JP6805122B2 - Transport vehicle - Google Patents

Description

The present invention relates to a transport vehicle such as a dump truck for mining, and more particularly to a transport vehicle provided with a suspension cylinder that supports a vehicle body and a loading platform for loading a load and at the same time cushions an impact on the vehicle body.

A transport vehicle such as a dump truck for mining is provided with a frame constituting a vehicle body, wheels (front wheels and rear wheels) rotatably provided with respect to the frame, and a loading platform for loading a load such as earth and sand. Some transport vehicles are equipped with a suspension cylinder that supports the vehicle body and the loading platform loaded with the load, and at the same time absorbs the vibration received from the road surface during traveling to alleviate the impact on the vehicle body. The suspension cylinder is provided between the frame and the wheels, and is rotatably connected to the frame or the like via bearings such as spherical bearings and bushes.

The bearing for rotatably connecting the suspension cylinder has a sliding portion. For example, in a spherical bearing, the suspension cylinder rotates by sliding the inner ring with respect to the outer ring and rotating relative to the outer ring. By supplying (greasing) grease to the sliding parts of the bearing, friction and wear of the sliding parts are reduced, sliding heat is removed, and dust and rust are prevented from the sliding parts.

In a dump truck for mining, the weight of the load to be loaded and the weight of the vehicle itself are very heavy compared to a general vehicle, and a very large vertical load is applied to the sliding part of the bearing for connecting the suspension cylinder. .. Therefore, it is necessary to lubricate the bearings at relatively short intervals. Therefore, the bearing is automatically lubricated based on the preset time interval and the amount of lubrication. That is, in a transport vehicle such as a dump truck for mining, the timing of lubrication is controlled only by the passage of time.

On the other hand, traveling vehicles such as automobiles are equipped with an acceleration sensor, a load load meter, and a speed sensor that detect vertical vibration, and supply or stop the supply of grease to the leaf spring according to the load capacity and travel speed. An automatic refueling device has been proposed (see Patent Document 1).

Japanese Unexamined Patent Publication No. 07-69184

Unlike a traveling vehicle such as a passenger car, a dump truck (transport vehicle) for a mine frequently repeats an empty state and a loaded state, so that the load fluctuation is very large. Therefore, the bearing for connecting the suspension cylinder is required to have fatigue strength. Therefore, it is necessary to reliably and sufficiently lubricate the bearing. Otherwise, problems such as an increase in the friction coefficient of the sliding portion of the bearing and an increase in the amount of wear may occur. When the vehicle weight changes more than twice in the empty state and the loaded state like a dump truck for mining, the normal force of the sliding part of the bearing also changes more than twice. When performing automatic grease based on the passage of time as in the conventional technology, if the normal force of the sliding part of the bearing is large during automatic grease, the grease can be efficiently and sufficiently distributed to the sliding part of the bearing. May not be possible. Therefore, it is desirable to lubricate the bearings at an appropriate timing according to the condition of the vehicle.

The refueling device described in Patent Document 1 automatically supplies or stops the supply of grease according to the load capacity and the traveling speed, but is intended for a traveling vehicle such as an automobile traveling on a paved road surface. It is a thing. Transportation of a dump truck for mining, etc., in which the refueling device described in Patent Document 1 for a traveling vehicle is generally traveled mainly off-road on a road surface having relatively large irregularities instead of a paved road surface. Consider the case where it is applied to a vehicle. In this case, when the transport vehicle travels on a road surface having large irregularities, the vibration acceleration of the vehicle body increases or decreases depending on the size of the irregularities on the road surface and the traveling speed when overcoming the irregularities on the road surface. When the vibration acceleration of the vehicle body increases or decreases, the normal force of the sliding part of the bearing for connecting the suspension cylinder increases or decreases accordingly when the suspension cylinder absorbs the vibration, as in the case of targeting a traveling vehicle. Efficient lubrication is difficult.

The present invention has been made to solve the above problems, and an object of the present invention is to efficiently and sufficiently distribute a lubricant to a sliding portion of a bearing for connecting a suspension cylinder. To provide a transport vehicle.

The present application includes a plurality of means for solving the above problems. For example, a vehicle body having a vehicle body frame, a loading platform mounted on the vehicle body and loading a load, and a suspension on the vehicle body frame are provided. The suspension is provided with a suspension support member that supports the wheels so as to be movable up and down with respect to the vehicle body frame, and both ends of the suspension are attached to the vehicle body frame and the suspension support member via bearings, respectively. In a transport vehicle having a suspension cylinder that is rotatably connected to support the vehicle body and the loading platform and cushion the impact on the vehicle body during traveling, a greasing device that supplies a lubricant to the bearings and the above. A pressure sensor for detecting the pressure in the suspension cylinder and a controller for controlling the greasing device are provided, and the controller determines whether the transport vehicle is in an empty state based on the pressure detection signal detected by the pressure sensor. When it is determined whether or not the pressure in the suspension cylinder is in a stable state, and when it is determined that the transport vehicle is in an empty state and the pressure in the suspension cylinder is in a stable state. It is characterized in that the greasing device is controlled so as to supply a lubricant to the bearing.

According to the present invention, the controller controls to supply the lubricant to the bearing when the load of the transport vehicle is empty and the pressure in the suspension cylinder is stable, so that the normal force of the sliding portion of the bearing is reduced. Lubricating can be performed under relatively small conditions, and the lubricant can be efficiently and sufficiently distributed to the sliding portion.
Issues, configurations and effects other than the above will be clarified by the description of the following embodiments.

It is a side view which shows the dump truck for mines to which the 1st Embodiment of the transport vehicle of this invention is applied. FIG. 3 is a perspective view showing a suspension on the front wheel side of the dump truck for mining shown in FIG. 1 and its peripheral structure as viewed from the front of the vehicle. It is a front view which shows the suspension on the front wheel side of the dump truck for mining shown in FIG. 1 and its peripheral structure. It is a rear view which shows the suspension on the rear wheel side of the dump truck for mining shown in FIG. 1 and the peripheral structure thereof. It is an enlarged side view which shows the suspension cylinder and the suspension arm which are a part of the suspension on the front wheel side of the dump truck for mining shown in FIG. FIG. 5 is a cross-sectional view of the connection structure of the suspension cylinder and the suspension arm on the front wheel side of the dump truck for mining shown in FIG. 5 as viewed from the VI-VI arrow. It is a schematic block diagram which shows the greasing device which constitutes a part of 1st Embodiment of the transport vehicle of this invention. It is a block diagram which shows the function of the controller which constitutes a part of the 1st Embodiment of the transport vehicle of this invention shown in FIG. It is a flowchart which shows an example of the control procedure of the controller in 1st Embodiment of the transport vehicle of this invention shown in FIG. It is a functional block diagram which shows the function of the controller which constitutes a part of the 2nd Embodiment of the transport vehicle of this invention. It is a flowchart which shows an example of the control procedure of the controller in the 2nd Embodiment of the transport vehicle of this invention shown in FIG.

