CN1191816A - Running driving device for engineering vehicle - Google Patents
Running driving device for engineering vehicle Download PDFInfo
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- CN1191816A CN1191816A CN97114345A CN97114345A CN1191816A CN 1191816 A CN1191816 A CN 1191816A CN 97114345 A CN97114345 A CN 97114345A CN 97114345 A CN97114345 A CN 97114345A CN 1191816 A CN1191816 A CN 1191816A
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- mentioned
- continuously variable
- variable unit
- speed change
- speed
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D69/00—Driving mechanisms or parts thereof for harvesters or mowers
- A01D69/06—Gearings
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
- A01D41/12—Details of combines
- A01D41/127—Control or measuring arrangements specially adapted for combines
- A01D41/1274—Control or measuring arrangements specially adapted for combines for drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K20/00—Arrangement or mounting of change-speed gearing control devices in vehicles
- B60K20/02—Arrangement or mounting of change-speed gearing control devices in vehicles of initiating means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/06—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of a single main power source
- B62D11/08—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of a single main power source using brakes or clutches as main steering-effecting means
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D69/00—Driving mechanisms or parts thereof for harvesters or mowers
- A01D69/03—Driving mechanisms or parts thereof for harvesters or mowers fluid
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
- Harvester Elements (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
In a running driving device of an engineering vehicle, the driving speed difference of a pair of left and right running devices (1 and 1) is used to steer a vehicle body. The driving system of the running devices (1 and 1) is provided with a plurality of stepless speed change devices which consist of the stepless speed change device (3) used for changing the high and the low speeds and the stepless speed change device (4) used for the steering operation. The running driving device is characterized by being provided with a transmission path switching device (A) which can process free speed change operation towards the stepless speed change devices (3 and 4) respectively and at the same time can switch the transmission power of each running device (1 and 1) input by any driving system in each stepless speed change device respectively at left and right; when the vehicle body goes forward straightly, the power from the stepless speed change device (3) used for changing the high and the low speeds is used to drive the left and the right running devices (1 and 1); when the vehicle body steers, the power from the stepless speed change device (3) used for changing the high and low speeds is transferred to the running device (1) at one side, and the power from the stepless speed change device (4) used for the steering operation is transferred to the running device (1) at the other side, so as to realize the steering driving.
Description
The running driving device of installing in the present invention and the vehicles such as farm vehicles such as agricultural combine, trac. and civil construction is relevant, this device can realize that differential drives and by the pair of right and left mobile devices car body be turned to, and the present invention also relates to the improvement to the running driving device of engineering truck that continuously variable unit is housed in the drive-system.
The running driving device of this engineering truck, in the prior art, it is known having following [1]-[3] to plant:
[1] Japanese kokai publication sho 56-5012 communique discloses in the drive-system of pair of right and left mobile devices, continuously variable unit that is used to drive the right side mobile devices and the continuously variable unit that is used to drive the left driving device are installed, and these continuously variable units can be handled respectively by separately joystick (right steering with joystick and left steering joystick).
[2] Japanese kokai publication hei 7-77277 communique discloses in the drive-system of pair of right and left mobile devices, be installed be used to drive the independent continuously variable unit of ridden in left or right direction device and will distribute to from the output of this continuously variable unit about each mobile devices about be provided with respectively can freely increase and decrease the having grade from the mechanical type transmission system of speed change, with the speed change of continuously variable unit realization forward-reverse direction, realize handling maneuver with there being grade mechanical type speed-changing mechanism to select to drive mobile devices that turn to.
[3] Japanese kokai publication hei 8-156823 communique discloses in the drive-system of pair of right and left mobile devices, the continuously variable unit that high-low speed change uses, the continuously variable unit that handling maneuver is used are installed, and transmit pair of right and left planetary gear type transmission system from the power of each continuously variable unit, utilize the gear ring that stops to drive the planetary gear type transmission system to make car body keep straight on, utilize the gear ring of each planetary gear type transmission system of positive and negative driving that car body is turned to.
As above-mentioned, when in the drive-system at mobile devices continuously variable unit being installed, it is more steady than what have only step change to travel that its car body moving velocity, stepless change travel.
But, prior art shown in above-mentioned [1] is such, owing to handle the pair of right and left continuously variable unit respectively with the pair of right and left joystick, about each joystick promptly change the car body moving velocity, also carry out the handling maneuver of car body, therefore the rotative speed in the time of car body will being turned to and the relation of turn radius are set suitably, and this just requires the operator that very skillful driving technical ability is arranged.Therefore, in the prior art, be provided with automatically correcting device, detect moving of turning center position when turning to this device, so that carry out suitable turning to along with car body.So just make ride control mechanism become more complicated, and, exist and be difficult to the problem that turns to by turn radius freely.
Simultaneously,, also exist and be difficult to synchronously drive really the ridden in left or right direction device, be difficult to keep good straight-line travelling even when straight-line travelling.
Prior art shown in above-mentioned [2] is such, since in the drive-system that travels of pair of right and left, be installed be used to drive the independent continuously variable unit of ridden in left or right direction device and will distribute to from the output transmission of this continuously variable unit about the mechanical type transmission system of each mobile devices, so the imbalance of the actuating speed of the ridden in left or right direction device can correct straight-line travelling the time.But, because being progression with the mechanical type transmission system that level is arranged that sets, the actuating speed difference of the ridden in left or right direction device when turning to has the polar region to handle to realize, so can not resemble any setting the stepless change, owe flatness.
