the work machine includes a first traveling device provided on the left side of the body and a second traveling device provided on the right side of the body, the traveling motors being a first traveling motor that transmits traveling power to the first traveling device and a second traveling motor that transmits traveling power to the second traveling device, the traveling pump is capable of operating the first traveling motor and the second traveling motor, and the traveling switch valve is capable of switching the rotational speeds of the first traveling motor and the second traveling motor between the first state and the second state. Effect of the Invention

[0014] According to the present invention, it is possible to effectively perform control for reducing the gear shift shock during deceleration. [Brief description of the drawings]

[0015] [Figure 1] 1 is a diagram showing a hydraulic system (hydraulic circuit) of a work machine according to a first embodiment. [Diagram 2] 5 is a flowchart showing a control for reducing a gear shift shock in the first embodiment. [Diagram 3] 11 is a diagram showing the relationship between the rotation speed of the prime mover and switching of the traveling motor when the traveling motor is decelerated. FIG. [Figure 4] FIG. 11 is a diagram showing the relationship between the straightness SV and a second decrease amount ΔF11. [Diagram 5] 11 is a diagram showing the relationship between the rotation speed of the prime mover and switching of the traveling motor when the traveling motor is decelerated. FIG. [Figure 6] 11 is a diagram showing the relationship between the rotation speed of the prime mover and switching of the traveling motor when the traveling motor is decelerated. FIG. [Figure 7] 11 is a diagram showing the relationship between the rotation speed of the prime mover and switching of the traveling motor when the traveling motor is decelerated. FIG. [Figure 8] FIG. 13 illustrates a data table. [Figure 9] 13 is a diagram showing the relationship between the control value of a control signal output to an actuated valve and switching of the traveling motor when the traveling motor is decelerated in the second embodiment. FIG. [Figure 10] 13 is a flowchart showing a control for reducing a gear shift shock in the case of a third embodiment. [Figure 11] FIG. 13 is a diagram showing a configuration in which the operating device is changed to an electrically operated operating device such as a joystick. [Figure 12] FIG. 1 is a side view showing a track loader as an example of a work machine. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of a work machine and a hydraulic system for this work machine according to the present invention will be described with reference to the drawings as appropriate. (First embodiment) Fig. 12 shows a side view of a working machine according to the present invention. Fig. 12 shows a compact track loader as an example of a working machine. However, the working machine according to the present invention is not limited to a compact track loader, and may be, for example, another type of loader working machine, such as a skid steer loader. Also, the working machine may be a working machine other than a loader working machine.

[0017] As shown in FIG. 12, the working machine 1 includes a machine body 2, a cabin 3, a working device 4, and a traveling device 5. In the first embodiment of the present invention, the direction in which the driver seated in the driver's seat 8 of the working machine 1 faces (left side in FIG. 12) is referred to as the front, and the opposite direction (right side in FIG. 12) is referred to as the rear. The left side of the driver (near side in FIG. 12) is referred to as the left side, and the right side of the driver (far side in FIG. 12) is referred to as the right side. The horizontal direction perpendicular to the front-rear direction is referred to as the machine body width direction, and the direction from the center of the machine body 2 to the right or left side is referred to as the machine body outside. In other words, the machine body outside is the machine body width direction, and is the direction away from the machine body 2. The opposite direction to the machine body outside is referred to as the machine body inside. In other words, the machine body inside is the machine body width direction, and is the direction approaching the machine body 2.

[0018] The cabin 3 is mounted on the machine body 2. A driver's seat 8 is provided in the cabin 3. The working device 4 is attached to the machine body 2. The traveling device 5 is provided on the outside of the machine body 2. A prime mover 32 is mounted at the rear inside the machine body 2. The working device 4 has a boom 10, a bucket 11 which is an example of a working tool, a lift link 12, a control link 13, a boom cylinder 14, and a bucket cylinder 15.

[0019] The booms 10 are provided to the right and left of the cabin 3 so as to be able to swing up and down. The bucket 11 is provided to the tip (front end) of the boom 10 so as to be able to swing up and down. Lift link The boom 10 is supported by a boom cylinder 12 and a control link 13. The boom cylinder 14 extends and retracts to raise and lower the boom 10. The bucket cylinder 15 extends and retracts to swing the bucket 11.

[0020] The front portions of the left and right booms 10 are connected to each other by a connecting pipe having an irregular shape, and the base portions (rear portions) of the booms 10 are connected to each other by a circular connecting pipe. The lift link 12, the control link 13 and the boom cylinder 14 are provided on the left and right sides of the machine body 2 corresponding to the left and right booms 10, respectively. The lift link 12 is provided vertically at the rear of the base of each boom 10. An upper portion (one end side) of this lift link 12 is pivoted rotatably about a horizontal axis via a pivot shaft (e.g., a first pivot shaft 16) near the rear of the base of each boom 10. A lower portion (the other end side) of the lift link 12 is pivoted rotatably about a horizontal axis via a pivot shaft (e.g., a second pivot shaft 17) near the rear of the aircraft body 2. The second pivot shaft 17 is provided below the first pivot shaft 16.

[0021] An upper portion of the boom cylinder 14 is pivoted to be rotatable about a horizontal axis via a pivot shaft (e.g., a third pivot shaft 18). The third pivot shaft 18 is the base of each boom 10 and is provided at the front of the base. A lower portion of the boom cylinder 14 is pivoted to be rotatable about a horizontal axis via a pivot shaft (e.g., a fourth pivot shaft 19). The fourth pivot shaft 19 is provided below the third pivot shaft 18, toward the lower rear portion of the machine body 2.

[0022] The control link 13 is provided in front of the lift link 12. One end of the control link 13 is pivoted to be rotatable about a horizontal axis via a pivot shaft (e.g., the fifth pivot shaft 20). The fifth pivot shaft 20 is provided on the aircraft body 2 at a position corresponding to the front of the lift link 12. The other end of the control link 13 is pivoted to be rotatable about a horizontal axis via a pivot shaft (e.g., the sixth pivot shaft 21). The sixth pivot shaft 21 is provided on the boom 10, in front of and above the second pivot shaft 17.

[0023] By extending and retracting the boom cylinder 14, the base of each boom 10 is supported by the lift link 12 and the control link 13, while each boom 10 swings up and down about the first pivot shaft 16, and the tip of each boom 10 rises and falls. The control link 13 swings up and down about the fifth pivot shaft 20 in conjunction with the up and down swing of each boom 10. The lift link 12 swings back and forth about the second pivot shaft 17 in conjunction with the up and down swing of the control link 13.

[0024] Instead of the bucket 11, another working tool can be attached to the front of the boom 10. The other working tool can be, for example, an attachment (spare attachment) such as a hydraulic crusher, a hydraulic breaker, an angle broom, an earth auger, a pallet fork, a sweeper, a mower, or a snow blower. A connection member 50 is provided at the front of the left boom 10. The connection member 50 is a device that connects hydraulic equipment provided on the spare attachment to a first tubular member such as a pipe provided on the boom 10. Specifically, the first tubular member can be connected to one end of the connection member 50, and the second tubular member connected to the hydraulic equipment of the spare attachment can be connected to the other end. This allows the hydraulic oil flowing through the first tubular member to pass through the second tubular member and be supplied to the hydraulic equipment.

[0025] The bucket cylinders 15 are disposed near the front of each boom 10. By extending and contracting the bucket cylinders 15, the bucket 11 is swung. In the first embodiment, crawler type (including semi-crawler type) traveling devices are used as the left and right traveling devices (left traveling device, right traveling device) 5. Note that wheel-type traveling devices having front and rear wheels may also be used.

[0026] The prime mover 32 is an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, etc. In the first embodiment, the prime mover 32 is a diesel engine, but is not limited to this. Next, the hydraulic system of the work machine 1 will be described. 1, the hydraulic system of the work machine 1 in the first embodiment is capable of driving the traveling device 5. The hydraulic system of the work machine 1 includes a traveling pump 53 (first traveling pump 53L, second traveling pump 53R) and a traveling motor 36 (first traveling motor 36L, second traveling motor 36R).

[0027] The first travel pump 53L and the second travel pump 53R are pumps driven by the power of the prime mover 32. Specifically, the first travel pump 53L and the second travel pump 53R are swash plate type variable displacement axial pumps driven by the power of the prime mover 32. The first travel pump 53L and the second travel pump 53R have pressure receiving portions 53a and 53b on which pilot pressure acts, and the angle of the swash plate is changed by the pilot pressure acting on the pressure receiving portions 53a and 53b. By changing the angle of the swash plate, the output (discharge amount of hydraulic oil) and the discharge direction of the hydraulic oil of the first travel pump 53L and the second travel pump 53R can be changed.

[0028] The first travel pump 53L and the first travel motor 36L are connected by a circulation oil passage 57h, and the hydraulic oil discharged by the first travel pump 53L is supplied to the first travel motor 36L. The second travel pump 53R and the second travel motor 36R are connected by a circulation oil passage 57i, and the hydraulic oil discharged by the second travel pump 53R is supplied to the second travel motor 36R. The first traveling motor 36L is a motor that transmits power to the drive shaft of the traveling device 5 provided on the left side of the machine body 2. The first traveling motor 36L can be rotated by hydraulic oil discharged from the first traveling pump 53L, and the rotation speed (number of rotations) can be changed by the flow rate of the hydraulic oil. A swash plate switching cylinder 37L is connected to the first traveling motor 36L, and the rotation speed (number of rotations) of the first traveling motor 36L can also be changed by extending or retracting the swash plate switching cylinder 37L to one side or the other side. That is, when the swash plate switching cylinder 37L is contracted, the rotation speed of the first traveling motor 36L is set to a low speed (a first speed range up to a first maximum speed: hereinafter, appropriately abbreviated as "first speed"), and when the swash plate switching cylinder 37L is extended, the rotation speed of the first traveling motor 36L is set to a high speed (a second speed range up to a second maximum speed higher than the first maximum speed: hereinafter, appropriately abbreviated as "second speed"). In other words, the rotation speed of the first traction motor 36L can be changed between a first speed, which is a low speed, and a second speed, which is a high speed.