Hereinafter, embodiments of the transport vehicle of the present invention will be described with reference to the drawings. In the present embodiment, a dump truck for mining will be described as an example of a transport vehicle. The front-back and left-right directions described in the present specification refer to the directions seen by the operator boarding the transport vehicle.

[First Embodiment]
First, the configuration of a dump truck for a mine to which the first embodiment of the transport vehicle of the present invention is applied will be described with reference to FIG. FIG. 1 is a side view showing a dump truck for mining to which the first embodiment of the transport vehicle of the present invention is applied.

In FIG. 1, the dump truck 1 for a mine as a transport vehicle transports a cargo W such as ore and earth and sand mined in a mine, and transports the vehicle body 2 and the left and right sides of the front portion and the rear portion of the vehicle body 2, respectively. It is roughly composed of front wheels 3 and rear wheels 4 as rotatably provided wheels, and a loading platform 5 mounted on the vehicle body 2 so as to be tiltable (undulating) and loaded with a load W. The front wheel 3 is a steering wheel that is steered (steering operation) by the operator. The rear wheel 4 is a drive wheel that is rotationally driven by the traveling motor 7. The traveling motor 7 is, for example, an electric motor. A pair of left and right hoist cylinders 9 are provided between the vehicle body 2 and the loading platform 5. The hoist cylinder 9 is, for example, a hydraulic cylinder that expands and contracts. Due to the extension of the hoist cylinder 9, the loading platform 5 undulates with respect to the vehicle body 2 and the load W is released.

The vehicle body 2 has a vehicle body frame 11 which is a support structure extending in the front-rear direction (horizontal direction in FIG. 1), a building 12 arranged at the front portion of the vehicle body frame 11, and a cab supported by the vehicle body frame 11 and the building 12. It includes a bed 13 and a cab 14 installed on the cab bed 13. The building 12 defines a machine room that houses various devices such as an engine 81 (see FIG. 7 described later), a main hydraulic pump 82 (see FIG. 7 described later), and a generator (not shown). The main hydraulic pump 82 is a flood control source that supplies pressure oil for driving a hydraulic actuator such as a hoist cylinder 9. The generator generates electric power for driving the traveling motor 7. In the cab 14, various operating devices (none of which are shown) operated by an operator such as an accelerator pedal, a steering wheel for steering the front wheels 3, and a loading platform operating unit for operating the tilting of the loading platform 5 are arranged. ..

A front suspension 30 is provided between the front portion of the vehicle body frame 11 and the front wheels 3. Although the detailed configuration thereof will be described later, the front suspension 30 includes a pair of left and right front suspension cylinders 33 that support the vehicle body 2 and the loading platform 5 and at the same time absorb vibrations received from the road surface during traveling to alleviate the impact on the vehicle body 2. ing. A rear suspension 40 is provided between the rear portion of the vehicle body frame 11 and the rear wheels 4. Although the detailed configuration thereof will be described later, the rear suspension 40 includes a pair of left and right rear suspension cylinders 43 that support the vehicle body 2 and the loading platform 5 and at the same time absorb the vibration received from the road surface during traveling to alleviate the impact on the vehicle body 2. ing.

The left and right front suspension cylinders 33 are each provided with a first pressure sensor 16 that detects the pressure inside the front suspension cylinder 33. The left and right rear suspension cylinders 43 are each provided with a second pressure sensor 17 that detects the pressure inside the rear suspension cylinder 43. Inside the cab 14, an inclination sensor 18 (see FIG. 8 described later) for detecting an inclination angle of the vehicle body 2 with respect to the horizontal direction in the front-rear direction is provided. The detection signals of the sensors 16, 17 and 18 are output to the controller 100 (see FIG. 8 described later) described later.

Next, the configuration of the suspension of the dump truck for mining to which the first embodiment of the transport vehicle of the present invention is applied and the peripheral structure thereof will be described with reference to FIGS. 2 to 4. FIG. 2 is a perspective view showing the front wheel side suspension of the mining dump truck shown in FIG. 1 and its peripheral structure as viewed from the front of the vehicle, and FIG. 3 is the front wheel side suspension of the mining dump truck shown in FIG. 1 and its peripheral structure. A front view showing the peripheral structure, FIG. 4 is a rear view showing the suspension on the rear wheel side of the dump truck for mining shown in FIG. 1 and its peripheral structure. In addition, in FIGS. 2 to 4, those having the same reference numerals as those shown in FIG. 1 have the same parts, and therefore detailed description thereof will be omitted.

In FIGS. 2 to 4, the vehicle body frame 11 includes a pair of left and right side frame portions 21 extending in the front-rear direction of the vehicle body 2, a front frame portion 22 connecting between the front end portions of both side frame portions 21, and both sides. A rear frame portion 23 that connects the rear ends of the frame portion 21, a pair of left and right strut portions 24 that project upward from the front side of each side frame portion 21, and both strut portions that extend in the width direction of the vehicle. It is configured to include a cross beam portion 25 supported by an upper end portion of the portion 24. The cross beam portion 25 supports the cab bed 13 (see FIG. 1) together with the building 12 (see FIG. 1). Bracket portions 21a for attaching the torque tube 31 described later are provided on the lower surface side of the front end portions of both side frame portions 21. Mounts 24a for connecting the upper ends of the left and right front suspension cylinders 33 are provided at the upper ends of the left and right strut portions 24, respectively. The rear frame portion 23 is provided with a mount portion 23a for connecting the upper end portions of the left and right rear suspension cylinders 43.

As shown in FIGS. 2 and 3, the left and right front wheels 3 are suspended from the vehicle body frame 11 via the front suspension 30. The front suspension 30 is, for example, an independent suspension type in which the left and right front wheels 3 can operate independently. The front suspension 30 includes left and right suspension arms 32 as suspension support members that support the front wheels 3 so as to be vertically movable with respect to the vehicle body frame 11 via a torque tube 31, and support members 24 of the suspension arms 32 and the vehicle body frame 11. It is configured to include left and right front suspension cylinders 33 bridged to the upper end portion. The torque tube 31 is composed of, for example, a cylindrical high-rigidity member extending along the vehicle width direction, and both ends thereof are fixed to the bracket portions 21a of both side frame portions 21.

The suspension arm 32 has, for example, a main body 34 that is swingably attached to the torque tube 31, and an arm 35 that projects laterally from the main body 34. A mount portion 36 for connecting the front suspension cylinder 33 is provided on the upper surface side of the arm portion 35. A spindle 37 is rotatably attached to the tip of the arm portion 35 via a kingpin 38 in the vertical direction. A front wheel 3 is rotatably attached to the spindle 37.

The lower ends of the left and right front suspension cylinders 33 are rotatably connected to the mounts 36 of the left and right suspension arms 32 via bearings 51 (see FIG. 6 to be described later), and the upper ends thereof are connected. It is rotatably connected to the mount portion 24a provided on the support column portion 24 of the vehicle body frame 11 via a bearing 51 described later. The front suspension cylinder 33 is, for example, a hydropneumatic cylinder in which gas and compressible oil are sealed therein. When a compressive load is applied to the front suspension cylinder 33, the gas inside and the compressible oil are compressed, and the internal pressure rises.