Prior art shown in above-mentioned [3] is such, in this occasion, a plurality of continuously variable unit of the continuously variable unit that continuously variable unit that said continuously variable unit is used by high-low speed change and steering operation are used is constituted, and, pair of right and left planetary gear type transmission system also is set, be used for transmitting power from above-mentioned each continuously variable unit, the gear ring of planetary gear type transmission system is connected with the continuously variable unit that steering operation is used, when the car body straight-line travelling, utilization makes gear ring be in halted state, just pass to the ridden in left or right direction device dynamic balnce of the continuously variable unit that high-low speed change can be used, simultaneously, also can at random set turn radius, but also have following problem:
At first, when car body turns to, the gear ring of left and right sides planetary gear type transmission system is mutually reverse to transmit the power of the continuously variable unit that steering operation uses drivingly, at this moment the continuously variable unit that will be used by steering operation with being mutually related inputs to the actuating speed of left and right sides gear ring with positive reversing sense and is decided the turn radius and the turning velocity of car body by the actuating speed that the continuously variable unit that high-low speed change is used inputs to left and right sides sun gear, will come the operator that very skillful driving technical ability is arranged like this, otherwise just can not carry out steering operation by predetermined turning velocity and predetermined turn radius.
And because a plurality of continuously variable units and pair of right and left planetary gear type transmission system have been installed, this just makes the complicated and maximization of device inevitably, and it is unfavorable that complete vehicle structure is arranged.
The running driving device that the object of the present invention is to provide the engineering truck with good cornering properties simple in structure to use, the continuously variable unit of this device can be realized smoothly speed change and turn to travelling, when straight-line travelling, can determine each mobile devices about the constant speed driving, and can realize the multiple pattern that turns to by freely setting Turning radius and turning velocity.
To achieve these goals, engineering truck of the present invention constitutes with the feature of running driving device by claim 1 record.
In this formation, during the car body straight ahead, two mobile devices were realized driving about the continuously variable unit of being used by high-low speed change was given transmission of power, so can positively drive two mobile devices with speed.And, using the infinite variable speed while, realize that the constant speed of ridden in left or right direction device drives, obtain good roadholding.
When car body turns to, owing to transmission of power is given the mobile devices of a side by the continuously variable unit that above-mentioned high-low speed change is used, the continuously variable unit of being used by steering operation is given the mobile devices of opposite side with transmission of power, therefore can freely select to about the actuating speed of each mobile devices.
And, can freely set the Turning radius of determining by the actuating speed difference of ridden in left or right direction device according to each radius.And, for example, the actuating speed of the mobile devices of both sides is changed, also can freely set its actuating speed, so, realize emergency change turning velocity easily and freely set Turning radius.
In addition, when car body turns to, owing to can change actuating speed respectively at the separate state of the drive-system that makes the ridden in left or right direction transmission system, so, can freely select definite Turning radius according to the actuating speed difference of ridden in left or right direction device, and, also can freely set the turning velocity of corresponding various Turning radiuss, therefore, can obtain simple to operate, operability and well reach the multifarious engineering truck of cornering properties.
Also have,, only adopted two kinds of continuously variable units that continuously variable unit that high-low speed change uses and steering operation use just, so can simplify drive mechanism as continuously variable unit.
The continuously variable unit that the continuously variable unit that high-low speed change is used, steering operation are used can be handled with manual lever respectively, if these manual levers and each continuously variable unit are stringed together by control setup, and can be more convenient in operating aspect.
By above-mentioned like that, during the car body straight ahead, only use the mobile devices of two sides about the power driven of the continuously variable unit of using from high-low speed change.And, when the car body straight ahead, because the variable speed operation that carries out of control lever also can pass to continuously variable unit one side that do not use to the steering operation of mobile devices transferring power, so can make its continuously variable unit of using with high-low speed change speed change automatically by operation string control setup.
When adopting above-mentioned structure, because drive force ridden in left or right direction device with independent continuously variable unit, this compares with the structure that left and right sides continuously variable unit is set, carry out variable speed operation respectively respectively, can obtain not to be subjected to the accuracy of manufacture of each continuously variable unit and the power transmission arrangment of error effect.
And, because the continuously variable unit that steering operation is used is the continuously variable unit self-shifting of using with high-low speed change, so, be level and smooth from keeping straight on to the speed change that turns to switching.
With two control lever and two operating controls that continuously variable unit strings together, in adopting, put down in writing as dependent claims by slide unit, when shaking the mechanical mechanism that guiding parts and string operation part constitute, just can make the operating structure simplification of each operating parts and continuously variable unit.
And, when the Position Design that is operated body in the time will being in speed control operation spare and being center position becomes consistent with the center of shaking of shaking guiding parts, when running into the feel of accident on the jociey stick, jociey stick just can become the steering operation state, at this moment speed control operation maintains the center position state, so car body can carry out steering operation delicately.
In addition, when turning to the inboard to set the length velocity relation of requirement ratio scope for two mobile devices that turn to the outside in the time will turning to beginning, it is unforeseeable poor to the actuating speed that turns to inside and outside mobile devices just can not occur.Therefore, can make car body avoid taking place emergency turn to unforeseeable direction.
For example, setting for and will turn to the actuating speed automatic deceleration that turns to inboard mobile devices in when beginning fashionable, turn to turning to of to realize at the very start expecting to the velocity field lower slightly than the actuating speed of the mobile devices outside turning to.