[0029] The second traveling motor 36R is a motor that transmits power to the drive shaft of the traveling device 5 provided on the right side of the machine body 2. The second traveling motor 36R can be rotated by hydraulic oil discharged from the second traveling pump 53R, and the rotation speed (number of rotations) can be changed by the flow rate of the hydraulic oil. A swash plate switching cylinder 37R is connected to the second traveling motor 36R, and the rotation speed (number of rotations) of the second traveling motor 36R can also be changed by expanding or contracting the swash plate switching cylinder 37R to one side or the other side. That is, when the swash plate switching cylinder 37R is contracted, the rotation speed of the second traveling motor 36R is set to a low speed (first speed), and when the swash plate switching cylinder 37R is expanded, the rotation speed of the second traveling motor 36R is set to a high speed (second speed). That is, the rotation speed of the second traveling motor 36R can be changed between a first speed, which is a low speed, and a second speed, which is a high speed.

[0030] 1, the hydraulic system of the work machine 1 includes a travel switching valve 34. The travel switching valve 34 is switchable between a first state in which the rotation speed (revolutions) of the travel motors (first travel motor 36L, second travel motor 36R) can be increased to a first maximum speed, and a second state in which the rotation speed (revolutions) can be increased to a second maximum speed that is higher than the first maximum speed. The travel switching valve 34 includes first switching valves 71L, 71R and a second switching valve 72.

[0031] The first switching valve 71L is connected to the swash plate switching cylinder 37L of the first traveling motor 36L via an oil passage and is a two-position switching valve that can be switched between a first position 71L1 and a second position 71L2. When the first switching valve 71L is in the first position 71L1, the swash plate switching cylinder 37L is contracted, and when the first switching valve 71L is in the second position 71L2, the swash plate switching cylinder 37L is extended. The first switching valve 71R is connected to the swash plate switching cylinder 37R of the second traveling motor 36R via an oil passage and is a two-position switching valve that can be switched between a first position 71R1 and a second position 71R2. When the first switching valve 71R is in the first position 71R1, the swash plate switching cylinder 37R is contracted, and when the first switching valve 71R is in the second position 71R2, the swash plate switching cylinder 37R is extended.

[0032] The second switching valve 72 is a solenoid valve that switches the first switching valve 71L and the first switching valve 71R, and is a two-position switching valve that can be switched between a first position 72a and a second position 72b by excitation. The second switching valve 72, the first switching valve 71L, and the first switching valve 71R are connected by an oil passage 41. When the second switching valve 72 is in the first position 72a, the second switching valve 72 switches the first switching valve 71L and the first switching valve 71R to the first positions 71L1 and 71R1, and when the second position 72b, the first switching valve 71L and the first switching valve 71R to the second positions 71L2 and 71R2.

[0033] In other words, when the second switching valve 72 is in the first position 72a, the first switching valve 71L is in the first position 71L1, and the first switching valve 71R is in the first position 71R1, the travel switching valve 34 is in the first state, and the rotation speed of the travel motor 36 (first travel motor 36L, second travel motor 36R) is set to the first speed. When the second switching valve 72 is in the second position 72b, the first switching valve 71L is in the second position 71L2, and the first switching valve 71R is in the second position 71R2, the travel switching valve 34 is in the second state, and the rotation speed of the travel motor 36 (first travel motor 36L, second travel motor 36R) is set to the second speed.

[0034] Therefore, the travel switching valve 34 can switch the travel motor 36 (first travel motor 36L, second travel motor 36R) between a first speed, which is the low speed side, and a second speed, which is the high speed side. The switching between the first speed and the second speed of the traveling motor 36 can be performed by a switching unit. The switching unit is, for example, a changeover switch 61 connected to the control device 60, and can be operated by the driver. The switching unit (changeover switch 61) can switch between increasing the speed by switching from the first speed (first state) to the second speed (second state), and decreasing the speed by switching from the second speed (second state) to the first speed (first state).

[0035] As shown in FIG. 1, the hydraulic system of the work machine 1 includes a control device 60. The control device 60 is composed of semiconductors such as a CPU and an MPU, electric and electronic circuits, and the like. The control device 60 switches the traveling switching valve 34 based on the switching operation of a change-over switch 61. The change-over switch 61 is a push switch. For example, when the change-over switch 61 is pressed while the traveling motor 36 is in a first speed state, a command to change the traveling motor 36 to a second speed (a command to change the traveling switching valve 34 to the second state) is output to the control device 60. When the change-over switch 61 is pressed while the traveling motor 36 is in a second speed state, a command to change the traveling motor 36 to a first speed (a command to change the traveling switching valve 34 to the first state) is output to the control device 60. In addition, the change-over switch 61 may be a push switch that can be held ON / OFF, and when it is OFF, a command to hold the traveling motor 36 at a first speed is output to the control device 60, and when it is ON, a command to hold the traveling motor 36 at a second speed is output to the control device 60.

[0036] When the control device 60 receives a command to set the travel switching valve 34 to the first state, it de-energizes the solenoid of the second switching valve 72 to set the travel switching valve 34 to the first state. When the control device 60 receives a command to set the travel switching valve 34 to the second state, it energizes the solenoid of the second switching valve 72 to set the travel switching valve 34 to the second state. The hydraulic system of the work machine 1 includes a first hydraulic pump P1, a second hydraulic pump P2, and a traveling operation device 54. The first hydraulic pump P1 is a pump driven by the power of the prime mover 32, and is configured by a fixed displacement gear pump. The first hydraulic pump P1 is capable of discharging hydraulic oil stored in the tank 22. In particular, the first hydraulic pump P1 discharges hydraulic oil mainly used for control. For convenience of explanation, the tank 22 that stores the hydraulic oil may be referred to as a hydraulic oil tank. Furthermore, of the hydraulic oil discharged from the first hydraulic pump P1, the hydraulic oil used for control may be referred to as pilot oil, and the pressure of the pilot oil may be referred to as pilot pressure.

[0037] The second hydraulic pump P2 is a pump driven by the power of the prime mover 32, and is configured by a fixed displacement gear pump. The second hydraulic pump P2 is capable of discharging hydraulic oil stored in the tank 22, and supplies hydraulic oil to, for example, an oil passage of a work system. For example, the second hydraulic pump P2 supplies hydraulic oil to a boom cylinder 14 that operates the boom 10, a bucket cylinder 15 that operates the bucket 11, and a control valve (flow control valve) that controls a standby hydraulic actuator that operates a standby hydraulic actuator.

[0038] The travel operation device 54 is a device that operates the travel pumps 53 (first travel pump 53L, second travel pump 53R) and is capable of changing the angle of the swash plate (swash plate angle) of the travel pumps 53. The travel operation device 54 includes an operating member 59 such as an operating lever, and a plurality of operating valves 55. The operating member 59 is an operating lever supported by the operating valve 55 and swung left and right (aircraft width direction) or front and rear. That is, with the neutral position N as a reference, the operating member 59 can be operated to the right and left from the neutral position N, and can also be operated forward and rearward from the neutral position N. In other words, the operating member 59 can be swung in at least four directions with the neutral position N as a reference. For ease of explanation, both the forward and rearward directions, i.e., the front and rear directions, are referred to as the first direction. Also, both the right and left directions, i.e., the left and right directions (aircraft width direction), are sometimes referred to as the second direction.

[0039] Further, the multiple operation valves 55 are operated in common, that is, by a single operation member 59. The multiple operation valves 55 operate based on the oscillation of the operation member 59. A discharge oil passage 40 is connected to the multiple operation valves 55, and hydraulic oil (pilot oil) can be supplied from the first hydraulic pump P1 via the discharge oil passage 40. The multiple operation valves 55 are operation valve 55A, operation valve 55B, operation valve 55C, and operation valve 55D.

[0040] In the front-rear direction (first direction), when the operating member 59 is swung forward (one side) (when operated forward), the pressure of the hydraulic oil output by the operating valve 55A changes according to the operation amount (operation) of the forward operation. In the front-rear direction (first direction), when the operating member 59 is swung backward (the other side) (when operated backward), the pressure of the hydraulic oil output by the operating valve 55B changes according to the operation amount (operation) of the backward operation. In the left-right direction (second direction), when the operating member 59 is swung right (one side) (when operated right), the pressure of the hydraulic oil output by the operating valve 55C changes according to the operation amount (operation) of the right operation. In the left-right direction (second direction), when the operating member 59 is swung left (the other side) (when operated left), the pressure of the hydraulic oil output by the operating valve 55D changes according to the operation amount (operation) of the left operation.

[0041] The multiple operating valves 55 and the travel pumps 53 (first travel pump 53L, second travel pump 53R) are connected by the travel oil passage 45. In other words, the travel pumps 53 (first travel pump 53L, second travel pump 53R) are hydraulic devices that can be operated by hydraulic oil output from the operating valves 55 (operation valve 55A, operation valve 55B, operation valve 55C, operation valve 55D).

[0042] The travel oil passage 45 has a first travel oil passage 45a, a second travel oil passage 45b, a third travel oil passage 45c, a fourth travel oil passage 45d, and a fifth travel oil passage 45e. The first travel oil passage 45a is an oil passage connected to the pressure receiving portion 53a of the first travel pump 53L. The second travel oil passage 45b is an oil passage connected to the pressure receiving portion 53b of the first travel pump 53L. The third travel oil passage 45c is an oil passage connected to the pressure receiving portion 53a of the second travel pump 53R. The fourth travel oil passage 45d is an oil passage connected to the pressure receiving portion 53b of the second travel pump 53R. The fifth travel oil passage 45e is an oil passage connecting the operation valve 55, the first travel oil passage 45a, the second travel oil passage 45b, the third travel oil passage 45c, and the fourth travel oil passage 45d.

[0043] When the operating member 59 is swung forward (in the direction of arrow A1 in FIG. 1), the operating valve 55A is operated and pilot pressure is output from the operating valve 55A. This pilot pressure acts on the pressure receiving portion 53a of the first traveling pump 53L via the first traveling oil passage 45a and also acts on the pressure receiving portion 53a of the second traveling pump 53R via the third traveling oil passage 45c. This changes the swash plate angles of the first traveling pump 53L and the second traveling pump 53R, and the first traveling motor 36L and the second traveling motor 36R rotate forward (forward rotation), causing the work machine 1 to move straight forward.