As shown in FIG. 4, the left and right rear wheels 4 are suspended from the vehicle body frame 11 via the rear suspension 40. The rear suspension 40 is, for example, an axle suspension type in which the left and right rear wheels 4 are supported by one axle. The rear suspension 40 is provided on, for example, a rigid axle 41 having a tubular body constituting an axle, a lateral link 42 connected to the rigid axle 41 and the vehicle body frame 11, and a rear frame portion 23 of the rigid axle 41 and the vehicle body frame 11. It has left and right rear suspension cylinders 43 that are bridged.

The rigid axle 41 functions as a suspension support member that supports the rear wheels 4 so as to be vertically movable with respect to the vehicle body frame 11, and has an arm portion 41a (see FIG. 1) that projects forward. The arm portion 41a is swingably connected to a joint portion (not shown) provided at the front end portion of the vehicle body frame 11. A pair of left and right mount portions 41b for connecting the rear suspension cylinder 43 are provided on the rear side of the central portion of the rigid axle 41. A traveling motor 7 (see FIG. 1) for driving the rear wheels 4 is arranged in the rigid axle 41. The rigid axle 41 is restricted from lateral movement by the lateral link 42.

The lower end of the rear suspension cylinder 43 is rotatably connected to the left and right mount portions 41b of the rigid axle 41 via a bearing 51 described later, and the upper end thereof is connected to the rear frame portion 23 of the vehicle body frame 11. It is rotatably connected to the provided mount portion 23a via a bearing 51 described later. The rear suspension cylinder 43 is, for example, a hydropneumatic cylinder similar to the front suspension cylinder 33.

Next, the connection structure of the suspension cylinders according to the first embodiment of the transport vehicle of the present invention will be described with reference to FIGS. 5 and 6. FIG. 5 is an enlarged side view showing the suspension cylinder and the suspension arm, which are a part of the suspension on the front wheel side of the mining dump truck shown in FIG. 2, and FIG. 6 is the front wheel side of the mining dump truck shown in FIG. It is sectional drawing of the connection structure of a suspension cylinder and a suspension arm seen from VI-VI arrow view. In FIG. 6, thick arrows indicate the flow of grease. In addition, in FIGS. 5 and 6, those having the same reference numerals as those shown in FIGS. 1 to 4 are the same parts, and thus detailed description thereof will be omitted.

Here, a connection structure of the front suspension cylinder 33 and the suspension arm 32 will be described as an example. The connection structure between the front suspension cylinder 33 and the vehicle body frame 11, the connection structure between the rear suspension cylinder 43 and the rigid axle 41, and the connection structure between the rear suspension cylinder 43 and the vehicle body frame 11 are the front suspension cylinder 33 and the suspension arm 32. Since it has the same structure as the connection structure with, the description thereof will be omitted.

In FIG. 5, the front suspension cylinder 33 includes a cylindrical cylinder tube 45, a piston (not shown) slidably arranged in the cylinder tube 45, and a cylinder tube 45 having one end fixed to the piston and the other end fixed to the piston. It is configured to include a piston rod 46 protruding outward. As shown in FIGS. 5 and 6, a rod-side clevis 47 for connecting to the suspension arm 32 is provided at the tip of the piston rod 46. The rod-side clevis 47 is provided with a pin hole 47a. As shown in FIG. 5, a tube-side clevis 48 for connecting to the mount portion 24a of the vehicle body frame 11 is provided at the end of the cylinder tube 45 on the side opposite to the piston rod 46. The tube-side clevis 48 is provided with a pin hole 48a.

As shown in FIG. 6, the mount portion 36 of the suspension arm 32 is provided with a bearing mounting hole 36a. A bearing 51 is press-fitted into the bearing mounting hole 36a of the mount portion 36. The bearing 51 is, for example, a spherical plain bearing, in which the outer ring 52 and the inner ring 53 are rotatably connected by being in spherical contact with each other and sliding.

The mount portion 36 of the suspension arm 32 is arranged between the rod-side clevis 47 of the front suspension cylinder 33, and the mount portion 36 is in a state where the columnar connecting pin 54 is inserted into the pin hole 47a of the rod-side clevis 47. The connecting pin 54 is fitted to the inner ring 53 of the bearing 51 attached to the bearing 51. The connecting pin 54 is fixed to the rod-side clevis 47 of the front suspension cylinder 33 by a mounting plate 56 and a bolt 57. A spacer 58 is arranged in the gap between the rod-side clevis 47 of the front suspension cylinder 33 and the bearing 51. With such a structure, the lower end side of the front suspension cylinder 33 is rotatably connected to the suspension arm 32.

Grease, which is a lubricant, is supplied (greased) to the bearing 51 for the purpose of reducing friction and wear generated in the sliding portion, removing sliding heat, and preventing dust and rust on the sliding portion. The specific structure for lubricating the sliding portion of the bearing 51 will be described below.

A first oil groove 52a and a second oil groove 53a are provided in the circumferential direction on the bearing outer diameter surface and the bearing inner diameter surface of the bearing 51, respectively. The outer ring 52 is provided with a first oil hole 52b in the radial direction that connects the sliding contact surface and the first oil groove 52a. The inner ring 53 is provided with a second oil hole 53b in the radial direction that connects the sliding contact surface and the second oil groove 53a. The connecting pin 54 is provided with a greasing hole 54a for supplying grease to the bearing 51. The greasing hole 54a has an opening on one end surface side in the axial direction of the connecting pin 54 and an opening on the outer peripheral surface side of the connecting pin 54, and has an opening with a second oil groove 53a of the inner ring 53 of the bearing 51. linked. The greasing hole 54a can be connected to the greasing hose 75 (see FIG. 7 described later) described later in the opening on the one end surface side in the axial direction of the connecting pin 54. The mounting plate 56 is provided with a through hole 56a for connecting the greasing hose 75 to the greasing hole 54a of the connecting pin 54.

With such a greasing structure, the grease supplied to the connecting portion between the front suspension cylinder 33 and the suspension arm 32 via the greasing hose 75 is supplied to the greasing hole 54a of the connecting pin 54 and the inner ring 53 of the bearing 51. It is supplied to the sliding contact surface via the oil groove 53a of 2 and the second oil hole 53b in this order. The grease supplied to the sliding contact surface is supplied to the first oil groove 52a via the first oil hole 52b of the outer ring 52 of the bearing 51. The supply of grease to the bearing 51 is automatically performed by the greasing device 70 (see FIG. 7 described later) described later.

Next, the configuration of the greasing device that constitutes a part of the first embodiment of the transport vehicle of the present invention will be described with reference to FIG. FIG. 7 is a schematic configuration diagram showing a greasing device that constitutes a part of the first embodiment of the transport vehicle of the present invention. In FIG. 7, those having the same reference numerals as those shown in FIGS. 1 to 6 are the same parts, and thus detailed description thereof will be omitted.