Fig. 1 is the instruction diagram of the whole actuating device part of expression;
Fig. 2 is the front view of manipulation operations mechanism;
Fig. 3 is the action specification figure of operating operation mechanism;
Fig. 4 is the action specification figure of operating operation mechanism;
Fig. 5 is the action specification figure of operating operation mechanism;
Fig. 6 is the planar view of manipulation operations mechanism;
Fig. 7 is the block diagram of the operating state of manipulation operations mechanism;
Fig. 8 is the block diagram of expression jociey stick operating parts part;
Fig. 9 is the instruction diagram that expression is used for the connection of the harvesting pretreating device of combination machine and running driving device;
Figure 10 is the diagram of curves of the relation of the expression revolution of continuously variable unit and the speed of a motor vehicle;
Figure 11 is the lateral plan of combination machine.
Below, accompanying drawings most preferred embodiment of the present invention.
As depicted in figs. 1 and 2, the characteristics of the running driving device of engineering truck of the present invention are partly to be made of the operating control partial sum actuating device of artificial free operant.Above-mentioned actuating device part can be according to instruction difference left and right sides speed change and a pair of to the left and right mobile devices 1 imput power from artificial operating control side.
Above-mentioned actuating device part is made of with continuously variable unit 4 and change speed gear box 2 with continuously variable unit 3, steering operation high-low speed change.Above-mentioned change speed gear box 2 will be from the transmission of power of continuously variable unit 3,4 to ridden in left or right direction device 1.
High-low speed change is to constitute with known static oil pressure endless gearing device (HST) with continuously variable unit 3 and steering operation with continuously variable unit 4.These two continuously variable units 3,4 are specifically by the variable oil pressure pump 3A, the 4A that drive with the drive belt 20, belt pulley 21 that are connecting the driving engine (not shown) that is installed on the engineering truck and transmission shaft 22 with use corresponding hydraulic motor 3B, the 4B that drives of the oil of supplying with from variable oil pressure pump 3A, 4A to form.
The variable oil pressure pump 3A of each of these two continuously variable units 3,4,4A are connected with operating control, and according to the swash plate angle from each pump of modification of orders of operating control, thereby the output state of change hydraulic motor 3B, 4B side.In other words, immediately, above-mentioned swash plate angle is zero in the instruction from operating control is, hydraulic motor 3B, 4B do not rotate, and maintain halted state.And when the instruction from operating control be to advance or during the gear-shift command that retreats, above-mentioned swash plate angle by command quantity to positive dirction or counter-rotation, with speed drive hydraulic motor 3B, the 4B of correspondence instruction.
The output shaft 31 of the continuously variable unit 3 that high-low speed change is used and steering operation are mounted in the change speed gear box 2 with the output shaft 41 of continuously variable unit 4, are delivered to the mobile devices 1 and relevant actuating device of pair of right and left from the power of this two output shaft 31,41.
On the output shaft 31 of high-low speed change, fixedly mounting big or small a pair of output gear 31a, 31b with continuously variable unit 3.Constant-mesh the relay gear 32c that is fixed on the 1st tween drive shaft 32 when minor diameter output gear 31a therein went up.
The gear wheel in large diameter 32a and the small diameter gear 32b that speed change is used that pay that can rotate freely relatively is installed on the 1st tween drive shaft 32.A pair speed change that is installed with on two gear 32a and 32b midway location with the 1st tween drive shaft 32 unitary rotation can be free to slide along its axis direction with cliding gear 32d, this cliding gear 32d, with paying speed change can freely be carried out two grades of height with the operating parts (not shown) variable speed operation.
Gear wheel in large diameter 32a that above-mentioned pair of speed change used and small diameter gear 32b constant-mesh during respectively with big or small a pair of intermediate gear 33a, the 33b of swivel 33.This swivel 33 can relative the 2nd tween drive shaft 42 suit is thereon freely to rotate.The major diameter intermediate gear 33a of this swivel 33 constant-mesh during with the central gear 35 that is wholely set on pivot shaft 34.
On pivot shaft 34,, drive path shifter A is set in the both sides of holding central gear 35 under the arm.Switch the power of each mobile devices 1 about passing to about this drive path shifter A energy respectively or from the power of any drive-system in above-mentioned each continuously variable unit 3,4.
This drive path shifter A is by externally having and steering operation constitutes with the friction clutch 43 of the transmission system bonded assembly external gear 43a of continuously variable unit 4 and the engaged clutch C that constitutes between the two sides of above-mentioned central gear 35 and its opposed shift member 44.About shift member 44 respectively in meshing the engagement that pushes away under the pressure effect of giving as security spring 44b with central gear 35 sides, at this state, friction clutch 43 is in released state.That is to say, when left and right sides shift member 44 meshes with central gear 35 simultaneously, realize that by wide cut side gear 44a equidirectional speed together drives ridden in left or right direction device 1, thereby make car body enter the straight-line travelling state with shift member 44 one.At this car body straight-line travelling state, because left and right sides friction clutch 43 is in released state, so two mobile devices 1 about can not passing to the power of continuously variable unit 4 from steering operation.
On the output shaft 41 of steering operation, fixedly mounting output gear 41a with continuously variable unit 4, be arranged on transmission gear 42a, 42a one of them and the output gear 41a engagement at the 2nd tween drive shaft 42 both ends, and, these two transmission gear 42a, 42a respectively with the periphery gear 43a of friction clutch 43 engagement.
Therefore, when the direction among the left and right sides shift member 44 being broken away from central gear 35 side gear-change operations, the friction clutch 43 that side is moved in these shift member 44 gear shift is in the crimping engagement state, give shift member 44 with steering operation with the transmission of power of continuously variable unit 4 by this friction clutch 43, two pass to this side's mobile devices 1 by the wide cut side gear 44a of shift member 44, thereby make car body enter steering state.This side gear 44a shift member 44 during with 35 engagements of central gear and friction clutch 43 be in and all mesh when being engaged operation with the transmission system end gear 45 that is connected mobile devices 1, this is that the tooth owing to side gear 44a is a wide cut along the Gear axis direction.