[0044] Furthermore, when the operating member 59 is swung backward (in the direction of arrow A2 in FIG. 1), the operating valve 55B is operated and pilot pressure is output from the operating valve 55B. This pilot pressure acts on the pressure receiving portion 53b of the first traveling pump 53L via the second traveling oil passage 45b and also acts on the pressure receiving portion 53b of the second traveling pump 53R via the fourth traveling oil passage 45d. This changes the swash plate angles of the first traveling pump 53L and the second traveling pump 53R, and the first traveling motor 36L and the second traveling motor 36R rotate in the reverse direction (reverse rotation), causing the work machine 1 to move straight backward.

[0045] Also, when the operating member 59 is swung to the right (the direction of the arrow A3 in FIG. 1), the operating valve 55C is operated and pilot pressure is output from the operating valve 55C. This pilot pressure acts on the pressure receiving portion 53a of the first traveling pump 53L via the first traveling oil passage 45a, and also acts on the pressure receiving portion 53b of the second traveling pump 53R via the fourth traveling oil passage 45d. The swash plate angles of the travel pump 53L and the second travel pump 53R are changed, the first travel motor 36L rotates forward and the second travel motor 36R rotates reversely, causing the work machine 1 to swing to the right.

[0046] Furthermore, when the operating member 59 is swung to the left (the direction of the arrow A4 in FIG. 1), the operating valve 55D is operated and pilot pressure is output from the operating valve 55D. This pilot pressure acts on the pressure receiving portion 53a of the second travel pump 53R via the third travel oil passage 45c, and also acts on the pressure receiving portion 53b of the first travel pump 53L via the second travel oil passage 45b. This changes the swash plate angles of the first travel pump 53L and the second travel pump 53R, causing the first travel motor 36L to rotate in the reverse direction and the second travel motor 36R to rotate in the forward direction. Turn This causes the work machine 1 to rotate to the left.

[0047] In addition, when the operating member 59 is swung diagonally, the rotation direction and rotation speed of the first traveling motor 36L and the second traveling motor 36R are determined by the differential pressure of the pilot pressure acting on the pressure receiving portion 53a and the pressure receiving portion 53b, and the work machine 1 turns right or left while moving forward or backward. In other words, when the operating member 59 is swung diagonally forward to the left, the work machine 1 turns left while moving forward at a speed corresponding to the swing angle of the operating member 59, when the operating member 59 is swung diagonally forward to the right, the work machine 1 turns right while moving forward at a speed corresponding to the swing angle of the operating member 59, when the operating member 59 is swung diagonally backward to the left, the work machine 1 turns left while moving backward at a speed corresponding to the swing angle of the operating member 59, and when the operating member 59 is swung diagonally backward to the right, the work machine 1 turns right while moving backward at a speed corresponding to the swing angle of the operating member 59.

[0048] An accelerator 65 for setting a target rotation speed of the prime mover 32 is connected to the control device 60. The accelerator 65 is provided near the driver's seat 8. The accelerator 65 may be an accelerator lever supported so as to be able to swing, an accelerator pedal supported so as to be able to swing, an accelerator volume supported so as to be able to rotate, an accelerator slider supported so as to be able to slide, or the like. The accelerator 65 is not limited to the above-mentioned example. A rotation detector 66 for detecting an actual rotation speed of the prime mover 32 is connected to the control device 60. The rotation detector 66 enables the control device 60 to grasp the actual rotation speed of the prime mover 32. The control device 60 sets a target rotation speed based on the amount of operation of the accelerator 65, and controls the actual rotation speed so as to become the set target rotation speed.

[0049] Now, when the travel switching valve 34 is switched from the second state (second speed) to the first state (first speed), i.e., when the rotational speed of the travel motor 36 is decelerated from the second speed to the first speed, the control device 60 performs control to reduce gear shift shock by reducing the amount of hydraulic oil supplied from the travel pump 53 (first travel pump 53L and second travel pump 53R) to the travel motor 36 (first travel motor 36L and second travel motor 36R).

[0050] The control device 60 has a first calculation unit 60a, a second calculation unit 60b, and a reduction control unit 60c. The first calculation unit 60a calculates a first reduction amount for reducing the supply amount of hydraulic oil supplied from the travel pump 53 to the travel motor 36 in the reduction control of the gear shift shock based on a drop amount that is the difference between the target rotation speed of the prime mover 32 and the actual rotation speed of the prime mover 32. For example, the first calculation unit 60a is a software configuration in which the function is realized by a CPU constituting the control device 60 executing a first control program for calculating the first reduction amount. Note that the first calculation unit 60a may be composed of semiconductors such as a CPU and an MPU, electric and electronic circuits, etc. Specifically, the first calculation unit 60a calculates a first reduction amount of the rotation speed of the prime mover 32 in the reduction control of the gear shift shock based on a drop amount that is the difference between the target rotation speed of the prime mover 32 and the actual rotation speed of the prime mover 32.

[0051] The second calculation unit 60b calculates a second reduction amount for reducing the amount of hydraulic oil supplied from the travel pump 53 to the travel motor 36 in the gear shift shock reduction control based on the degree of straightness of the machine body 2. For example, the second calculation unit 60b is a software configuration whose function is realized by the CPU constituting the control device 60 executing a second control program for calculating the second reduction amount. Note that the second calculation unit 60b may be composed of semiconductors such as a CPU and an MPU, electric and electronic circuits, etc. Specifically, the second calculation unit 60b calculates a second reduction amount for reducing the amount of hydraulic oil supplied from the travel pump 53 to the travel motor 36 in the gear shift shock reduction control based on the degree of straightness of the machine body 2. 2 Calculate the amount of decrease.

[0052] The reduction control unit 60c performs reduction control of the gear shift shock based on the first reduction amount calculated by the first calculation unit 60a and the second reduction amount calculated by the second calculation unit 60b, whichever has a larger absolute value. For example, the reduction control unit 60c is a software configuration in which the function is realized by the CPU constituting the control device 60 executing a third control program for performing reduction control of the gear shift shock based on the first reduction amount and the second reduction amount, whichever has a larger absolute value. The reduction control unit 60c may be composed of semiconductors such as a CPU and an MPU, electric and electronic circuits, etc. Specifically, the reduction control unit 60c performs reduction control of the gear shift shock by reducing the rotation speed of the prime mover 32 based on the first reduction amount calculated by the first calculation unit 60a and the second reduction amount calculated by the second calculation unit 60b, thereby reducing the supply amount of hydraulic oil supplied from the travel pump 53 to the travel motor 36.

[0053] The control for reducing the gear shift shock during deceleration will be described in detail below with reference to the flow chart shown in FIG. When the driver operates the changeover switch (changeover SW) 61, the control device 60 determines whether the machine body 2 (working machine 1) is decelerating (S11). Specifically, when the driver presses the changeover switch 61 while the traveling motor is in a first speed state, the changeover switch 61 outputs to the control device 60 an increase in speed command (second speed command) for changing the traveling motor from the first state (first speed) to the second state (second speed). On the other hand, when the driver presses the changeover switch 61 while the traveling motor is in a second speed state, the control device 60 outputs a deceleration command (first speed command) for changing the traveling motor from the second state (second speed) to the first state (first speed). Here, it is assumed that the changeover switch 61 outputs a deceleration command (first speed command). When the control device 60 receives the first speed command, it determines that the machine body 2 (working machine 1) is decelerating (YES in S11), and proceeds to the processing of S12. When the control device 60 determines that the machine body 2 (work machine 1) is not decelerating (NO in S11), the control device 60 returns to S11 and waits until a deceleration command (first speed command) is received.

[0054] (First Calculation Unit 60a) When the control device 60 obtains a deceleration command (first gear command), the first calculation unit 60a calculates a first reduction amount of the rotation speed of the prime mover 32 in the shift shock reduction control based on the drop amount, which is the difference between the target rotation speed of the prime mover 32 and the actual rotation speed of the prime mover 32 (S12). FIG. 3 is a diagram showing the relationship between the rotation speed of the prime mover (target rotation speed W10, actual rotation speeds W12a, W12b, W12c), and switching of the traveling motor when control to reduce gear shift shock during deceleration is performed. As shown in FIG. 3, a first calculation unit 60a of the control device 60 calculates a first reduction amount ΔF1 of the rotation speed of the prime mover 32 in the gear shift shock reduction control, based on a drop amount ΔD1 that is the difference between the target rotation speed W10 of the prime mover 32 and the actual rotation speed W12a, W12b, W12c of the prime mover 32.

[0055] When the control device 60 acquires a first speed command, the first calculation unit 60a calculates a drop amount ΔD1 (ΔD1a, ΔD1b, ΔD1c) by subtracting the actual rotation speed W12a, W12b, W12c from the target rotation speed W10. In addition, when the first calculation unit 60a calculates the drop amount ΔD1 (ΔD1a, ΔD1b, ΔD1c), the first calculation unit 60a calculates a first decrease amount ΔF1 (ΔF1a, ΔF1b, ΔF1c) based on the drop amount ΔD1 (ΔD1a, ΔD1b, ΔD1c). When calculating the first decrease amount ΔF1, the first calculation unit 60a increases the first decrease amount ΔF1 when the drop amount ΔD1 is small, and decreases the first decrease amount ΔF1 when the drop amount ΔD1 is large.

[0056] For example, when the drop amount is ΔD1a at time Q11, the first calculation unit 60a calculates the first decrease amount ΔF1a. Alternatively, when the drop amount is ΔD1b at time Q11, the first calculation unit 60a calculates the first decrease amount ΔF1b. Alternatively, when the drop amount is ΔD1c at time Q11, the first calculation unit 60a calculates the first decrease amount ΔF1c.