The greasing device 70 includes a grease tank 71 for storing grease, a greasing pump 72 for sucking the grease in the grease tank 71 and sending it to the bearing 51 (connecting portion of the front suspension cylinder 33 and the rear suspension cylinder 43). It includes a grease motor 73 that drives the grease pump 72. The greasing pump 72 and the greasing motor 73 are connected via a rotating shaft 74, and the power of the greasing motor 73 is transmitted to the greasing pump 72. The greasing pump 72 and the connecting portion of the front suspension cylinder 33 and the rear suspension cylinder 43 are connected via a greasing hose 75. One end of the branch hose 76 is connected to the middle portion of the greasing hose 75, and the other end of the branch hose 76 is connected to the grease tank 71. The branch hose 76 is provided with a relief valve 77. The relief valve 77 opens the valve when the grease delivered from the greasing pump 72 exceeds a set pressure, and releases the grease to the grease tank 71. The greasing motor 73 is, for example, a hydraulic motor and is driven by the pressure oil supplied from the main hydraulic pump 82 as a hydraulic source.

The main hydraulic pump 82 is driven by the engine 81, sucks the hydraulic oil in the hydraulic oil tank 83, and supplies the hydraulic oil to the hydraulic actuator group 85 including the hoist cylinder 9 via the valve device 84. The main hydraulic pump 82 and the valve device 84 are connected to each other via a discharge pipe line 86.

The main hydraulic pump 82 and the greasing motor 73 are connected to each other via a supply pipe line 78 branched from the discharge line line 86. The supply line 78 is provided with a greasing control valve 79 that switches between supplying the pressure oil from the main hydraulic pump 82 to the greasing motor 73 and shutting off the supply. The greasing control valve 79 switches, for example, a shutoff position X (lower position in FIG. 7) for blocking communication with the supply line 78 and a communication position Y (upper position in FIG. 7) for communicating with the supply line 78. It is an electromagnetic switching valve. The greasing control valve 79 has a spring 79a on one side and a solenoid drive unit 79b on the other side. The solenoid drive unit 79b of the greasing control valve 79 is electrically connected to the controller 100.

The controller 100 controls the greasing device 70, and in the present embodiment, controls the switching of the valve position of the greasing control valve 79. When the controller 100 outputs an on signal (current) to the solenoid drive unit 79b of the grease control valve 79, the solenoid drive unit 79b is excited so that the valve position of the grease control valve 79 resists the urging force of the spring 79a. Then, the breaking position X is switched to the communication position Y by the electromagnetic force. As a result, the pressure oil discharged from the main hydraulic pump 82 is supplied to the greasing motor 73 via the greasing control valve 79. On the other hand, when the controller 100 switches from the on signal to the off signal (current is turned off), the electromagnetic force disappears and the valve position is switched from the communication position Y to the cutoff position X by the urging force of the spring 79a. As a result, the supply of pressure oil from the main hydraulic pump 82 to the greasing motor 73 is cut off by the greasing control valve 79.

By the way, in the dump truck 1 for mining, the weight of the load W and the weight of the vehicle body are very heavy, and the vertical load applied to the bearing 51 of the connecting portion of the front suspension cylinder 33 and the rear suspension cylinder 43 becomes very large. Further, since the empty load state and the loaded state are frequently repeated, the load fluctuation applied to the front suspension cylinder 33 and the rear suspension cylinder 43 is very large, and the bearing 51 is required to have fatigue strength. Therefore, it is necessary to reliably and sufficiently lubricate the bearing 51. In order to efficiently and sufficiently distribute the grease to the bearing 51, it is desirable that the normal force of the sliding portion of the bearing 51 is relatively small. Therefore, the controller 100 according to the present embodiment controls to automatically lubricate the vehicle when the vertical drag of the sliding portion of the bearing 51 is assumed to be relatively small. .. Specifically, when the vehicle is in an empty state, the normal force of the sliding portion of the bearing 51 is smaller than in the loaded state. Further, when traveling on a road surface having severe irregularities, there is a timing in which the pressures in the front suspension cylinder 33 and the rear suspension cylinder 43 fluctuate and increase. When this pressure increases, the normal force of the sliding portion of the bearing 51 increases. On the other hand, when the pressures in the front suspension cylinder 33 and the rear suspension cylinder 43 are in a stable state, the normal force of the sliding portion is smaller than in the fluctuating state. Therefore, when the vehicle is empty and the pressures in the front suspension cylinder 33 and the rear suspension cylinder 43 are stable, the bearing 51 is controlled to be lubricated.

Next, the function of the controller constituting a part of the first embodiment of the transport vehicle of the present invention will be described with reference to FIG. FIG. 8 is a block diagram showing a function of a controller constituting a part of the first embodiment of the transport vehicle of the present invention shown in FIG. 7. In FIG. 8, those having the same reference numerals as those shown in FIGS. 1 to 7 are the same parts, and thus detailed description thereof will be omitted.

As shown in FIG. 8, the controller 100 of the present embodiment has a pressure detection value P1 in the front suspension cylinder 33 detected by the first pressure sensor 16 and a rear suspension cylinder 43 detected by the second pressure sensor 17. The pressure detection value P2 and the tilt angle detection value I detected by the tilt sensor 18 are taken in, respectively. The controller 100 has a calculation unit that performs a predetermined calculation, a determination unit that performs a predetermined determination, a storage unit 101 that stores various threshold values in advance and stores detection values from each sensor, and the latest supply to the bearing 51. A first timekeeping unit 102 that measures the elapsed time T1 from fat, a second timekeeping unit 103 that measures the drive time T2 of the greasing device 70, and a control signal that controls the greasing device 70 based on the determination result of the determination unit. It is provided with a greasing command unit 111 that outputs.

The calculation unit includes a load calculation unit 104 that calculates the load of the load W loaded on the loading platform 5, and a pressure detection value within a certain time region detected by the first pressure sensor 16 and the second pressure sensor 17. The pressure standard deviation calculation unit 105 for calculating the standard deviation is provided.

The load calculation unit 104 uses, for example, the load W on the front suspension cylinder 33 and the rear suspension cylinder 43 based on the pressure detection value P1 from the first pressure sensor 16 and the pressure detection value P2 from the second pressure sensor 17. And the front-rear load ratio between the load on the front suspension cylinder 33 and the load on the rear suspension cylinder 43 are calculated. Further, the total load of the calculation result is corrected based on the load ratio before and after the calculation result and the inclination angle detection value I from the inclination sensor 18. As described above, the load load calculation unit 104 loads the load on the loading platform 5 based on the pressure detection values P1 and P2 from the first pressure sensor 16 and the second pressure sensor 17 and the inclination angle detection value I from the inclination sensor 18. The load L of the load W is calculated. As a detailed calculation method of the load capacity, a known method (for example, Japanese Patent Application Laid-Open No. 2010-190617) can be used.