The blocked operation of shift member 44 as shown in Figure 9, is to realize by operate left and right sides shift fork 52 respectively with the piston 51 of oil pressure actuator 5.The operation of oil pressure actuator 5 is to operate by switching solenoid valve 53 according to the instruction of following operating control to realize.
As shown in Figure 1, be fixedly mounted on above-mentioned high-low speed change and be in the constant-mesh state with the big or small a pair of output gear 31a on the output shaft 31 of continuously variable unit 3, transmission gear 36a, 36b that 31b is configured to be used with a pair of takeoff output.Can rotate can be chimeric slidably on the power take-off shaft 36 that is freely supporting transmission gear 36a, 36b the change gear 36c that uses of outputting power speed change.Utilization passes to power take-off shaft 36 with the rotation of gear 36a, the 36b of the engagement side of change gear 36c selection, and the power that is transmitted flows to exterior driven device by free-wheel clutch 37 again.
As Fig. 2-shown in Figure 8, the operating control part in the running driving device of engineering truck of the present invention by speed control with operating parts 6, drive with operating parts 7, connect the manipulation operations mechanism (being equivalent to operate string devices) 8 of two operating parts 6,7 and continuously variable unit 3,4 and constitute with the control command device 9 that the operating result of operating parts 7 instructs to drive path shifter A output function according to driving.Two operating parts the 6, the 7th are made of the control lever by driver's operation that can freely shake operation, and their constitute the actuating element on car body.Manipulation operations mechanism 8 carries out variable speed operation according to the operating result of two operating parts 6,7 with each continuously variable unit 3,4 and strings together like that.
More particularly, sliding part 100 is to make with an elongated metal club-shaped material, it relatively the fixed position of car body be supported along axis direction with being free to slide.This sliding part 100 is along with the shake operation of speed control with operating parts 6, is being pulled the position of freely changing its axis direction by connecting this speed control with the steel wire rope 60 of recommending of an end of operating parts 6.
And, with operation steel wire rope 30 speed control is coupled together with continuously variable unit 3 with operating parts 6 and high-low speed change, along with speed control is operated the high-low speed change carry out the continuously variable unit 3 that high-low speed change uses with shaking of operating parts 6.
Attended operation part 120 by be fixed on support 121 on the sliding part 100, can free joltily be arranged on connecting rod 122 on the support 121, and and the front end of this connecting rod 122 fixedly the fulcrum 115 of all-in-one-piece running roller 114 constitute, utilize this formation, when making speed control shake traction sliding part 100 with operating parts 6, will shift one's position along the slot rolling 113 that shakes guide 110 in the position of running roller 114.
On the contrary, shake with operating parts 7, thereby to shake operation when shaking guide 110 when making to drive, except the position that the center of turn P1 of the axle core of running roller 114 and slot rolling 113 overlaps, the height of running roller 114 be about change of location.Along with this location change, the angle of reporting to the leadship after accomplishing a task of the length direction of the axis of sliding part 100 and connecting rod 122 also is little moving to occur with running roller 114 in slot rolling 113 to change, and has constituted shaking the operation of shaking of guide 110 like this.
By sliding part 100, shake the operating control that guide 110 and attended operation part 120 constitute, constituted following installation relation.
Neutral horizon NL shown in Fig. 2 has represented to make the height that turns to when remaining on center position with continuously variable unit 4 by driving the running roller of operating with operating parts 7 114 on the guide 110 of shaking.Sliding part 100 is provided with along this neutrality horizon NL.When driving when being positioned at center position N with operating parts 7, shaking guide 110 is along operation neutral line ML configuration, at this moment operates the neutral relatively horizon NL of neutral line ML and tilts about 15 to spend.
When will drive with operating parts 7 from center position N to the right among steering position R or the left steering position L any one party when shaking operation, shake guide 110 and just shake to shifting near neutral horizon NL direction from operation neutral line ML.Further shake when becoming parastate when shaking guide 110, turn to swash plate angle with stepless change device 4, enter neutral condition into zero with neutral horizon NL.When shaking guide 110 again along equidirectional shaking, just enter and reverse to switch, and surpass about 5 degree of neutral horizon NL and reach when reversing sideline RL, just can not operate again.That is to say that the actuating speed of the boundary of reverse side (retreating side) is slower than the actuating speed of the boundary of just change one's position (advance side).
This operation of shaking guide 110 is to drive with shaking realization in the scope of the one-way operation mechanism 130 in the operating parts 7 between aforesaid operations neutral line ML that is holding neutral horizon NL under the arm and reverse side margin line RL by being arranged on, no matter be operation to that side of the left and right sides, about equally all between above-mentioned ML-RL, carry out.
Owing to adopt above-mentioned structure, when the guide direction that makes the slot rolling 113 that shakes guide 110 overlaps with aforesaid operations neutral line ML, the direction of slip of the guide direction slide relative part 100 of slot rolling 113 (being neutral horizon NL direction) becomes heeling condition, at this moment carry out the operation of high and low speed speed with speed control with operating parts 6, thereby sliding part 100 is moved, and it is mobile in slot rolling 113 to drive running roller 114, use the swash plate angle of continuously variable unit 4 according to the variation alter operation steering operation of 114 couples of neutral horizon NL of this running roller, like this, along with the speed change of high-low speed change operation with continuously variable unit 3, steering operation is realized automatic speed changing with continuously variable unit 4.