[0057] In this way, the first calculation unit 60a calculates the first decrease amount ΔF1 (ΔF1a, ΔF1b, ΔF1c) according to the magnitude of the drop amount ΔD1 (ΔD1a, ΔD1b, ΔD1c) at the time point Q11. 1c) is calculated (S12). (Second calculation unit 60b) Returning to FIG. 2, when the control device 60 acquires a deceleration command (first gear command), the second calculation unit 60b calculates a second reduction amount of the rotation speed of the prime mover 32 in the gear shift shock reduction control based on the degree of straight-line traveling of the vehicle 2 (S13).

[0058] The second calculation unit 60b of the control device 60 calculates a second reduction amount of the rotation speed of the prime mover 32 based on the degree of straightness (degree of straightness) of the work machine 1 (machine body 2) when performing control to reduce the gear shift shock during deceleration. The degree of straightness can be found from the pressure of the hydraulic oil in the travel oil passage 45. 1, a pressure detection device 48 that detects the pressure (pilot pressure) of the hydraulic oil in the travel oil passage 45 is connected to the travel oil passage 45. The pressure detection device 48 has a first pressure detection device 48a, a second pressure detection device 48b, a third pressure detection device 48c, and a fourth pressure detection device 48d. The first pressure detection device 48a, the second pressure detection device 48b, the third pressure detection device 48c, and the fourth pressure detection device 48d are connected to a second calculation unit 60b.

[0059] The first pressure detection device 48a is a sensor capable of detecting a first pilot pressure lf(t) which is the pressure of the hydraulic oil in the first traveling oil passage 45a. The second pressure detection device 48b is a sensor capable of detecting a second pilot pressure lb(t) which is the pressure of the hydraulic oil in the second traveling oil passage 45b. The third pressure detection device 48c is a sensor capable of detecting a third pilot pressure rf(t) which is the pressure of the hydraulic oil in the third traveling oil passage 45c. The fourth pressure detection device 48d is a fourth pressure detection device 48d which is capable of detecting a fourth pilot pressure rb(t) which is the pressure of the hydraulic oil in the fourth traveling oil passage 45d.

[0060] The second calculation unit 60b calculates the straightness degree SBratio(t) based on the first pilot pressure lf(t), the second pilot pressure lb(t), the third pilot pressure rf(t), and the fourth pilot pressure rb(t) as shown in formulas (1) and (2), and calculates the straightness degree SFratio(t). When the ratio (rf(t) / lf(t)) is not within a predetermined range, the second calculation unit 60b sets the larger of the first pilot pressure lf(t) and the third pilot pressure rf(t) as the first straightness value PvBpivot. When the ratio (rb(t) / lb(t)) is not within a predetermined range, the second calculation unit 60b sets the larger of the second pilot pressure lb(t) and the fourth pilot pressure rb(t) as the second straightness value PvBpivot. Hex value Let's call it PvFpivot.

[0061]

number

[0062] The second calculation unit 60b calculates the straightness degree S Bratio(t), Straightness S Fratio The second calculation unit 60b determines whether the vehicle is moving straight based on the degree of straightness S Bratio (t) or degree of straightness S Fratio If (t) is greater than 1.0 and is very large, it is determined that the work machine 1 (machine body 2) is moving straight. Bratio (t) or degree of straightness S Fratio If (t) is less than 1.0 and is infinitely close to zero, it is determined to be a pivot turn.

[0063] For the sake of convenience, the following is assumed to be the straightness degree S Bratio (t), Straightness S Fratio (t) is simply called the “straightness degree SV.” As shown in FIG. 4, the second calculation unit 60b calculates a second reduction amount ΔF11 of the rotation speed of the prime mover 32 in the control for reducing gear shift shock during deceleration, based on the straightness SV. For example, the second calculation unit 60b increases the second decrease amount ΔF11 as the straightness degree SV increases, and decreases the second decrease amount ΔF11 as the straightness degree SV decreases. In other words, the second calculation unit 60b increases the second decrease amount ΔF11 when the straightness degree SV is large and the vehicle is close to going straight, and decreases the second decrease amount ΔF11 when the straightness degree SV is small and the vehicle is close to making a pivot turn.

[0064] FIG. 5 is a diagram showing the relationship between reduction values ​​W24a, W24b, and W24c of the rotation speed of the prime mover 32 and switching of the traveling motor when control is performed to reduce gear shift shock during deceleration. At time Q11, it is assumed that the changeover switch (changeover SW) 61 is operated and the control device 60 acquires a deceleration command (first speed command). When the control device 60 acquires the deceleration command (first speed command), the second calculation unit 60b calculates the straightness degree SV and calculates the second decrease amount ΔF11 from the calculated straightness degree SV.

[0065] 5, for example, when the straightness degree SV is large and close to straight ahead at time point Q11, the second calculation unit 60b calculates the second decrease amount ΔF11a. Alternatively, when the straightness degree SV is small compared to straight ahead and close to a slight pivot turn at time point Q11, the second calculation unit 60b calculates the second decrease amount ΔF11b. Alternatively, when the straightness degree SV is very small and close to a pivot turn at time point Q11, the second calculation unit 60b calculates the second decrease amount ΔF11c.

[0066] In this manner, the second calculation unit 60b calculates the second decrease amount ΔF11 (ΔF11a, ΔF11b, ΔF11c) according to the degree of straightness SV at time point Q11 (S13). 2, S13 is executed after S12, but the present invention is not limited to this. For example, S12 may be executed after S13, or S12 and S13 may be executed simultaneously. (Reduction control unit 60c) Returning to FIG. 2, the reduction control unit 60c determines whether the absolute value of the first decrease amount ΔF1 calculated by the first calculation unit 60a is greater than the absolute value of the second decrease amount ΔF11 calculated by the second calculation unit 60b (S14).

[0067] If the absolute value of the first decrease amount ΔF1 is greater than the absolute value of the second decrease amount ΔF11 (YES in S14), the reduction control unit 60c selects the first decrease amount ΔF1 (S15). On the other hand, if the absolute value of the first decrease amount ΔF1 is smaller than the absolute value of the second decrease amount ΔF11 (NO in S14), the reduction control unit 60c selects the second decrease amount ΔF11 (S16). The reduction control unit 60c performs shift shock reduction control to reduce the amount of hydraulic oil supplied from the travel pump 53 to the travel motor 36 by reducing the rotation speed of the prime mover 32 based on the absolute value of the first reduction amount ΔF1 or the absolute value of the second reduction amount ΔF11, whichever is larger in absolute value (S17).

[0068] For example, when the reduction control unit 60c selects the first reduction amount ΔF1 (S15), it performs control to reduce the speed of the prime mover 32 using the first reduction amount ΔF1 as shown in FIG. 3, thereby performing control to reduce the amount of hydraulic oil supplied from the travel pump 53 to the travel motor 36 (S17). When the reduction control unit 60c of the control device 60 (hereinafter, sometimes collectively referred to as "control device 60") selects the first decrease amount ΔF1 shown in FIG. 3, the reduction control unit 60c sets the value obtained by subtracting the first decrease amount ΔF1 (ΔF1a, ΔF1b, ΔF1c) from the actual rotation speeds W12a, W12b, W12c as the reduction value W14a, 14b, 14c of the prime mover in the reduction control of the gear shift shock. For example, when the drop amount is ΔD1a in S12, the control device 60 sets the value W14a obtained by subtracting the first decrease amount ΔF1a from the actual rotation speed W12a as the reduction value. When the drop amount is ΔD1b in S12, the control device 60 sets the value W14b obtained by subtracting the first decrease amount ΔF1b from the actual rotation speed W12b as the reduction value. When the drop amount is ΔD1c in S12, the control device 60 sets the reduction value to a value W14c obtained by subtracting the first decrease amount ΔF1c from the actual rotation speed W12c.

[0069] After setting the reduction values ​​W14a, W14b, and W14c, the control device 60 reduces the actual rotation speed of the prime mover until it reaches the reduction values ​​W14a, W14b, and W14c. Specifically, when the drop amount is ΔD1a at time Q11, the control device 60 reduces the actual rotation speed of the prime mover toward the reduction value W14a as shown by the line W11a. When the actual rotation speed reaches the reduction value W14a at time Q12a as shown by the line W11a, the control device 60 outputs a signal to demagnetize the solenoid of the traveling switching valve 34, and switches the traveling switching valve (switching valve) 34 from the second state (second speed) to the first state (first speed). After time Q12a, the actual rotation speed is returned toward the target rotation speed 12a as shown by the line W11a.

[0070] Alternatively, when the drop amount is ΔD1b at time Q11, the control device 60 reduces the actual rotation speed of the prime mover toward the reduction value W14b as shown by the line W11b. When the actual rotation speed reaches the reduction value W14b at time Q12b as shown by the line W11b, the control device 60 outputs a signal to demagnetize the solenoid of the traveling switching valve 34, and switches the traveling switching valve (switching valve) 34 from the second state (second speed) to the first state (first speed). After time Q12b, the actual rotation speed is returned toward the target rotation speed 12b as shown by the line W11b.

[0071] Alternatively, when the drop amount is ΔD1c at time Q11, the control device 60 reduces the actual rotation speed of the prime mover toward the reduction value W14c as shown by the line W11c. When the actual rotation speed reaches the reduction value W14c at time Q12c as shown by the line W11c, the control device 60 outputs a signal to demagnetize the solenoid of the traveling switching valve 34, and switches the traveling switching valve (switching valve) 34 from the second state (second speed) to the first state (first speed). After time Q12c, the actual rotation speed is returned toward the target rotation speed 12c as shown by the line W11c.

[0072] Now, focusing on the reduction sections Ta, Tb, Tc from time Q11 which is the start point of reducing the actual rotation speed of the prime mover to time points Q12a, Q12b, Q12c which are the end points of reducing the actual rotation speed of the prime mover, i.e., the reduction sections Ta, Tb, Tc until the actual rotation speed of the prime mover reaches the reduction values ​​W14a, W14b, W14c, the control device 60 keeps the first reduction speed of the actual rotation speed of the prime mover constant. That is, in the reduction sections Ta, Tb, Tc, the control device 60 keeps the slopes of the lines W11a, W11b, W11c constant.

