Wheel loader
A wheel loader configured to reduce a sudden change in vehicle speed caused by an erroneous determination of a raising operation of a lift arm is provided. A wheel loader 1 includes an engine 3 , a variable displacement type HST pump 41 , a variable displacement type HST motor 42 coupled to the HST pump 41 in a closed circuit, a hydraulic pump for working device 43 , a forward/reverse selector switch 62 for switching a forward movement and a backward movement of a vehicle body, a depression amount sensor 610 that detects a depression amount of an accelerator pedal 61 , a pressure sensor 73 that detects a discharge pressure Pa of the hydraulic pump for working device 43 , and a controller 5 . The controller 5 determines whether a specific condition to identify an upward movement of a lift arm 21 during a forward travel of the vehicle body based on a forward/reverse switching signal, the depression amount of the accelerator pedal 61 , and the discharge pressure Pa detected by the pressure sensor 73 . When the specific condition is satisfied, the controller 5 controls a displacement volume of the HST motor 42 according to an increase of the discharge pressure Pa, so as to limit the vehicle speed.
1. A wheel loader that includes a front working device, the front working device including a lift arm disposed on a front portion of a vehicle body, the lift arm being turnable in a vertical direction, the wheel loader comprising:
an engine;
a variable displacement type travel hydraulic pump driven by the engine;
a variable displacement type travel hydraulic motor coupled to the travel hydraulic pump in a closed circuit, the travel hydraulic motor transmitting a driving force of the engine to wheels;
a hydraulic pump for working device driven by the engine, the hydraulic pump for working device supplying a hydraulic oil to the front working device;
a travel state sensor that detects a travel state of the vehicle body;
a pressure sensor that detects a discharge pressure of the hydraulic pump for working device; and
a controller that controls the travel hydraulic pump and the travel hydraulic motor,
wherein the controller:
determines whether a specific condition is satisfied based on the travel state detected by the travel state sensor and the discharge pressure detected by the pressure sensor, the specific condition is a condition to identify an upward movement of the lift arm during a forward travel of the vehicle body, and
controls a displacement volume of the travel hydraulic pump or a displacement volume of the travel hydraulic motor according to an increase of the discharge pressure of the hydraulic pump for working device or an increase of an input torque of the hydraulic pump for working device when the specific condition is satisfied, so as to limit a vehicle speed.
2. The wheel loader according to claim 1 ,
wherein the controller increases a minimum displacement volume of the travel hydraulic motor as the discharge pressure of the hydraulic pump for working device or the input torque of the hydraulic pump for working device increases, so as to limit the vehicle speed.
3. The wheel loader according to claim 2 ,
wherein the controller:
controls the travel hydraulic motor such that, in a period from a start of a raising operation of the lift arm until the lift arm takes a horizontal posture, a minimum displacement volume increase amount of the travel hydraulic motor increases to a predetermined value as the discharge pressure of the hydraulic pump for working device or the input torque of the hydraulic pump for working device increases, and
controls the travel hydraulic motor such that, in a period from when the lift arm has the horizontal posture until the lift arm fully rises upward, the minimum displacement volume increase amount of the travel hydraulic motor is kept to the predetermined value regardless of the increase of the discharge pressure of the hydraulic pump for working device or the increase of the input torque of the hydraulic pump for working device.
4. The wheel loader according to claim 1 ,
wherein the controller decreases a maximum displacement volume of the travel hydraulic pump as the discharge pressure of the hydraulic pump for working device or the input torque of the hydraulic pump for working device increases, so as to limit the vehicle speed.
5. The wheel loader according to claim 4 ,
wherein the controller:
controls the travel hydraulic pump such that, in a period from a start of a raising operation of the lift arm until the lift arm takes a horizontal posture, a maximum displacement volume decrease amount of the travel hydraulic pump increases to a predetermined value as the discharge pressure of the hydraulic pump for working device or the input torque of the hydraulic pump for working device increases, and
controls the travel hydraulic pump such that, in a period from when the lift arm has the horizontal posture until the lift arm fully rises upward, the maximum displacement volume decrease amount of the travel hydraulic pump is kept to the predetermined value regardless of the increase of the discharge pressure of the hydraulic pump for working device or the increase of the input torque of the hydraulic pump for working device.
6. The wheel loader according to claim 1 ,
wherein the controller controls the displacement volume of the travel hydraulic pump or the displacement volume of the travel hydraulic motor to limit the vehicle speed only in case that a speed stage of the wheel loader is a low speed stage which is selected at a travel toward a dump truck in a loading work.
7. The wheel loader according to claim 1 , further comprising
an adjusting device that adjusts a changing rate of the displacement volume of the travel hydraulic pump or a changing rate of the displacement volume of the travel hydraulic motor relative to the discharge pressure of the hydraulic pump for working device or the input torque of the hydraulic pump for working device,
wherein the controller controls the displacement volume of the travel hydraulic pump or the displacement volume of the travel hydraulic motor in accordance with the changing rate set by the adjusting device, so as to limit the vehicle speed.
8. A wheel loader that includes a front working device, the front working device including a lift arm disposed on a front portion of a vehicle body, the lift arm being turnable in a vertical direction, the wheel loader comprising:
an engine;
an electric generator driven by the engine;
an electric motor coupled to the electric generator, the electric motor transmitting a driving force of the engine to a wheel;
a hydraulic pump for working device driven by the engine, the hydraulic pump for working device supplying a pressure oil to the front working device;
a travel state sensor that detects a travel state of the vehicle body;
a pressure sensor that detects a discharge pressure of the hydraulic pump for working device; and
a controller that controls the electric motor,
wherein the controller:
determines whether a specific condition is satisfied based on the travel state detected by the travel state sensor and the discharge pressure detected by the pressure sensor, the specific condition is a condition to identify an upward movement of the lift arm during a forward travel of the vehicle body, and
decreases a rotational speed of the electric motor as the discharge pressure of the hydraulic pump for working device or an input torque of the hydraulic pump for working device increases when the specific condition is satisfied, so as to limit a vehicle speed.