The pressure standard deviation calculation unit 105 is, for example, the pressure detection values P1 and P2 of the front suspension cylinder 33 and the rear suspension cylinder 43 detected by the first pressure sensor 16 and the second pressure sensor 17 stored in the storage unit 101. Of the waveform data, the waveform data of the pressure detection values P1 and P2 in the most recent time region Δt are extracted, and the standard deviation SD of the pressure detection values P1 and P2 in the time region Δt (average of the same time interval). (Variation from value) is calculated respectively. The time domain Δt is, for example, 10 seconds when the sampling frequency is 10 Hz. In this case, the number of data used for calculating the standard deviation SD is 101, which is a sufficient amount of data for determining the stable state of the pressure in the front suspension cylinder 33 and the rear suspension cylinder 43. That is, the sampling frequency and the time domain for extracting the data are set so that about 100 pieces of data can be secured as the sampling data.

The determination processing unit includes an empty load determination unit 107 that determines whether or not the vehicle is in an empty state, and a suspension state determination unit 108 that determines whether or not the pressures of the front suspension cylinder 33 and the rear suspension cylinder 43 are in a stable state. It has a greasing interval determining unit 109 for determining whether or not the greasing interval to the bearing 51 this time is short. The empty load determination unit 107 compares the load load L calculated by the load load calculation unit 104 with the load threshold Lt stored in advance in the storage unit 101 to determine whether the vehicle is in an empty state (load state). To judge. The suspension state determination unit 108 compares the standard deviation SD calculated by the standard deviation calculation unit 105 with the standard deviation threshold Dt stored in advance in the storage unit 101 to reduce the pressure of the front suspension cylinder 33 and the rear suspension cylinder 43. Determine whether it is in a stable state (whether it is in a fluctuating state). The greasing interval determination unit 109 compares the elapsed time T1 measured by the first time counting unit 102 with the first time threshold value Tt1 stored in advance in the storage unit 101, so that the latest greasing to the bearing 51 can be performed. It is determined whether or not the elapsed time T1 of is equal to or greater than the preset first time threshold value Tt1.

The loading threshold value Lt is stored in advance in the storage unit 101. The loading threshold Lt is set to, for example, about 80% of the rated loading capacity of the dump truck.

The standard deviation threshold Dt is stored in advance in the storage unit 101. The standard deviation threshold Dt may be set, for example, based on the pressure fluctuations of the front suspension cylinder 33 and the rear suspension cylinder 43 when the empty vehicle gets over a step of about 150 mm. For example, in the case of a dump truck with a rated load capacity of about 300 tons, a standard deviation of pressure of about 400 kPa for the front suspension cylinder and about 150 kPa for the rear suspension cylinder occurs. The standard deviation threshold Dt is changed according to the diameter of the suspension cylinder, the model, and the like.

The storage unit 101 stores in advance a first time threshold value Tt1 to be compared with the elapsed time T1 measured by the first timekeeping unit 102. The first time threshold value Tt1 is set according to the specifications and requirements of the bearing 51. Further, the set time Ts to be compared with the drive time T2 of the greasing device 70 measured by the second time measuring unit 103 is stored in advance. The set time Ts is, for example, 1 minute.

The storage unit 101 also contains waveform data of the pressure detection value P1 in the front suspension cylinder 33 detected by the first pressure sensor 16 and the pressure detection value P2 in the rear suspension cylinder 43 detected by the second pressure sensor 17. The waveform data of is stored sequentially.

In the present embodiment, the greasing command unit 111 determines that the vehicle is in an empty state by the empty load determination unit 107, and determines that the pressures of the front suspension cylinder 33 and the rear suspension cylinder 43 are in a stable state in the suspension state. Only when the determination unit 108 determines and the lubrication interval determination unit 109 determines that the elapsed time T1 from the latest lubrication to the bearing 51 is equal to or greater than the first time threshold Tt1, the lubrication device. The drive of 70 is started. That is, the ON signal (current) of the control signal is output to the greasing control valve 79. Further, whether or not the greasing command unit 111 ends the driving of the greasing device 70 by comparing the drive time T2 measured by the second time counting unit 103 with the set time Ts stored in advance in the storage unit 101. Is determined, and the on signal (current) is continuously output to the greasing control valve 79 until the drive time T2 becomes equal to or longer than the set time Ts. When the drive time T2 becomes equal to or longer than the set time Ts, an off signal of the control signal is output to the greasing control valve 79 (current output is stopped). When the greasing command unit 111 starts outputting an on signal (current) to the greasing control valve 79, the second timing unit 103 starts measuring the drive time T2 of the greasing device 70.

Next, the control procedure of the controller constituting a part of the first embodiment of the transport vehicle of the present invention will be described with reference to FIGS. 6 to 9. FIG. 9 is a flowchart showing an example of a controller control procedure according to the first embodiment of the transport vehicle of the present invention shown in FIG.

In FIG. 9, the controller 100 first starts measuring the elapsed time T1 (step S10). Specifically, the first timekeeping unit 102 shown in FIG. 8 starts measuring the elapsed time T1. Next, the controller 100 has a pressure detection value P1 detected by the first pressure sensor 16 shown in FIG. 8, a pressure detection value P2 detected by the second pressure sensor 17, and an inclination angle detection value I detected by the inclination sensor 18. (Step S20).

Next, the controller 100 determines whether or not the vehicle is empty based on the captured pressure detection values P1 and P2 and the inclination angle detection value I (step S30). Specifically, the load load calculation unit 104 shown in FIG. 8 calculates the load L of the load W loaded on the loading platform 5 (see FIG. 1) based on the pressure detection values P1 and P2 and the inclination angle detection value I. .. Next, the empty load determination unit 107 determines whether or not the vehicle is in an empty state by comparing the load load L calculated by the load load calculation unit 104 with the load threshold Lt stored in advance in the storage unit 101. To do.

In step S30, when the calculated load L is larger than the load threshold Lt, it is determined that the vehicle is not empty (NO), and the controller 100 determines that the calculated load L is equal to or less than the load threshold Lt (YES). The above steps S20 and S30 are repeated in order until That is, the controller 100 controls so that grease is not supplied to the bearing 51 of the connecting portion of the front suspension cylinder 33 and the rear suspension cylinder 43 when the vehicle is in the loaded state.

On the other hand, when the calculated load load L is equal to or less than the load threshold value Lt, it is determined that the vehicle is empty (YES), and the process proceeds to step S40. In step S40, the controller 100 determines whether or not the pressure in the front suspension cylinder 33 and the rear suspension cylinder 43 is in a stable state.

Specifically, the pressure standard deviation calculation unit 105 shown in FIG. 8 detected the waveform data of the pressure detection value P1 detected by the first pressure sensor 16 stored in the storage unit 101 and the detection of the second pressure sensor 17. From the waveform data of the pressure detection value P2, the waveform data of the pressure detection value in the most recent time region Δt is extracted, and the standard deviation SD of the pressure detection value in the time region Δt is calculated. Next, the suspension state determination unit 108 compares the standard deviation SD calculated by the pressure standard deviation calculation unit 105 with the standard deviation threshold Dt stored in advance in the storage unit 101, so that the front suspension cylinder 33 and the rear suspension cylinder 43 Determine if the pressure inside is stable.