[0073] In addition, since the traveling switching valve 34 switches between the second state and the first state at each of the points Q12a, Q12b, and Q12c, the control device 60 sets the timing for switching the traveling switching valve 34 between the second state and the first state to be different depending on the drop amount D1. In the above-described first embodiment, the rate of decrease of the actual rotation speed of the prime mover is kept constant from the start point to the end point of each of the reduction intervals Ta, Tb, Tc. However, the rate of decrease may be changed along the way.

[0074] FIG. 6 shows a modified example in which the rate of reduction of the actual rotation speed of the prime mover is changed midway in the reduction section Ta. When the control device 60 acquires a deceleration command (first speed command) and calculates the reduction value W14a based on the drop amount ΔD1a, it sets the reduction speed of the prime mover in a section (first section) Ta1 from the start point to the middle of the reduction section Ta to a second reduction speed, and sets the reduction speed of the prime mover in a section (second section) Ta2 from the middle to the end point to a third reduction speed, as shown in Fig. 6. That is, the control device 60 sets the second reduction speed in the first section Ta1 by the gradient of the line W11a1 in the line W11a indicating the actual rotation speed of the prime mover in the reduction section Ta, and sets the third reduction speed in the second section Ta2 by the gradient of the line W11a2. The control device 60 sets the second reduction speed (gradient of the line W11a1) to be greater than the third reduction speed (gradient of the line W11a2).

[0075] In the modified example, the line W11a is described, but the other lines W11b and W11c may also be set to the second and third decrease rates in the same manner as the line W11a. In this case, the drop amount ΔD1a is changed to the drop amount ΔD1b and ΔD1c, the reduction value W14a is changed to the reduction value W14b and W14c, the reduction section Ta is changed to the reduction section Tb and Tc, the line W11a is changed to the lines W11b and W11c, the line W11a1 is changed to the lines W11b1, W11c1, and W11 a2 should be replaced with line W11b2, line W11c2, the first interval Ta1 with the first intervals Tb1 and Tc1, and the second interval Ta2 with the second intervals Tb2 and Tc2.

[0076] On the other hand, returning to Figure 2, when the reduction control unit 60c selects the second reduction amount ΔF11 (S16), it performs control to reduce the gear shift shock by reducing the amount of hydraulic oil supplied from the travel pump 53 to the travel motor 36 by using the second reduction amount ΔF11 to reduce the rotation speed of the prime mover 32 (S17). When the control device 60 (reduction control unit 60c) selects the second decrease amount ΔF11 shown in FIG. 5, the control device 60 sets a value obtained by subtracting the second decrease amount ΔF11 (ΔF11a, ΔF11b, ΔF11c) from the actual rotation speed W22a at the time point Q11 as the decrease value W24a, 24b, 24c in the reduction control of the gear shift shock. For example, the control device 60 sets the value W24a obtained by subtracting the second decrease amount ΔF11a from the actual rotation speed W22a as the decrease value. Alternatively, the control device 60 sets the value W24b obtained by subtracting the second decrease amount ΔF11b from the actual rotation speed W22a as the decrease value. Alternatively, the control device 60 sets the value W24c obtained by subtracting the second decrease amount ΔF11b from the actual rotation speed W22a as the decrease value. Note that the actual rotation speed W22a shown in Fig. 5 coincides with any one of the actual rotation speeds W12a, W12b, and W12c shown in Fig. 3. For example, when the actual rotation speed is W12a at time point Q11 shown in Fig. 3, the actual rotation speed W22a at time point Q11 shown in Fig. 5 coincides with the actual rotation speed W12a.

[0077] As shown in FIG. 5, when the control device 60 sets the reduction values ​​W24a, W24b, and W24c, the control device 60 reduces the rotation speed of the prime mover 32 until the rotation speed reaches the reduction values ​​W24a, W24b, and W24c. Specifically, when the vehicle 2 is traveling nearly straight at time Q11, the control device 60 reduces the rotation speed of the prime mover 32 toward the reduced value W24a, as shown by the line W31a. When the reduced value W24a is reached at time Q12a, the control device 60 outputs a signal to excite the solenoid of the traveling switching valve 34, as shown by the line W31a, and switches the traveling switching valve (switching valve) 34 from the second state (second speed) to the first state (first speed). After time Q12a, the actual rotation speed is returned to the pre-reduction actual rotation speed W22a, as shown by the line W31a.

[0078] Alternatively, at time Q11, when the traveling of the vehicle 2 is slightly closer to a pivot turn than to a straight line, the control device 60 reduces the rotation speed of the prime mover 32 toward the reduction value W24b, as shown by line W31b. When the reduction value W24b is reached at time Q12b, as shown by line W31b, the control device 60 outputs a signal to excite the solenoid of the traveling switching valve 34, and switches the traveling switching valve (switching valve) 34 from the second state (second speed) to the first state (first speed). After time Q12b, the actual rotation speed is returned to the pre-reduction actual rotation speed W22a, as shown by line W31b.

[0079] Alternatively, at time Q11, when the traveling of the vehicle 2 is close to a pivot turn, the control device 60 reduces the rotation speed of the prime mover 32 toward the reduced value W24c, as shown by line W31c. When the reduced value W24c is reached at time Q12c, the control device 60 outputs a signal to excite the solenoid of the traveling switching valve 34, and switches the traveling switching valve (switching valve) 34 from the second state (second speed) to the first state (first speed), as shown by line W31b. After time Q12c, the actual rotation speed is returned to the pre-reduction actual rotation speed W22a.

[0080] Now, focusing on the reduction sections Ta, Tb, Tc from time Q11 which is the start point of reducing the rotation speed of the prime mover 32 to time points Q12a, Q12b, Q12c which are the end points of reducing the rotation speed of the prime mover 32, i.e., the reduction sections Ta, Tb, Tc until the rotation speed of the prime mover 32 reaches the reduction values ​​W24a, W24b, W24c, the control device 60 keeps the first reduction speed of the rotation speed of the prime mover 32 constant. That is, in the reduction sections Ta, Tb, Tc, the control device 60 keeps the slopes of the lines W31a, W31b, W31c constant.

[0081] In addition, since the travel switching valve 34 is switched between the second state and the first state at each of the points Q12a, Q12b, and Q12c, the control device 60 sets different timings for switching the travel switching valve 34 from the first state to the second state depending on the straight traveling degree SV. is. In the above-described first embodiment, the rate at which the rotation speed of the prime mover 32 is reduced is constant from the start point to the end point of each of the reduction intervals Ta, Tb, Tc. However, the rate of reduction may be changed along the way.

[0082] FIG. 7 shows a modified example in which the rate at which the rotation speed of the prime mover 32 is reduced is changed midway through the reduction section Ta. When the control device 60 acquires the first speed command and calculates the reduction value W24a based on the straightness SV, it sets the reduction speed of the rotation speed of the prime mover 32 in a section (first section) Ta1 from the start point to the middle of the reduction section Ta to a second reduction speed, and sets the reduction speed of the rotation speed of the prime mover 32 in a section (second section) Ta2 from the middle to the end point to a third reduction speed, as shown in Fig. 7. That is, the control device 60 sets the second reduction speed in the first section Ta1 by the gradient of the line W31a1 in the line W31a indicating the rotation speed of the prime mover 32 in the reduction section Ta, and sets the third reduction speed in the second section Ta2 by the gradient of the line W31a2. The control device 60 sets the second reduction speed (gradient of the line W31a1) to be greater than the third reduction speed (gradient of the line W31a2).

[0083] In the modified example, the line W31a is described, but the other lines W31b and 11c may also be set to the second and third decrease rates in the same manner as the line W31a. In this case, the reduction value W24a may be replaced with the reduction value W24b and 24c, the reduction section Ta with the reduction section Tb and Tc, the line W31a with the lines W31b and W31c, the line W31a1 with the lines W31b1 and W31c1, the line W31a2 with the lines W31b2 and W31c2, the first section Ta1 with the first sections Tb1 and Tc1, and the second section Ta2 with the second sections Tb2 and Tc2.

[0084] The work machine 1 of the first embodiment described above includes a prime mover 32, a travel pump 53 that is operated by the power of the prime mover 32 and discharges hydraulic oil, a travel motor 36 that can be rotated by the hydraulic oil discharged by the travel pump 53, a machine body 2 on which the prime mover 32, the travel pump 53 and the travel motor 36 are provided, a travel switching valve 34 that can switch between a first state in which the rotation speed of the travel motor 36 can be increased to a first maximum speed and a second state in which the rotation speed of the travel motor 36 can be increased to a second maximum speed that is higher than the first maximum speed, a travel operation device 54 having an operation valve 55 that can change the pressure of the hydraulic oil acting on the travel pump 53 in response to operation of an operation member 59, and a speed changeover valve 55 that reduces the amount of hydraulic oil supplied from the travel pump 53 to the travel motor 36 when performing deceleration processing to switch from the second state to the first state. and a control device 60 that performs a gear shift shock reduction control. The control device 60 has a first calculation unit 60a that calculates a first reduction amount ΔF1 for reducing the amount of hydraulic oil supplied from the travel pump 53 to the travel motor 36 in the gear shift shock reduction control, based on a drop amount ΔD1 that is the difference between the target rotation speed of the prime mover 32 and the actual rotation speed of the prime mover 32, a second calculation unit 60b that calculates a second reduction amount ΔF11 for reducing the amount of hydraulic oil supplied from the travel pump 53 to the travel motor 36 in the gear shift shock reduction control, based on the degree of straightness of the vehicle 2, and a reduction control unit 60c that performs gear shift shock reduction control based on the reduction amount having the larger absolute value between the first reduction amount ΔF1 calculated by the first calculation unit 60a and the second reduction amount ΔF11 calculated by the second calculation unit 60b.