The slot rolling 113 that shakes guide 110 is driven and is in center position N with operating parts 7 when state as shown in Figures 2 and 3, at this state, shakes guide 110 and tilts to overlap in operation upright line ML with neutral horizon NL into about 15 degree and upward dispose.At this moment, driving is in center position with operating parts 7, and car body enters the straight-line travelling state.
At this straight-line travelling state, along with the shake operation of speed control with operation 6, as shown in Figure 3, drag about sliding part 100 quilts, running roller 114 is moved along bevelled slot rolling 113, and thus the alter operation steering operation with the swash plate angle of continuously variable unit 4, thereby realize along with high-low speed change with the speed change of continuously variable unit 3 the speed change steering operation with continuously variable unit 4.
At this straight-line travelling state, drive and be positioned at center position with operating parts 7, and, shaking guide 110 disposes along aforesaid operations neutral line ML, two shift members 44 are subjected to be switched from the dynamic action of central gear 35 sides, at this moment, ridden in left or right direction device 1 is being operated from high-low speed change simultaneously with under the dynamic action of continuously variable unit 3, carries out to constant speed the high-low speed change operation mutually.
Just as described, during the car body straight-line travelling, the mobile devices 1,1 about only the transmission of power that speed control is operated the continuously variable unit 3 of usefulness from high-low speed change during with the high and low speed speed operation of operating parts 6 is given.And be that such as described above, the speed change of the continuously variable unit 3 yet used with high-low speed change with continuously variable unit 4 of the steering operation of mobile devices 1,1 transmission is not to the left and right moved.In a word, in order to make car body from straight-line travelling (when turning to beginning) when turning to switching, steering operation should be got ready with the speed change of continuously variable unit 3 by corresponding high-low speed change with continuously variable unit 4.
Steering operation carries out like that by following.
Making and shaking guide 110 turning between neutral horizon NL and operation neutral line ML the time is slow turning to, and that is to say that at this moment the side in the ridden in left or right direction device 1 is lower than the opposing party speed, and, turn to equidirectional driving mutually.Making and shaking guide 110 is pivot stud overlapping turning to when consistent with neutral horizon NL, that is to say, at this moment, the side in the ridden in left or right direction device 1 (turning to inboard mobile devices) stops and the opposing party's (mobile devices outside turning to) driving turns to.
The position of the operating control when Fig. 4 is illustrated in the engineering truck pivot stud.At this moment, driver behavior spare 7 is positioned at right steering position R or left steering position L, shakes guide 110 and is parallel to sliding part 100.At this state, 114 of running rollers move in slot rolling 113, make steering operation remain on zero neutral condition with the swash plate angle of stepless change device 4, be in the neutral halted state of braking by steering operation with the mobile devices 1 of continuously variable unit 4 drive sides, the opposing party's mobile devices 1 are driving.
When driving when operating to increasing with the direction at the angle that tilts of operating parts 7 from the state of Fig. 4, operating control as shown in Figure 5, the position during the super pivot stud of engineering truck just, its residing position at this moment.So-called super pivot stud, the driving direction that is exactly the side (turning to the mobile devices of inboard) in the ridden in left or right direction device 1 at this moment is opposite with the opposing party's's (mobile devices outside turning to) driving direction, and that carries out therefrom turns to.At this state, shake guide 110 and cross neutral horizon NL to oblique near reversing side margin line RL inclination.
And, not expression among the figure, when driving leaning angle with operating parts 7 and reduce, shake fast guide 110 between operation neutral line ML and neutral horizon NL, enter the above-mentioned position that turns to of delaying with speed drive one side's of the stepless change device 3 that is lower than other party continuously variable unit 4.
And, operate when shaking guide 110 shaking to drive to shake with operating parts 7, as shown in Figure 6, when running roller 114 is positioned at its roller core with position that the center of turn P1 of slot rolling 113 overlaps, shake guide 110 even shake operation, can not change the position of running roller 114, at this moment just make the swash plate angle of the continuously variable unit 4 that steering operation uses maintain zero.At this moment, high-low speed change all is in neutral state with continuously variable unit 3, steering operation with stepless change device 4.
Drive when a core of running roller 114 not being overlapped with the center of turn P1 of slot rolling 113 when shaking with operating parts 7, as described above, 114 of running rollers are with the amount of the waving angle that quite shakes guide 110, along with slot rolling 113 changes upper-lower position, at this moment, by operation steel wire rope 40 variable speed operation steering operations continuously variable unit 4.That is to say, at this moment carry out steering operation with driver behavior spare 7, shake guide 110 to shake operational ton big, thereby also big to steering operation with the variable speed operation amount of continuously variable unit 4.
Below the one-way operation mechanism 130 with operating parts 7 is driven in explanation.
As shown in Figure 8, the arm 131 with operative pin 132 is connected with the lower end one of driving with operating parts 7.In the both sides of holding operative pin 132 under the arm, be provided with round drive with the axis of rocking core P2 of operating parts 7 not with drive the 1st arm 133 and the 2nd arm 134 that freely shake with operating parts 7 bonded assemblys energy.The end that is connecting the interior steel wire 70a of steel wire rope 70 on the 1st arm 133 is connecting the end of the outer steel wire 70b of steel wire rope 70 on the 2nd arm 134, and, between two arms 133,134, the extension spring 135 that both are furthered mutually is installed.