In step S40, when the standard deviation SD calculated by the pressure standard deviation calculation unit 105 is larger than the standard deviation threshold Dt, it is determined that the pressures in the front suspension cylinder 33 and the rear suspension cylinder 43 are not in a stable state (NO). The controller 100 repeats the process between steps S20 and S40 until the standard deviation SD of the pressure becomes equal to or less than the standard deviation threshold Dt (YES). That is, the controller 100 controls so that grease is not supplied to the bearing 51 when the pressures in the front suspension cylinder 33 and the rear suspension cylinder 43 are in a fluctuating state.

On the other hand, if the calculated standard deviation SD is equal to or less than the standard deviation threshold value Dt in step S40, it is determined that the pressures in the front suspension cylinder 33 and the rear suspension cylinder 43 are in a stable state (YES), and the process proceeds to step S50. .. In step S50, the controller 100 determines whether or not the elapsed time T1 from the latest lubrication to the bearing 51 is equal to or greater than the preset first time threshold value Tt1. Specifically, the greasing interval determination unit 109 shown in FIG. 8 determines by comparing the elapsed time T1 measured by the first timing unit 102 with the first time threshold value Tt1 stored in advance in the storage unit 101. To do.

In step S50, when the elapsed time T1 measured by the first time counting unit 102 is smaller than the first time threshold value Tt1 (NO), the controller 100 has the elapsed time T1 from the first timing unit 102. The process from steps S20 to S50 is repeated until the time threshold value of 1 becomes Tt1 or more (YES). That is, the controller 100 controls so that grease is not supplied to the bearing 51 when the grease feeding interval to the bearing 51 is too short.

On the other hand, in step S50, if the elapsed time T1 from the first timekeeping unit 102 is equal to or greater than the first time threshold value Tt1 (YES), the process proceeds to step S60. In step S60, the controller 100 starts driving the greasing device 70. Specifically, the greasing command unit 111 shown in FIG. 8 starts outputting an on signal (current) of a control signal to the solenoid driving unit 79b of the greasing control valve 79 shown in FIG. 7.

As a result, the valve position of the greasing control valve 79 is switched from the shutoff position X to the communication position Y, and the pressure oil discharged from the main hydraulic pump 82 passes through the discharge pipe line 86 and the supply pipe line 78 to the greasing motor 73. Be supplied. The greasing motor 73 to which the pressure oil is supplied drives the greasing pump 72, and the driven greasing pump 72 sucks the grease in the grease tank 71 and passes through the greasing hose 75 to the front suspension cylinder 33 and the rear. It is sent to the connecting portion of the suspension cylinder 43. The grease delivered to the connecting portion serves as a sliding portion from the greasing hole 54a of the connecting pin 54 shown in FIG. 6 via the second oil groove 53a and the second oil hole 53b of the inner ring 53 of the bearing 51. Is supplied to the sliding contact surface of the.

Next, the controller 100 determines whether or not the drive time T2 of the greasing device 70 is equal to or longer than the predetermined time Ts (step S70). Specifically, the greasing command unit 111 shown in FIG. 8 determines by comparing the drive time T2 measured by the second timing unit 103 with the set time Ts stored in advance in the storage unit 101. When the drive time T2 of the greasing device 70 is not equal to or longer than the predetermined time Ts (NO), the on signal (current) of the control signal is continuously output to the solenoid drive unit 79b of the greasing control valve 79. On the other hand, when the drive time T2 is equal to or longer than the predetermined time Ts (YES), an off signal of the control signal is output to the solenoid drive unit 79b of the greasing control valve 79 (current output is stopped) (step). S80).

When the output of the current from the controller 100 is stopped, the valve position of the greasing control valve 79 is switched from the communication position Y to the cutoff position X. As a result, the supply of pressure oil from the main hydraulic pump 82 to the greasing motor 73 is cut off by the greasing control valve 79, the greasing pump 72 is stopped, and the driving of the greasing device 70 is completed. Therefore, the supply of grease to the bearing 51 is completed.

When the drive of the greasing device 70 is stopped, the controller 100 ends the measurement of the first time counting unit 102 and resets the elapsed time T1 to 0 (step S90). Then, the process returns to the start and the above control flow is repeated.

Next, the operation and effect of the first embodiment of the transport vehicle of the present invention will be described with reference to FIG.

When the mine dump truck 1 (see FIG. 1) is traveling with the load W loaded, the controller 100 continues to determine that the vehicle is not empty (NO) as shown in FIG. Step S20 and step S30 of the control procedure are repeated. Therefore, grease is not supplied to the bearing 51 at the connecting portion of the front suspension cylinder 33 and the rear suspension cylinder 43. When the dump truck 1 for mining is in the loaded state, the normal force of the sliding portion of the bearing 51 is much larger than in the empty state. Therefore, even if grease is supplied to the bearing 51, the sliding portion of the bearing 51 There is a concern that it cannot be fully distributed. In the present embodiment, it is possible to avoid supplying grease to the bearing 51 in such a situation.

When the mine dump truck 1 is traveling in an empty state, the controller 100 determines that the vehicle is in an empty state (YES) as shown in FIG. 9 (step S30). At this time, if the vehicle is traveling on a road surface having large irregularities, the controller 100 determines that the pressures in the front suspension cylinder 33 and the rear suspension cylinder 43 are not in a stable state (NO) (step S40), and makes the road surface having small irregularities. Steps S20 to S40 of the control procedure are repeated until the vehicle travels. Therefore, even when the mine dump truck 1 is empty, grease is not supplied to the bearing 51 when traveling on a road surface having large irregularities. In this case, the vibration acceleration of the vehicle body 2 increases or decreases, and the normal force of the sliding portion of the bearing 51 also increases or decreases accordingly. Therefore, even if grease is supplied to the bearing 51 under this situation, the bearing 51 can be efficiently and sufficiently used. There is a concern that it cannot be distributed to the sliding parts. In the present embodiment, it is possible to avoid supplying grease to the bearing 51 under such a situation.

On the other hand, when the dump truck 1 for mining is traveling on a road surface having small irregularities in an empty state, the controller 100 keeps the pressure in the front suspension cylinder 33 and the rear suspension cylinder 43 stable as shown in FIG. If it is determined that there is (YES) (step S40), and the elapsed time from the latest lubrication to the bearing 51 is equal to or greater than the first time threshold Tt1 (yes in step S50), the operator operates. Instead, grease is supplied to the bearing 51 (steps S60 to S80). Under this circumstance, the normal force of the sliding portion of the bearing 51 is relatively smaller than in the other situations described above. In the present embodiment, grease is supplied to the bearing 51 only when the vehicle is empty and the pressure in the front suspension cylinder 33 and the rear suspension cylinder 43 is stable, so that the sliding portion of the bearing 51 Grease can be reliably distributed to the cylinder, and grease can be efficiently supplied.