[0085] According to this configuration, the first calculation unit 60a calculates the first decrease amount ΔF1 based on the drop amount ΔD1, which is the difference between the target rotation speed and the actual rotation speed of the prime mover 32, and therefore it is possible to calculate the reduction amount of the gear shift shock according to the load state of the vehicle 2. Furthermore, the second calculation unit 60b calculates the second decrease amount ΔF11 based on the straightness of the vehicle 2, and therefore it is possible to calculate the reduction amount of the gear shift shock according to the running state of the vehicle 2. And, the reduction control unit 60c performs reduction control of the gear shift shock based on the decrease amount having the larger absolute value of the first decrease amount ΔF1 or the second decrease amount ΔF11, and therefore it is possible to select the one having the larger reduction effect in the straightness and the shock amount when decelerating to switch from the second state to the first state, and it is possible to effectively perform reduction control of the gear shift shock when decelerating.

[0086] In addition, the first calculation unit 60a calculates the first reduction amount ΔF1 of the rotation speed of the engine 32 based on the drop amount ΔD1, which is the difference between the target rotation speed and the actual rotation speed of the engine 32. It is possible to calculate the reduction amount of the gear shift shock according to the load state. Furthermore, the second calculation unit 60b calculates the second reduction amount ΔF11 of the rotation speed of the prime mover 32 based on the straightness of the vehicle 2, so that it is possible to calculate the reduction amount of the gear shift shock according to the traveling state of the vehicle 2. And, the reduction control unit 60c performs reduction control of the gear shift shock based on the reduction amount having the larger absolute value of the first reduction amount ΔF1 and the second reduction amount ΔF11, so that when decelerating to switch from the second state to the first state, it is possible to select the one having the larger effect of reducing the straightness and the shock amount, and by appropriately reducing the rotation speed of the prime mover 32, it is possible to effectively perform reduction control of the gear shift shock during deceleration.

[0087] When the first reduction amount ΔF1 is selected by the reduction control unit 60c, the control device 60 sets the reduction value of the prime mover 32 in the shock reduction control to a value obtained by subtracting the first reduction amount ΔF1 from the actual rotation speed of the prime mover 32. This makes it possible to appropriately set the actual rotation speed of the prime mover 32 during deceleration, even if the actual rotation speed of the prime mover 32 has dropped due to the load. In the reduction sections Ta, Tb, Tc until the actual rotation speed of the prime mover 32 reaches the reduction value, the control device 60 keeps the first reduction rate of the actual rotation speed of the prime mover 32 constant from the start point to the end point of the reduction section Ta, Tb, Tc. This makes it possible to reduce the output of the first and second travel pumps 53L, 53R smoothly in stages, thereby making it possible to more efficiently reduce gear shift shock.

[0088] In the reduction intervals Ta, Tb, Tc until the actual rotation speed of the prime mover 32 reaches the reduced value, the control device 60 sets a second reduction rate of the actual rotation speed of the prime mover 32 from the start of the reduction intervals Ta, Tb, Tc to the middle of the reduction intervals Ta, Tb, Tc to be greater than a third reduction rate of the actual rotation speed of the prime mover 32 from the middle to the end of the reduction intervals Ta, Tb, Tc. This can improve the responsiveness of the first and second travel pumps 53L, 53R in the control to reduce gear shift shock.

[0089] The control device 60 changes the timing for switching the travel switching valve 34 from the second state to the first state according to the drop amount ΔD1. This makes it possible to change the deceleration timing according to the load on the prime mover 32, thereby improving workability. The work machine 1 includes a change-over switch 61 that issues a speed-change command to either increase or decrease speed, and an accelerator 65 that sets a target rotation speed of the prime mover 32, and when the change-over switch 61 issues a speed-change command, the control device 60 reduces the actual rotation speed of the prime mover 32 toward a reduction value determined based on the first reduction amount ΔF1, and switches the traveling switching valve 34 to either the first state or the second state in response to the speed-change command. This makes it possible to change speed after sufficiently reducing the actual rotation speed of the prime mover 32, thereby further reducing the shock of the gear change.

[0090] The control device 60 sets the first decrease amount ΔF1 to be large when the drop amount ΔD1 is small, and sets the first decrease amount ΔF1 to be small when the drop amount ΔD1 is large. According to this, when the load on the prime mover 32 is small and there is a margin in the output of the prime mover 32, it is possible to further reduce the reduction in the gear shift shock, whereas when the load on the prime mover 32 is large and there is a margin in the output of the prime mover 32, the reduction in the gear shift shock is moderated, thereby reducing the gear shift shock while hastening the return of the actual rotation speed of the prime mover 32 after the reduction in the gear shift shock (after the gear shift).

[0091] Second embodiment In the first embodiment described above, the first calculation unit 60a calculates the first reduction amount ΔF1 of the rotation speed of the prime mover 32 based on the drop amount ΔD1, the second calculation unit 60b calculates the second reduction amount ΔF11 of the rotation speed of the prime mover 32 based on the straightness of the machine body 2, and the reduction control unit 60c performs reduction control of the gear shift shock based on the reduction amount having a larger absolute value between the first reduction amount ΔF1 and the second reduction amount ΔF11, but this is not limited to this. In the work machine 1 of the second embodiment, the first calculation unit 60a calculates the first reduction amount ΔF2 of the opening degree of the operating valve 69 based on the drop amount ΔD1, the second calculation unit 60b calculates the second reduction amount ΔF21 of the opening degree of the operating valve 69 based on the straightness of the machine body 2, and the reduction control unit 60c performs reduction control of the gear shift shock based on the reduction amount having a larger absolute value between the first reduction amount ΔF2 and the second reduction amount ΔF21.

[0092] That is, in the second embodiment, instead of reducing the rotation speed of the prime mover 32 in the first embodiment, Therefore, the second embodiment differs from the first embodiment in that the opening degree of the operating valve 69 is reduced. Therefore, in the second embodiment, only the parts that differ from the first embodiment will be described in detail. When switching the traveling switching valve 34 from the second state (second speed) to the first state (first speed), i.e., when decelerating the rotational speed of the traveling motor from the second speed to the first speed, the control device 60 performs control to reduce gear shift shock by reducing the opening of the operating valve 69.

[0093] 1, in shock reduction control, the control device 60 reduces the gear shift shock by controlling the opening degree of the actuated valve 69. The actuated valve 69 is connected to a section 40a of the branched discharge oil passage 40 leading to the travel operation device 54, i.e., the upstream side of the operation valve 55. The actuated valve 69 may also be connected to the downstream side of the operation valve 55, the travel oil passage 45. The actuated valve 69 is an electromagnetic proportional valve (proportional valve) and the opening degree can be changed by a control signal output from the control device 60. The control signal is, for example, a voltage, a current, etc. The actuated valve 69 is a valve whose opening degree increases as the control signal (voltage, current) output from the control device 60 increases, and whose opening degree decreases as the control signal (voltage, current) decreases.

[0094] That is, in the control for reducing the gear shift shock, the control device 60 changes the control signal output to the actuated valve 69 to reduce the opening degree of the actuated valve 69 . (First Calculation Unit 60a) 2, the first calculation unit 60a calculates a first decrease amount ΔF2 in the opening degree of the actuated valve 69, instead of a first decrease amount ΔF1 in the rotation speed of the prime mover 32. In detail, when the control device 60 acquires a deceleration command (first speed command), the first calculation unit 60a calculates the first decrease amount ΔF2 in the opening degree of the actuated valve 69 in the gear shift shock reduction control based on a drop amount ΔD1 that is the difference between the target rotation speed of the prime mover 32 and the actual rotation speed of the prime mover 32 (S12).

[0095] The first calculation unit 60a calculates a first decrease amount ΔF2 of the opening degree of the actuated valve 69 corresponding to the drop amount ΔD1 shown in FIG. 3. For example, the first calculation unit 60a calculates a first decrease amount ΔF2 of the opening degree of the actuated valve 69 such that the larger the drop amount ΔD1, the smaller the value. That is, when calculating the first decrease amount ΔF2 of the opening degree of the actuated valve 69, the first calculation unit 60a increases the first decrease amount ΔF2 when the drop amount ΔD1 is small, and decreases the first decrease amount ΔF2 when the drop amount ΔD1 is large. In addition, the first calculation unit 60a may include a data table TB (see FIG. 8) in which the drop amount ΔD1 and the first decrease amount ΔF2 of the opening degree of the actuated valve 69 are previously associated with each other, and may calculate the first decrease amount ΔF2 of the opening degree of the actuated valve 69 corresponding to the drop amount ΔD1 using this data table TB. Furthermore, the first calculation unit 60a may include a memory table in which a difference between the opening of the operating valve 69 at time Q11 shown in FIG. 3 and the opening of the operating valve 69 when the rotation speed of the prime mover 32 is reduced to a first reduction amount ΔF1 based on the drop amount ΔD1 is associated in advance with the drop amount ΔD1 as a first reduction amount ΔF2 in the opening of the operating valve 69, and the first reduction amount ΔF2 in the opening of the operating valve 69 corresponding to the drop amount ΔD1 may be calculated using this memory table.

[0096] (Second calculation unit 60b) 2, the second calculation unit 60b calculates a second reduction amount ΔF21 in the opening degree of the actuated valve 69, instead of a second reduction amount ΔF11 in the rotation speed of the prime mover 32. In detail, when the control device 60 acquires a deceleration command (first speed command), the second calculation unit 60b calculates the second reduction amount ΔF21 in the opening degree of the actuated valve 69 in the gear shift shock reduction control based on the straightness SV of the vehicle 2 (S13).

[0097] For example, as shown in Fig. 4, the second calculation unit 60b increases the second decrease amount (the second decrease amount ΔF21 in Fig. 9) as the straightness degree SV increases, and decreases the second decrease amount of the opening degree of the operating valve 69 (the second decrease amount ΔF21 in Fig. 9) as the straightness degree SV decreases. In other words, the second calculation unit 60b increases the second decrease amount ΔF21 when the straightness degree SV is large and the vehicle is close to going straight, and decreases the second decrease amount ΔF21 when the straightness degree SV is small and the vehicle is close to making a pivot turn.