In addition, with the position determine pin 137 is positioned at neutral operating position by connection driving with the imaginary line of the above-mentioned axis of rocking core P2 of operating parts 7 and aforesaid operations pin 132 be arranged on free joltily support to drive use on the fixedly supporter 136 of operating parts 7, like this, make drive with operating parts 7 to the left and right any direction do the time spent, it all is operated to the same side shaking guide 110.
Just say, in Fig. 8, shake when driving when bribing left with operating parts 7, operative pin 132 overcomes the elastic force of extension spring 135 and pushes to the 1st arm 133 right-hand, the end that will connect the interior steel wire 70a of steel wire rope 70 simultaneously pulls to right-hand, and corresponding its leave the distance of the end of outer steel wire 70b, and the end of interior steel wire 70a is shaken the swing arm 116 that shakes guide 110 as shown in Figure 2 in the direction of the clock.At this moment, move to approaching neutral horizon NL or reverse side margin line RL direction from operation neutral line ML the position of running roller 114.Certainly, return with operating parts 7, that is to say when right is operated, shake guide 110 and in the scope that arrives operation neutral line ML, shake to anticlockwise direction when the position after this operation makes to drive.
In Fig. 8, when making driver behavior spare 7 from center position during to right-hand shaking, the elastic force that operative pin 132 overcomes extension spring 135 is moved to the left the 2nd arm 134, thereby the end of the outer steel wire 70b that connects steel wire rope 70 also is moved to the left, and the miles of relative movement of the end of corresponding outer steel wire 70b, the end of outer steel wire 70b is shaken the swing arm 116 that shakes guide 110 as shown in Figure 2 in the direction of the clock.At this moment, move to approaching neutral horizon NL or reverse side margin line RL direction from operation neutral line ML the position of running roller 114.
But, as shown in Figure 10, high-low speed change with continuously variable unit 3 and steering operation with continuously variable unit 4 when turning to beginning, make the actuating speed that turns to inboard mobile devices 1 than the actuating speed of the mobile devices 1 that turn to the outside low slightly (so that turn to begin to operate after, car body is turned to lentamente), above-mentioned both sides actuating speed is to be determined by the operational ton of the manipulation operations mechanism 8 that sets, and sets the output of control command device 9 according to the length velocity relation of this requirement ratio scope.
Drive fixedly supporter 136 with operating parts 7 and be by the horizontal shaft core P3 vertical and can freedom joltily be supported on the fixed position of car body with above-mentioned axis of rocking core P2.Utilization is shaken around this horizontal shaft axle core P3's, make with the operation of fixing supporter 136 part bonded assemblys and move up and down operation with being connected steel wire rope 140, thereby the lift controil valve (not shown) is carried out blocked operation, realize thus the driving of lifting, so just constitute the descending operation mechanism that reaping part described later etc. is reached other device with the actuating device (not shown).
And, the sensor 71 that is made of potentiometer that is used to differentiate its direction of operating is installed on driving with operating parts 7.As shown in Figure 9, the above-mentioned control command device 9 of operating control is according to the sensing results blocked operation electromagnetic valve 53 of sensor 71, control the action of the oil pressure actuator 5 of the shift member 44 that is used for operational drive system thus, and instruct to sensing path switching device A output function.The back pressure of symbol 54 expression oil pressure actuators 5 keeps the flow regulating valve of usefulness.
Above-mentioned control command device 9 is to constitute by having according to the sensing results of sensor 71 microcomputer to memory portion, central computing portion and the input and output portion of the such sequencing of electromagnetic valve 53 input operations instruction.Memory program in this control command device 9, when detecting above-mentioned driving with operating parts 7 turn side operation left, the shift member 44 in left side is operated to breaking away from central gear 35 sides, thereby make the friction clutch 43 in left side enter engagement state, realize that the continuously variable unit of using with steering operation 4 drives the blocked operation of left driving device 1.And drive with operating parts 7 to the right during steering operation when detecting, this program makes the shift member 44 on right side to breaking away from central gear 35 sides operation, thereby make the friction clutch 43 on right side enter engagement state, realize driving with continuously variable unit 4 blocked operation of the mobile devices 1 on right side with steering operation.When driving with the direction of operating of operating parts 7 neither on a left side also not on the right side, but when center position, this program operates in center position with electromagnetic valve 53, output function instruction is removed the oil pressure of oil pressure actuator 5, about two shift members 44 under the effect of return pressure spring 44b, return and with central gear 35 engagements.
In addition, this control command device 9, not only can come control electromagnetic valve 53 with the direction of operating of operating parts 7, and can control and can remember the control program that responds the incoming signal that preset detection is with other the incoming signal of detection system according to the above-mentioned driving of sensor 71 perception.With regard to its that a kind of selection, all select to switch with change-over switch 91.
Speed control is carried out the position with suitable method with its operating position and is kept with operating parts 6 and the driving well-known friction stopping device of operating parts 7 usefulness etc.
Engineering truck running driving device of the present invention resemble the foregoing description has been employed in the running driving device as Fig. 9 and agricultural combine shown in Figure 11.
This agricultural combine on the car body underframe of being supported by the crawler travel device 1 of pair of right and left, is being provided with power part 10 and from the shelling portion 11 of off-type, its front end be installed with can the easy on and off lifting harvesting pretreating device 12.
And, on harvesting pretreating device 12, the sensor 72 that can detect upright bar stem of planting is set, this is detected the result input to control command device 9, the incoming signal when constituting operation automatically thus.
The output of change speed gear box 2, not only mobile devices 1 output to the left and right as described above, also can be exported to exterior driving device by power take-off shaft 36, specifically, drives power to the harvesting actuating device input that is arranged on above-mentioned harvesting pretreating device 12.In addition, also can drive threshing apparatus, pump drive etc. installs arbitrarily.