If the mine dump truck 1 continues to travel on a road surface with small irregularities even after the grease is supplied to the bearing 51, the controller 100 moves to the bearing 51 in step S50 shown in FIG. It is determined that the elapsed time T1 from the latest lubrication is not equal to or greater than the first time threshold Tt1 (NO), and steps S20 to S50 of the control procedure are repeated until the elapsed time T1 becomes equal to or greater than the first time threshold Tt1. .. That is, grease is not supplied to the bearing 51 unless the greasing interval becomes equal to or higher than the first time threshold value Tt1. Therefore, it is possible to prevent the bearing 51 from being continuously supplied with grease when the dump truck 1 for mining is running in an empty state, and it is possible to prevent the inefficient driving of the greasing device 70.

According to the first embodiment of the transport vehicle of the present invention described above, the load W of the dump truck 1 (transport vehicle) for mining is in an empty state and is in the front suspension cylinder 33 and the rear suspension cylinder 43 (suspension cylinder). Since the controller 100 controls to supply grease (lubricant) to the bearing 51 when the pressure is stable, grease can be supplied under a situation where the normal force of the sliding portion of the bearing 51 is relatively small. Grease (lubricant) can be sufficiently and efficiently distributed to moving parts.

Further, according to the present embodiment, the dump truck 1 for mining is in an empty state and the pressure in the front suspension cylinder 33 and the rear suspension cylinder 43 is in a stable state, and further, the latest supply to the bearing 51 is performed. When the elapsed time T1 from the fat is equal to or greater than the preset first time threshold Tt1, the controller 100 controls to supply grease to the bearing 51, so that the mine dump truck 1 is running in an empty state. It is possible to prevent the continuous supply of grease to the bearing 51 in the above.

Further, according to the present embodiment, the standard deviation SD calculated in advance based on the pressure detection values P1 and P2 within a certain time region Δt detected by the first pressure sensor 16 and the second pressure sensor 17 is obtained in advance. Since the controller 100 is configured to determine that the pressure in the front suspension cylinder 33 and the rear suspension cylinder 43 is in a stable state when the set standard deviation threshold is Dt or less, the pressure in the front suspension cylinder 33 and the rear suspension cylinder 43 is determined. The pressure state of can be accurately determined.

[Second Embodiment]
Next, a second embodiment of the transport vehicle of the present invention will be described with reference to FIGS. 10 and 11. FIG. 10 is a functional block diagram showing a function of a controller constituting a part of the second embodiment of the transport vehicle of the present invention, and FIG. 11 is a second embodiment of the transport vehicle of the present invention shown in FIG. It is a flowchart which shows an example of the control procedure of a controller. In addition, in FIGS. 10 and 11, those having the same reference numerals as those shown in FIGS. 1 to 9 have the same parts, and thus detailed description thereof will be omitted.

The second embodiment of the transport vehicle of the present invention differs from the first embodiment as follows. The controller 100 according to the first embodiment is a case where the vehicle is in an empty state and the pressures in the front suspension cylinder 33 and the rear suspension cylinder 43 are in a stable state, and further, from the latest grease to the bearing 51. Grease is supplied to the bearing 51 only when the elapsed time T1 of the above is equal to or greater than the preset first time threshold Tt1. On the other hand, in the controller 100A according to the second embodiment, the elapsed time T1 from the latest grease to the bearing 51 is set to a preset second time threshold value Tt2 or more under any circumstances. In the case of, grease is forcibly supplied to the bearing 51. This is to prevent a state in which the bearing 51 is not lubricated for a long time.

The controller 100A according to the second embodiment includes a storage unit 101A, a first timekeeping unit 102, a second timekeeping unit 103, a load calculation unit 104, a pressure standard deviation calculation unit 105, an empty load determination unit 107, and a suspension state determination. In addition to the greasing interval determination unit 109, the greasing command section 111A, and the greasing command section 111A, a forced greasing determination section 110 is further provided. The forced greasing determination unit 110 determines whether or not to forcibly start greasing by comparing the elapsed time T1 measured by the first timekeeping unit 102 with the second time threshold value Tt2. The second time threshold value Tt2 is stored in advance in the storage unit 101A. The second time threshold Tt2 is longer than the first time threshold Tt1 and is set based on, for example, the time to execute one cycle of work of the mining dump truck 1. Specifically, it is 15 minutes.

In the present embodiment, the greasing command unit 111A is used when the vehicle is empty and the pressures in the front suspension cylinder 33 and the rear suspension cylinder 43 are stable, as in the case of the first embodiment. Further, when the elapsed time T1 from the latest lubrication to the bearing 51 is equal to or greater than the preset first time threshold value Tt1, the on signal (current) of the control signal is output to the lubrication control valve 79. To start. In addition, even if the vehicle is not in an empty state (loaded state), or the pressures in the front suspension cylinder 33 and the rear suspension cylinder 43 are not in a stable state (variable state), the bearing 51 is reached. When the elapsed time T1 from the latest greasing is equal to or higher than the preset second time threshold value Tt2, that is, when the forced greasing determination unit 110 determines that forced greasing is to be started, the on signal (current) Is started to be output to the greasing control valve 79.

Next, the control procedure of the controller constituting a part of the second embodiment of the transport vehicle of the present invention will be described with reference to FIG. The control procedure of the controller 100A of the second embodiment differs from the control procedure of the controller 100 of the first embodiment (see FIG. 9) in the following points.

When the controller 100 of the first embodiment determines in step S30 shown in FIG. 9 that the vehicle is not in the empty state (NO), the above step is performed until the vehicle is in the empty state (YES). S20 and S30 were repeated.

On the other hand, in the present embodiment, when the empty load determination unit 107 determines that the vehicle is not in the empty state (NO) in step S30 shown in FIG. 11, the process proceeds to step S110. In step S110, the forced greasing determination unit 110 shown in FIG. 10 compares the elapsed time T1 measured by the first timekeeping unit 102 with the second time threshold value Tt2 stored in advance in the storage unit 101A, thereby forcing the unit. Determine whether to start lubrication. When the elapsed time T1 from the first timekeeping unit 102 is smaller than the second time threshold value Tt2 (NO), the processes of steps S20, S30, and S110 are repeated. On the other hand, when the elapsed time T1 from the first timing unit 102 is equal to or greater than the second time threshold Tt2 (YES), the process proceeds to step S60, and the greasing command unit 111A of the controller 100A drives the greasing control valve 79 by solenoid. The output of the on signal (current) of the control signal to the unit 79b is started. Subsequent processing is the same as in the case of the first embodiment.

Further, when the controller 100 of the first embodiment determines in step S40 shown in FIG. 9 that the pressures in the front suspension cylinder 33 and the rear suspension cylinder 43 are not in a stable state (NO), the front suspension cylinder The process between steps S20 and S40 was repeated until the pressure in the 33 and the rear suspension cylinder 43 became stable (YES).

On the other hand, in the present embodiment, when the suspension state determination unit 108 determines in step S40 shown in FIG. 11 that the pressures in the front suspension cylinder 33 and the rear suspension cylinder 43 are not in a stable state (NO). , Step S110. In step S110, the forced greasing determination unit 110 shown in FIG. 10 determines whether or not forced greasing is started. When the elapsed time T1 from the first timekeeping unit 102 is smaller than the second time threshold value (NO), the processes of steps S20 to S40 and S110 are repeated. On the other hand, when the elapsed time T1 from the first timekeeping unit 102 is equal to or greater than the second time threshold value Tt2 (YES), the process proceeds to step S60, and the subsequent processing is the same as in the case of the first embodiment. ..