[0098] FIG. 9 shows the relationship between the control value (reduction values ​​W34a, W34b, W34c) of the control signal output to the actuating valve 69 and the switching of the travel motor when performing reduction control of the gear shift shock during deceleration. FIG. At time Q11, it is assumed that the changeover switch (changeover SW) 61 is operated and the control device 60 acquires a deceleration command (first speed command). When the control device 60 acquires the deceleration command (first speed command), the second calculation unit 60b calculates the straightness degree SV and calculates the second decrease amount ΔF21 from the calculated straightness degree SV.

[0099] 8, for example, when the straightness degree SV is large and close to straight ahead at time point Q11, the second calculation unit 60b calculates the second decrease amount ΔF21a. Alternatively, when the straightness degree SV is small compared to straight ahead and close to a slight pivot turn at time point Q11, the second calculation unit 60b calculates the second decrease amount ΔF21b. Alternatively, when the straightness degree SV is very small and close to a pivot turn at time point Q11, the second calculation unit 60b calculates the second decrease amount ΔF21c.

[0100] In this manner, the second calculation unit 60b calculates the second decrease amount ΔF21 (ΔF21a, ΔF21b, ΔF21c) according to the degree of straightness SV at time point Q11 (S13). (Reduction control unit 60c) The reduction control unit 60c determines whether or not the absolute value of the first decrease amount ΔF2 calculated by the first calculation unit 60a is greater than the absolute value of the second decrease amount ΔF21 calculated by the second calculation unit 60b (S14 in FIG. 2).

[0101] If the absolute value of the first decrease amount ΔF2 is greater than the absolute value of the second decrease amount ΔF21 (YES in S14), the reduction control unit 60c selects the first decrease amount ΔF2 (S15). On the other hand, if the absolute value of the first decrease amount ΔF2 is smaller than the absolute value of the second decrease amount ΔF21 (NO in S14), the reduction control unit 60c selects the second decrease amount ΔF21 (S16). The reduction control unit 60c performs shift shock reduction control to reduce the amount of hydraulic oil supplied from the travel pump 53 to the travel motor 36 by reducing the rotation speed of the prime mover 32 based on the absolute value of the first reduction amount ΔF2 or the absolute value of the second reduction amount ΔF21, whichever is larger in absolute value (S17).

[0102] The work machine 1 of the second embodiment described above includes an operating valve 69 that is connected to the operating valve 55 on the upstream or downstream side of the operating valve 55 and is capable of controlling the hydraulic oil flowing to the operating valve 55, and when performing deceleration processing to switch from the second state to the first state, the control device 60 performs control to reduce gear shift shock by reducing the opening degree of the operating valve 69 by outputting a control signal to the operating valve 69, thereby reducing the supply amount of hydraulic oil supplied from the travel pump 53 to the travel motor 36, and a first calculation unit 60a calculates, based on a drop amount ΔD1 that is the difference between the target rotation speed of the prime mover 32 and the actual rotation speed of the prime mover 32, The first calculation unit 60a calculates a first reduction amount ΔF2 in the opening of the operating valve 69 in the gear shift shock reduction control, and the second calculation unit 60b calculates a second reduction amount ΔF21 in the opening of the operating valve 69 in the gear shift shock reduction control based on the straight-line degree SV of the vehicle 2. The reduction control unit 60c performs gear shift shock reduction control to reduce the amount of hydraulic oil supplied from the travel pump 53 to the travel motor 36 by reducing the opening of the operating valve 69 based on the reduction amount having the larger absolute value of the first reduction amount ΔF2 calculated by the first calculation unit 60a or the second reduction amount ΔF21 calculated by the second calculation unit 60b.

[0103] According to this configuration, the first calculation unit 60a calculates the first reduction amount ΔF2 of the rotation speed of the prime mover 32 based on the drop amount ΔD1, which is the difference between the target rotation speed and the actual rotation speed of the prime mover 32, so that it is possible to calculate the reduction amount of the gear shift shock according to the load state of the vehicle 2. Furthermore, the second calculation unit 60b calculates the second reduction amount ΔF21 of the rotation speed of the prime mover 32 based on the straightness of the vehicle 2, so that it is possible to calculate the reduction amount of the gear shift shock according to the running state of the vehicle 2. And, the reduction control unit 60c performs reduction control of the gear shift shock based on the reduction amount having the larger absolute value of the first reduction amount ΔF2 and the second reduction amount ΔF21, so that it is possible to select the one having the larger reduction effect of the straightness and the shock amount when decelerating to switch from the second state to the first state, and by appropriately reducing the rotation speed of the prime mover 32, it is possible to effectively perform reduction control of the gear shift shock when decelerating.

[0104] The actuated valve 69 is a valve whose opening degree increases as the control value corresponding to the control signal increases and whose opening degree decreases as the control value decreases, and the control device 60 sets a second reduction amount ΔF21 of the control value as the amount of reduction in the opening degree of the actuated valve 69 based on the straightness SV of the aircraft 2, and calculates reduction values ​​W34a, W34b, and W34c in the shock reduction control based on the second reduction amount ΔF21. With this, since the reduction values ​​W34a, W34b, and W34c of the control value of the control signal output to the actuated valve 69 can be set according to the straightness SV of the aircraft 2, it is possible to more smoothly reduce the gear shift shock.

[0105] In the reduction sections Ta, Tb, Tc until the control value reaches the reduction values ​​W34a, W34b, W34c, the control device 60 keeps the first reduction rate of the control value constant from the start point to the end point of the reduction sections Ta, Tb, Tc. This makes it possible to reduce the pressure of the hydraulic oil acting on the first and second travel pumps 53L, 53R as smoothly as possible, thereby making it possible to reduce the gear shift shock smoothly and without any discomfort.

[0106] In the reduction intervals Ta, Tb, Tc until the control value reaches the reduction values ​​W34a, W34b, W34c, the control device 60 sets the second reduction rate of the control value from the start of the reduction interval Ta, Tb, Tc to the middle of the reduction interval Ta, Tb, Tc to be greater than the third reduction rate of the control value from the middle to the end of the reduction interval Ta, Tb, Tc. This can improve the responsiveness of the actuated valve 69 in the control to reduce the gear shift shock.

[0107] The control device 60 changes the timing for switching the travel switching valve 34 from the first state to the second state according to the straightness SV. This makes it possible to change the timing for increasing the speed when the machine body 2 is traveling straight and when making a pivot turn, etc., thereby improving workability. The control device 60 sets the second decrease amount ΔF21 to be large when the degree of straightness SV is large, and sets the second decrease amount ΔF21 to be small when the degree of straightness is small. According to this, for example, when the machine body 2 is moving straight, by making the second decrease amount ΔF21 large, it is possible to further reduce the gear shift shock when accelerating while moving straight, and when the machine body 2 changes from moving straight to making a pivot turn or is making a pivot turn, by making the second decrease amount ΔF21 small, it is possible to stably reduce the gear shift shock while maintaining the pressure difference (differential pressure) of the hydraulic oil acting on the forward or reverse rotation sides in the first and second traveling pumps 53L, 53R.

[0108] The work machine 1 includes a traveling device 5 (first traveling device) provided on the left side of the machine body 2, and a traveling device 5 (second traveling device) provided on the right side of the machine body 2, the first and second traveling motors 36L, 36R are a first traveling motor that transmits traveling power to the traveling device 5 and a second traveling motor that transmits traveling power to the traveling device 5, the first and second traveling pumps 53L, 53R can operate the first traveling motor and the second traveling motor, and the traveling switch valve 34 can switch the first traveling motor 36L and the second traveling motor 36R between a first speed and a second speed. This makes it possible to more smoothly reduce gear change shock in the work machine 1 that includes the traveling device 5 provided on the left side of the machine body 2, and the traveling device 5 provided on the right side of the machine body 2.

[0109] Third embodiment In the first and second embodiments described above, the reduction control unit 60c performs the reduction control of the gear shift shock based on the first reduction amount calculated by the first calculation unit 60a and the second reduction amount calculated by the second calculation unit 60b, whichever has a larger absolute value, but is not limited to this. For example, in the third embodiment, as shown in Fig. 10, the reduction control unit 60c may perform the reduction control of the gear shift shock based on the first reduction amount calculated by the first calculation unit 60a and the second reduction amount calculated by the second calculation unit 60b, whichever has a smaller absolute value (S14A).

[0110] The reduction control unit 60c is a software configuration in which the function is realized by the CPU constituting the control device 60 executing a fourth control program for performing reduction control of the gear shift shock based on the first reduction amount and the second reduction amount, whichever has a smaller absolute value. Note that the reduction control unit 60c may be composed of a CPU, a semiconductor such as an MPU, an electric / electronic circuit, or the like.

[0111] For example, as shown in FIG. 10, the reduction control unit 60c reduces the rotation speed of the prime mover 32 based on the smaller absolute value of the first reduction amount ΔF1 (see FIG. 3) of the rotation speed of the prime mover 32 calculated by the first calculation unit 60a and the second reduction amount ΔF11 (see FIG. 5) of the rotation speed of the prime mover 32 calculated by the second calculation unit 60b, thereby reducing the power consumption from the travel pump 53 to the travel motor. The control for reducing the shift shock is performed by reducing the amount of hydraulic oil supplied to 36 (S14A).

[0112] In addition, the reduction control unit 60c performs gear shift shock reduction control to reduce the amount of hydraulic oil supplied from the travel pump 53 to the travel motor 36 by reducing the opening of the working valve 69 based on the smaller absolute value of the first reduction amount ΔF2 (see Figure 8) in the opening of the working valve 69 calculated by the first calculation unit 60a and the second reduction amount ΔF21 (see Figure 9) in the opening of the working valve 69 calculated by the second calculation unit 60b (S14A).

[0113] According to the work machine 1 of the third embodiment described above, the reduction control unit 60c performs reduction control of the shift shock based on the reduction amount of the first reduction amount ΔF1 and the second reduction amount ΔF11, whichever has a smaller absolute value. Therefore, when decelerating to switch from the second state to the first state, the one that has a smaller effect of reducing the straightness and the shock amount can be selected, and optimal reduction control of the shift shock can be performed without unnecessary loss of running force. For example, the first reduction amount ΔF1 based on the drop amount ΔD1 may reduce the rotation speed of the prime mover 32 unnecessarily to a large extent, which may deteriorate the running force. However, the second reduction amount ΔF11 based on the straightness of the machine body 2 may be smaller than the first reduction amount ΔF1, and by selecting the second reduction amount ΔF11, it is possible to reduce the unnecessary large reduction in the rotation speed of the prime mover 32.