And, also have the wireless signal receiver (not shown) in the combination machine base side, receive from the exterior wireless conveying signal of car body, with the incoming signal of this received signal, so just constitute remote handing as the above-mentioned control command 9 of input.
In addition,, be not limited to crawler travel device, also can adopt a plurality of wheels are set, do not change the rotation direction of wheel, realize the many wheels type mobile devices 1 that turn to the left rotation and right rotation velocity contrast in the left and right sides of car body as mobile devices 1.
The present invention also has following several embodiment:
(1) above-mentioned operating control is not limited to speed control and uses 7 two handles of operating parts with operating parts 6 with driving, for example, also can adopt an operating handle to carry out operating all around along the cross direction, carry out the high-low speed change operation at fore-and-aft direction, carry out steering operation at left and right directions, the various operating parts that this similar manipulation operations mechanism 8 is adopted.
(2) constitute above-mentioned driving with operating parts 7 with bearing circle, utilize rotary manipulation, and supporting with the manipulation operations mechanism 8 that sets the car body steering direction.
(3) as above-mentioned speed control operating parts 6, be not limited to shake the handle of operation, also can adopt the pedal structure of pedalled type, and, also can use by the pedal type speed control to constitute driving operating parts 7 with operating parts 6 and bearing circle.
(4) above-mentioned high-low speed change with continuously variable unit 3 and above-mentioned steering operation with continuously variable unit 4 when turning to beginning, the actuating speed that turns to inboard mobile devices 1 and the actuating speed of mobile devices 1 outside turning to are into the length velocity relation of requirement ratio scope, the speed of the opposing party's of the speed of a corresponding side's continuously variable unit 3 (or 4) continuously variable unit 4 (or 3) is self-shifting, but above-mentioned sliding part 100 and shake guide 110 and string operation part 120 also is not limited thereto, the continuously variable unit 4 that continuously variable unit 3 that above-mentioned high-low speed change is used and above-mentioned steering operation are used, if the work that can operate respectively also can be adopted suitable operating mechanism.
(5) also can be at high-low speed change with in the drive-system of continuously variable unit 3, the suitable actuating speed detecting device of rotation sensor etc. of rotative speed of the suitable swivel of the transmission gear that can detect drive-system etc. is set, with this testing result input control order device 9, simultaneously, the transmission system of alter operation steering operation with the swash plate angle of continuously variable unit 4 is set, in control command device 9 sides actuating speed testing result according to above-mentioned rotation sensor etc. is set, by above-mentioned transmission system, just make the speed of the mobile devices 1 that driven identical with continuously variable unit 4, perhaps use gear-shift command output program than its low speed drive with the speed that the continuously variable unit of using with high-low speed change 3 drives with steering operation.
(6) above-mentioned high-low speed change also is not limited to the static oil pressure endless gearing device that adopts in the foregoing description with continuously variable unit 4 with continuously variable unit 3 and above-mentioned steering operation, for example also can adopt split pulley and endless-belt, disc contacting or cone shape cone and the large diameter ring-shaped article that contacts this circular conical surface between mutually.
(7) in the above-described embodiment, turn to the actuating speed of inboard mobile devices 1 to turn to mobile devices 1 actuating speed in the outside relatively, when turning to beginning, set for identical or low slightly, turn to inboard actuating speed to keep necessarily but also can set for, make the actuating speed that turns to the outside than inboard higher slightly form.Like this, in the operation of end, farm, can turn to and improve operating efficiency in time.
Claims (7)
1. use the mobile devices (1 of pair of right and left, the running driving device of the engineering truck that actuating speed official post car body 1) turns to, at above-mentioned mobile devices (1,1) in the drive-system, be provided with a plurality of continuously variable units of forming with continuously variable unit (4) with continuously variable unit (3) and steering operation by high-low speed change, it is characterized in that, being provided with can be respectively to these continuously variable unit (3,4) carry out free variable speed operation, switch respectively about energy simultaneously by each mobile devices (1 about drive-system inputs to arbitrarily in above-mentioned each continuously variable unit, the drive path shifter (A) of transfer motion power 1), during the car body straight ahead, use two mobile devices (1 about the power driven of the continuously variable unit of using from high-low speed change (3), 1), when car body turns to, to give a side mobile devices (1) from above-mentioned high-low speed change with the transmission of power of continuously variable unit (3), to realize turning to driving thus from turning to operation to use the transmission of power of continuously variable unit (4) to give the opposing party's mobile devices (1).
2. according to the running driving device of the engineering truck of claim 1, it is characterized in that, above-mentioned high-low speed change is to operate with operating parts (7) with operating parts (6) and driving with the speed control of artificial operation with continuously variable unit (3) and above-mentioned steering operation with continuously variable unit (4), be provided with and connecting these operating parts (6,7) and the operation string devices (8) of above-mentioned each continuously variable unit (3,4).
3. according to the running driving device of the engineering truck of claim 2, it is characterized in that, with aforesaid operations string devices (8), during the car body straight ahead, to pass to above-mentioned high-low speed change respectively with continuously variable unit (3) and above-mentioned steering operation usefulness continuously variable unit (4) with the variable speed operation of operating parts (6) with above-mentioned speed control, when car body turned to, above-mentioned driving only passed to the continuously variable unit (4) that above-mentioned steering operation is used with the variable speed operation of operating parts (7).