According to the second embodiment of the transport vehicle of the present invention described above, the same effect as that of the first embodiment described above can be obtained.

Further, according to the present embodiment, when the elapsed time T1 from the latest lubrication to the bearing 51 is equal to or higher than the preset second time threshold Tt2, the vehicle is not in an empty state or the front. Even when the pressure in the suspension cylinder 33 and the rear suspension cylinder 43 is not stable, the controller 100A controls to supply grease to the bearing 51, so that the vehicle runs for a long time in the loaded state or is empty. Grease can be reliably supplied to the sliding portion of the bearing 51 even in the state of traveling on a road surface having large irregularities for a long time.

[Other embodiments]
The present invention is not limited to the first and second embodiments described above, and includes various modifications. The above-described embodiment has been described in detail in order to explain the present invention in an easy-to-understand manner, and is not necessarily limited to the one including all the described configurations. For example, it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. It is also possible to add, delete, or replace a part of the configuration of each embodiment with another configuration.

For example, in the first and second embodiments described above, an example in which a hydraulic motor is used as the greasing motor 73 for driving the greasing pump 72 is shown, but an electric motor can also be used as the greasing motor. Is. In this modification, the controllers 100 and 100A can control the supply of grease to the bearing 51 by controlling the drive of the electric motor. In this case, the supply pipe 78 and the greasing control valve 79 shown in FIG. 7 are not required.

Further, in the above-described embodiment, the controllers 100 and 100A determine that the vehicle is in an empty state, determine that the pressures of the front suspension cylinder 33 and the rear suspension cylinder 43 are in a stable state, and are most recent. An example is shown in which the greasing device 70 is driven when it is determined that the elapsed time T from greasing the bearing is equal to or greater than the first time threshold value Tt1. However, when the vehicle is empty and the pressures of the front suspension cylinder 33 and the rear suspension cylinder 43 are stable, the elapsed time T1 from the latest lubrication to the bearing 51 is shorter than the first time threshold Tt1. Even in this case, the greasing device 70 may be controlled to be driven. In this case, an excessive supply of grease to the bearing 51 may occur, but it is possible to efficiently and sufficiently distribute the grease to the sliding portion of the bearing 51.

Further, in the above-described embodiment, the load-bearing calculation unit 104 detects the pressure detection values P1, P2 and the inclination sensor 18 detected by the first pressure sensor 16 and the second pressure sensor 17. An example of calculating the load L of the load W loaded on the loading platform 5 based on I has been shown, but the load load calculation unit is configured so as to calculate the load L based only on the pressure detection values P1 and P2. Is possible. In this case, it is not possible to obtain an accurate load L, but since the load L of the calculation result is used for determining whether or not the vehicle is empty, the influence on the determination result is small. In addition, the tilt sensor 18 is not required, and the configuration can be simplified.

It should be noted that each function of the controller of the above-described embodiment may be realized by hardware by designing a part or all of them by, for example, an integrated circuit. Further, the processor may interpret and execute a program that realizes each function, thereby realizing the program by software. In addition to the storage units 101 and 101A, information such as programs, tables, and files that realize each function can be stored in a hard disk, a recording device such as an SSD (Solid State Drive), or a recording medium such as an IC card, SD card, or DVD. Can be placed in.

1 ... Mining dump truck (transport vehicle), 2 ... Body, 3 ... Front wheels (wheels), 4 ... Rear wheels (wheels), 5 ... Cargo, 11 ... Body frame, 16 ... First pressure sensor (pressure sensor) , 17 ... Second pressure sensor (pressure sensor), 30 ... Front suspension (suspension), 32 ... Suspension arm (suspension support member), 33 ... Front suspension cylinder (suspension cylinder), 40 ... Rear suspension (suspension), 41 … Rigid axle (suspension support member), 43… rear suspension cylinder (suspension cylinder), 51… bearing, 70… greasing device, 72… greasing pump, 73… greasing motor (hydraulic motor), 82… main hydraulic pump (Hydraulic source), 79 ... Greasing control valve, 100, 100A ... Controller

Claims (6)

A car body with a car body frame and
A loading platform that is mounted on the vehicle body and loads the cargo,
The vehicle body frame is provided with wheels suspended via suspension.
The suspension
A suspension support member that supports the wheels so that they can move up and down with respect to the vehicle body frame.
Both ends are rotatably connected to the vehicle body frame and the suspension support member via bearings, respectively, and have a suspension cylinder that supports the vehicle body and the loading platform and cushions the impact on the vehicle body during traveling. In the vehicle
A lubrication device that supplies lubricant to the bearings,
A pressure sensor that detects the pressure inside the suspension cylinder,
A controller for controlling the greasing device is provided.
Based on the pressure detection signal detected by the pressure sensor, the controller determines whether or not the transport vehicle is in an empty state, and also determines whether or not the pressure in the suspension cylinder is in a stable state. When it is determined that the transport vehicle is in an empty state and the pressure in the suspension cylinder is in a stable state, the greasing device is controlled so as to supply a lubricant to the bearing. vehicle. In the transport vehicle according to claim 1,
The controller determines that the transport vehicle is empty and the pressure in the suspension cylinder is stable, and further, the elapsed time from the latest lubrication to the bearing is preset. A transport vehicle characterized in that the greasing device is controlled so as to supply a lubricant to the bearing when the value is equal to or higher than the first time threshold value. In the transport vehicle according to claim 1,
When the controller determines that the transport vehicle is not empty when the elapsed time from the latest lubrication to the bearing is equal to or greater than a preset second time threshold value, or in the suspension cylinder. A transport vehicle characterized in that the greasing device is controlled so as to supply a lubricant to the bearing even when it is determined that the pressure is not stable. In the transport vehicle according to claim 1,
The controller calculates a standard deviation based on the pressure detected value in a certain time region among the pressure detected values detected by the pressure sensor, and when the calculated standard deviation is equal to or less than a preset standard deviation threshold value, the controller calculates the standard deviation. A transport vehicle characterized in that the pressure in the suspension cylinder is determined to be in a stable state. In the transport vehicle according to claim 1,
The greasing device
A greasing pump that delivers lubricant to the bearing,
A hydraulic motor that drives the greasing pump by being driven by the pressure oil supplied from the hydraulic source, and
It is provided with a greasing control valve that switches between supplying pressure oil from the hydraulic source to the hydraulic motor and shutting off the supply.
The controller is a transport vehicle that controls switching of the greasing control valve. In the transport vehicle according to claim 1,
The controller calculates the load capacity of the load loaded on the loading platform based on the pressure detection value detected by the pressure sensor, and when the calculated load load is equal to or less than a preset load threshold value, the transport vehicle is empty. A transport vehicle characterized in that it is determined to be in a state.

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