[0114] (Fourth embodiment) In each of the embodiments described above, the travel operation device 54 was of a hydraulic type in which the pilot pressure acting on the travel pumps (first travel pump 53L, second travel pump 53R) was changed by the operating valve 55. However, in the work machine of the fourth embodiment, the travel operation device 54 shown in FIG. 11 may be an electrically operated device.

[0115] As shown in Fig. 11, the traveling operation device 54 includes an operation member 59 that swings left and right (machine body width direction) or forward and backward, and operation valves 55 (operation valves 55A, 55B, 55C, 55D) configured from electromagnetic proportional valves. An operation detection sensor that detects the operation amount and operation direction of the operation member 59 is connected to the control device 60. The control device 60 controls the operation valves 55 (operation valves 55A, 55B, 55C, 55D) based on the operation amount and operation direction detected by the operation detection sensor.

[0116] When the operating member 59 is operated forward (A1 direction, see Figure 1), the control device 60 outputs a control signal to the operating valve 55A and the operating valve 55C, causing the swash plates of the first traveling pump 53L and the second traveling pump 53R to swing in the forward rotation (forward) direction. When the operating member 59 is operated rearward (A2 direction, see Figure 1), the control device 60 outputs a control signal to the operating valve 55B and the operating valve 55D, causing the swash plates of the first traveling pump 53L and the second traveling pump 53R to swing in the reverse (reverse) direction.

[0117] When the operating member 59 is operated to the right (A3 direction, see Figure 1), the control device 60 outputs a control signal to the operating valve 55A and the operating valve 55D, causing the swash plate of the first traveling pump 53L to oscillate in the forward rotation direction and the swash plate of the second traveling pump 53R to oscillate in the reverse rotation direction. When the operating member 59 is operated to the left (A4 direction, see Figure 1), the control device 60 outputs a control signal to the operating valve 55B and the operating valve 55C, causing the swash plate of the first traveling pump 53L to oscillate in the reverse direction and the swash plate of the second traveling pump 53R to oscillate in the forward direction.

[0118] The control device 60 (reduction control unit 60c) may change the control value of the control signal to the operating valves 55A to 55D based on the first decrease amount ΔF1 or the second decrease amount ΔF11, whichever has the larger absolute value, to change the swash plate angles of the first travel pump 53L and the second travel pump 53R, and perform gear shift shock reduction control to reduce the amount of hydraulic oil supplied from the first and second travel pumps 53L, 53R to the first and second travel motors 36L, 36R.

[0119] In addition, the travel switching valve 34 may be a proportional valve different from a directional control valve as long as it is a valve that can be switched between a first state in which the travel motors (first travel motor 36L, second travel motor 36R) are at a first speed and a second state in which they are at a second speed. The travel motor may be a motor having a neutral between the first speed and the second speed.

[0120] The travel motors (first travel motor 36L, second travel motor 36R) are axial piston If the travel motor is a radial piston motor, the motor capacity can be increased to switch to first gear, and the motor capacity can be decreased to switch to second gear. The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is defined by the claims, not the above description, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0121] 1: Work equipment 2: Aircraft 5: Running gear (left running gear, right running gear) 32: Prime mover 34: Travel switching valve 36: Driving motor 36L: First driving motor (left driving motor) 36R: Second driving motor (right driving motor) 53: Travel pump 53L: First travel pump (left travel pump) 53R: Second traveling pump (right traveling pump) 54: Driving operation device 55: Control valve 55A: Control valve 55B: Control valve 55C: Control valve 55D: Control valve 59: Operation member 60: Control device 60a: First calculation unit 60b: 2nd calculation section 60c: Reduction control section 69: Actuated valve

Claims

1. The prime mover, a travel pump that is operated by the power of the prime mover and discharges hydraulic oil; a travel motor that can be rotated by the hydraulic oil discharged by the travel pump; a machine body provided with the prime mover, the travel pump, and the travel motor; a travel switching valve switchable between a first state in which the rotation speed of the travel motor can be increased up to a first maximum speed and a second state in which the rotation speed of the travel motor can be increased up to a second maximum speed that is higher than the first maximum speed; a travel operation device having an operation valve capable of changing a pressure of hydraulic oil acting on the travel pump in response to an operation of an operation member; a control device that performs a shift shock reduction control to reduce an amount of hydraulic oil supplied from the travel pump to the travel motor when a deceleration process is performed to switch from the second state to the first state; Equipped with The control device includes: a first calculation unit that calculates a first reduction amount for reducing an amount of hydraulic oil supplied from the travel pump to the travel motor in the gear shift shock reduction control based on a drop amount that is a difference between a target rotation speed of the prime mover and an actual rotation speed of the prime mover; a second calculation unit that calculates a second reduction amount for reducing the supply amount of hydraulic oil supplied from the travel pump to the travel motor in the gear shift shock reduction control based on a straightness degree of the vehicle body; a reduction control unit that performs reduction control of the gear shift shock based on a reduction amount having a larger absolute value between the first reduction amount calculated by the first calculation unit and the second reduction amount calculated by the second calculation unit; A work machine having the above structure.

2. the first calculation unit calculates a first reduction amount of the rotation speed of the prime mover in the gear shift shock reduction control based on a drop amount that is a difference between a target rotation speed of the prime mover and an actual rotation speed of the prime mover, The second calculation unit performs the reduction control of the gear shift shock based on the straightness of the vehicle. a second reduction amount of the rotation speed of the prime mover; The work machine according to claim 1, wherein the reduction control unit performs control to reduce the amount of hydraulic oil supplied from the travel pump to the travel motor by reducing the rotation speed of the prime mover based on the first reduction amount calculated by the first calculation unit or the second reduction amount calculated by the second calculation unit, whichever has a larger absolute value.

3. The work machine according to claim 2 , wherein the reduction control unit determines a value obtained by subtracting the reduction amount from the actual rotation speed of the prime mover as a reduction value of the prime mover in the gear shift shock reduction control.

4. The work machine according to claim 3 , wherein the reduction control unit keeps a first reduction rate of the actual rotation speed of the prime mover constant from a start point to an end point of the reduction section in a reduction section until the actual rotation speed of the prime mover reaches a reduction value.

5. The work machine according to claim 3, wherein the reduction control unit makes a second reduction rate of the actual rotation speed of the prime mover from a start point of the reduction section to a middle point of the reduction section, in the reduction section until the actual rotation speed of the prime mover reaches a reduction value, greater than a third reduction rate of the actual rotation speed of the prime mover from the middle point of the reduction section to an end point of the reduction section.

6. The work machine according to any one of claims 2 to 5, wherein the reduction control unit changes a timing for switching the travel switching valve from the second state to the first state in accordance with the drop amount.

7. A changeover switch for issuing a speed change command to either increase or decrease the speed; an accelerator for setting a target rotation speed of the prime mover; Equipped with The work machine according to any one of claims 2 to 6, wherein the reduction control unit, when the change-over switch issues the gear shift command, reduces the actual rotation speed of the prime mover toward a reduction value determined based on the reduction amount, and switches the travel change-over valve to either the first state or the second state in response to the gear shift command.

8. The work machine according to any one of claims 2 to 5, wherein the reduction control unit sets the reduction amount to be large when the drop amount is small, and sets the reduction amount to be small when the drop amount is large.

9. an operating valve connected to the operating valve on the upstream or downstream side of the operating valve and capable of controlling the pressure of hydraulic oil acting on the travel pump from the operating valve; When performing the deceleration process, the control device performs a gear shift shock reduction control by outputting a control signal to the operating valve to reduce an opening degree of the operating valve and thereby reducing an amount of hydraulic oil supplied from the traveling pump to the traveling motor, the first calculation unit calculates a first reduction amount of an opening degree of the actuating valve in the gear shift shock reduction control based on a drop amount that is a difference between a target rotation speed of the prime mover and an actual rotation speed of the prime mover; The second calculation unit calculates a second reduction amount of an opening degree of the operating valve in the gear shift shock reduction control based on a straightness degree of the aircraft body, The work machine according to claim 1, wherein the reduction control unit performs control to reduce the amount of hydraulic oil supplied from the travel pump to the travel motor by reducing the opening degree of the working valve based on the first reduction amount calculated by the first calculation unit or the second reduction amount calculated by the second calculation unit, whichever has a larger absolute value.

10. The opening degree of the operating valve increases as the control value corresponding to the control signal increases. and the opening degree decreases as the control value becomes larger, The control device sets a reduction amount of the control value as a reduction amount of the opening degree of the operating valve based on a straightness degree of the machine body, and calculates a reduction value in the reduction control of the gear shift shock based on the reduction amount.

11. The work machine according to claim 10 , wherein the control device keeps the first reduction rate of the control value constant from a start point to an end point of the reduction section in a reduction section until the control value reaches the reduction value.

12. The work machine according to claim 10, wherein the control device, in a reduction section until the control value reaches the reduction value, makes a second reduction rate of the control value from a start point of the reduction section to a middle point of the reduction section greater than a third reduction rate of the control value from the middle point of the reduction section to an end point of the reduction section.

13. The work machine according to any one of claims 9 to 12, wherein the control device changes a timing for switching the travel switching valve from the first state to the second state depending on the degree of straight traveling.

14. The work machine according to any one of claims 9 to 12, wherein the control device sets the amount of decrease to be large when the degree of straightness is large, and sets the amount of decrease to be small when the degree of straightness is small.

15. A first traveling device provided on the left side of the body; A second running device provided on the right side of the body; Equipped with the travel motor is a first travel motor that transmits power for travel to the first travel device and a second travel motor that transmits power for travel to the second travel device, The travel pump is capable of operating the first travel motor and the second travel motor, The work machine according to any one of claims 1 to 14, wherein the travel switching valve is capable of switching the rotation speeds of the first travel motor and the second travel motor between the first state and the second state.

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