4. according to the running driving device of the engineering truck of claim 3, it is characterized in that aforesaid operations string devices (8) is by the sliding part (100) that its folk prescription is carried out above-mentioned high-low speed change with continuously variable unit (3) the high-low speed change operation with passing through of being connected in series of operating parts (6) to the ground slide with above-mentioned speed control, can regulate its angle of inclination and can shake guide (110) with what the angle of inclination was changed in the operation of operating parts (7) around the axle core change that is fixed on the axle on the car body along with above-mentioned driving, can along above-mentioned guide direction of shaking guide (110) regulation move freely and along with this shake shaking of guide (110) mobile the above-mentioned steering operation of variable speed operation be directed to body (114) with continuously variable unit (4), slide and move and the above-mentioned part (114) that is directed to is formed along the string operation part (120) that above-mentioned guide direction of shaking guide (110) relatively moves at above-mentioned sliding part (100) and above-mentioned shaking between the guide (110) with above-mentioned guide (110) one of shaking.
5. according to the running driving device of the engineering truck of claim 4, it is characterized in that, by the above-mentioned above-mentioned part (114) that is directed to that shakes guide (110) guiding, when above-mentioned speed control is operated in the state of center position with operating parts (6), determine that by above-mentioned string operation part (120) connection itself and the above-mentioned position of shaking between center and the above-mentioned sliding part (100) of shaking guide (110) concern.
6. according to the running driving device of engineering truck any in the claim 1 to 3, it is characterized in that, when turning to beginning, turn to the actuating speed of inboard running gear (1) to become the length velocity relation of requirement ratio scope with the actuating speed of the mobile devices (1) that turn to the outside, corresponding above-mentioned high-low speed change can change the speed of above-mentioned steering operation usefulness continuously variable unit (4) automatically with continuously variable unit (3).
7. according to the running driving device of the engineering truck of claim 6, it is characterized in that the actuating speed that turns to inboard mobile devices (1) when turning to beginning can automatically be slowed down and be become the low slightly speed of actuating speed than the mobile devices (1) that turn to the outside.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP322389/96 | 1996-12-03 | ||
| JP32238896A JP3174515B2 (en) | 1996-12-03 | 1996-12-03 | Gearshift operating device for work vehicles |
| JP32238996A JP3174516B2 (en) | 1996-12-03 | 1996-12-03 | Traveling drive for work vehicles |
| JP322388/96 | 1996-12-03 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1191816A true CN1191816A (en) | 1998-09-02 |
| CN1095771C CN1095771C (en) | 2002-12-11 |
Family
ID=26570795
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN97114345A Expired - Fee Related CN1095771C (en) | 1996-12-03 | 1997-12-02 | Running driving device for engineering vehicle |
Country Status (2)
| Country | Link |
|---|---|
| KR (1) | KR100256108B1 (en) |
| CN (1) | CN1095771C (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1144701C (en) * | 2000-03-22 | 2004-04-07 | 株式会社久保田 | Gesture controller of operation car |
| CN1890490B (en) * | 2003-12-04 | 2010-05-26 | 株式会社小松制作所 | Vehicle mounted with continuous stepless speed changer |
| CN107406103A (en) * | 2015-01-19 | 2017-11-28 | 株式会社神崎高级工机制作所 | Wheel steering system |
| CN110239638A (en) * | 2019-04-30 | 2019-09-17 | 长沙桑铼特农业机械设备有限公司 | A kind of two track drive tractor proportion expressions steering drive method |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002293155A (en) * | 2001-04-02 | 2002-10-09 | Iseki & Co Ltd | Power agricultural machine |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3807599A1 (en) * | 1988-03-08 | 1989-09-28 | Hydromatik Gmbh | AUTOMOTIVE DRIVE DEVICE FOR MACHINES AND VEHICLES |
| US5080209A (en) * | 1990-10-15 | 1992-01-14 | General Electric Company | Manual override of an automatic ratio controller in a hydromechanical transmission |
| KR0142157B1 (en) * | 1993-09-07 | 1998-06-01 | 미츠이 고헤이 | Traveling shift operation structure of farm working car |
| JP3176237B2 (en) * | 1994-12-08 | 2001-06-11 | 株式会社クボタ | Work vehicle steering system |
| KR100198319B1 (en) * | 1995-12-27 | 1999-06-15 | 미쯔이 고오헤이 | Combine |
-
1997
- 1997-12-02 CN CN97114345A patent/CN1095771C/en not_active Expired - Fee Related
- 1997-12-03 KR KR1019970065579A patent/KR100256108B1/en not_active IP Right Cessation
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1144701C (en) * | 2000-03-22 | 2004-04-07 | 株式会社久保田 | Gesture controller of operation car |
| CN1890490B (en) * | 2003-12-04 | 2010-05-26 | 株式会社小松制作所 | Vehicle mounted with continuous stepless speed changer |
| CN107406103A (en) * | 2015-01-19 | 2017-11-28 | 株式会社神崎高级工机制作所 | Wheel steering system |
| CN107406103B (en) * | 2015-01-19 | 2019-09-27 | 株式会社神崎高级工机制作所 | Wheel steering system |
| CN110239638A (en) * | 2019-04-30 | 2019-09-17 | 长沙桑铼特农业机械设备有限公司 | A kind of two track drive tractor proportion expressions steering drive method |
Also Published As
| Publication number | Publication date |
|---|---|
| KR100256108B1 (en) | 2000-05-01 |
| KR19980063749A (en) | 1998-10-07 |
| CN1095771C (en) | 2002-12-11 |
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| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C06 | Publication | ||
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20021211 Termination date: 20121202 |