JP2605217B2 - Tracked vehicle steering control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steering control device for a tracker, more specifically, for example, a bulldozer, a power shovel,
In a tracked vehicle such as a crane, a steering motor driven by the rotation of a power source drives each of the crawler belts provided on the left and right sides of the vehicle body so that a relative running difference is generated, and the vehicle body turns left or right. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steering control device for a tracked vehicle that is suitably applied to a steering control device for turning.

[0002]

2. Description of the Related Art Conventionally, in a steering control device for a tracked vehicle of this type, regardless of the number of rotations of a power source, for example, a vehicle body is changed in accordance with a displacement direction and a displacement distance displaced from a neutral position by an operation. Only the displacement of the steering lever, which is an example of a turning instruction means for instructing a turning diameter that becomes smaller in accordance with the turning direction and its displacement distance, uniquely determines the rotational speed of the steering motor in accordance with the displacement distance. The rotation speed is changed.

[0003]

However, in the above-described system, when the rotation speed of the power source for driving the steering motor is high, the maximum rotation speed of the steering motor can be sufficiently high. The rotation speed of the steering motor can be changed over the entire predetermined range of the displacement of the steering lever. However, when the rotation speed of the power source is low, the maximum rotation speed of the steering motor cannot be sufficiently high. Therefore, there is a problem that it is not possible to achieve high turning accuracy of the vehicle body because the rotation speed of the steering motor cannot be changed over the range.

SUMMARY OF THE INVENTION The present invention has been made in order to solve such a problem, regardless of the rotational speed of a power source.
An object of the present invention is to provide a steering control device for a tracked vehicle capable of changing the rotation speed of a steering motor over a predetermined entire range of displacement of an operation instruction means and achieving high turning accuracy of a vehicle body.

[0005]

SUMMARY OF THE INVENTION A steering control apparatus for a tracked vehicle according to the present invention has the following objects.
(A) a power source, (b) driven by the rotation of the power source, and by driving each of the crawler belts provided on the left and right sides of the vehicle body so that a relative running difference is generated, the vehicle body turns left or right. A steering motor for turning, and a steering instruction means for instructing a turning direction of the vehicle body and a turning diameter to be reduced corresponding to the displacement distance in accordance with a displacement direction and a displacement distance displaced from a neutral position by the operation (c). (D) a displacement detecting means for detecting a displacement of the steering instructing means; and (e) a target steering based on the displacement of the steering instructing means detected by the displacement detecting means in proportion to the rotation speed of the power source. A steering motor speed control means for obtaining the motor speed and controlling the speed of the steering motor based on the target steering motor speed is provided.

[0006]

The rotation speed of the steering motor driven by the rotation of the power source is controlled by the target steering motor rotation speed obtained based on the displacement of the steering instructing means while being proportional to the rotation speed of the power source. For example, as an embodiment for obtaining the target steering motor rotation speed based on the displacement of the steering instructing means while being proportional to the rotation speed of the power source, a power source rotation speed detection unit for detecting the actual rotation speed of the power source is provided. A target steering motor speed ratio, which is a ratio of the rotational speed of the steering motor to the rotational speed of the power source, based on the displacement of the steering instructing means detected by the displacement detecting means; Preferably, the speed ratio is obtained by multiplying the actual rotation speed (or a set target rotation speed) of the power source. The target rotation speed set by the power source may be set based on a throttle position detected by a throttle position detecting means for detecting a throttle position with respect to the power source.

By the way, the steering motor is driven to rotate forward and reverse to drive the respective crawler belts at equal speeds in opposite directions so as to generate a relative running difference. Hydrostatic steering motor driven by the rotation of the motor, or an electric steering motor.

[0008] The rotational driving force from the power source is applied to each of the crawler belts at a constant speed in the same direction through a continuously variable transmission such as a hydrostatic-mechanical transmission, a hydrostatic transmission, or a belt-type transmission. It is preferable that the vehicle be transmitted to drive the vehicle forward or backward by driving the vehicle. Also,
The steering instruction means may be, for example, a steering lever or a steering handle.

The objects of the present invention will become apparent from the detailed description given below. However, while the detailed description and specific examples describe the most preferred embodiments, various changes and modifications within the spirit and scope of the invention will be apparent to those skilled in the art from the detailed description, and They are described only as examples.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, a specific embodiment in which the steering control device for a tracked vehicle according to the present invention is applied to a bulldozer will be described with reference to the drawings. In a bulldozer 1 whose external appearance is shown in FIG. 1, a hood 3 containing an engine (not shown) and an operator seat 4 of an operator who operates the bulldozer 1 are arranged on a body 2 of the bulldozer 1. ing. Also, crawler belts 5 are provided on both left and right sides of the vehicle body 2 to cause the vehicle body 2 to travel forward, backward and turn. These two tracks 5
Each of the crawler belts 5 is independently driven to run by a corresponding sprocket 6 by the rotational driving force transmitted from the engine. The crawler belt 5 and the sprocket 6 on the right side are not shown. On the left and right sides of the vehicle body 2, the base ends of left and right straight frames 8, 9 for supporting the blade 7 on the distal end side are pivotally supported so that the blade 7 can move up and down. . Reference numeral 10 denotes a pair of left and right blade lift cylinders for raising and lowering the blade 7, and reference numerals 11 and 12 denote brace and blade chill cylinders for tilting the blade left and right.

On the left side of the operator's seat 4, an engine throttle lever 13 which is operated back and forth, and a steering lever 14 which is operated left and right when turning the vehicle body 2 left and right.
A forward / reverse switching lever 15 is provided which is operated to switch the vehicle body 2 back and forth between a forward position F, a neutral position N, and a reverse position R when the vehicle body 2 is moved forward and backward. On the right side, there are provided a blade control lever 16 which is operated to move forward and backward and left and right when the blade 7 is raised, lowered, tilted left and right, a parking brake 17 which is operated up and down, a gauge 18 and the like. Although not shown, a dexel pedal and a brake pedal are provided in front of the operator's seat 4.

FIG. 2 shows a power transmission system.
, A transmission input shaft 23, which is integrally and coaxially connected to an engine output shaft 22 of an engine 21, is provided with a three-stage forward and three-stage hydrostatic-mechanical transmission called a so-called stepless transmission. A mechanical transmission unit 24 and a hydrostatic transmission unit 25 that constitute a motive are arranged in parallel so as to divide transmission power from the engine 21. Alternatively, the mechanical transmission unit 24 and the hydrostatic transmission unit 25 may be alternatively selected.
Side and the hydrostatic transmission 25 side as well as the hydrostatic transmission
The transmission output shaft 26 is connected only to the 25 side and the transmission output shaft 26
A differential unit 27 is also provided, which transmits a rotational driving force to the motor, and also constitutes a hydrostatic-mechanical transmission. Note that a steering unit 28 constituting a hydrostatic steering machine called a so-called stepless steering machine is provided for the transmission output shaft 26.

Next, a mechanical transmission unit 24, a hydrostatic transmission unit 25 and a differential unit 27, which constitute a hydrostatic-mechanical transmission, and a steering unit 28, which constitutes a hydrostatic steering unit, are sequentially arranged. explain. (1) Mechanical transmission unit 24 With respect to the transmission input shaft 23, each planetary gear train 30 for backward movement and the planetary gear train 31 for forward movement are provided from the left side in the figure in the axial direction of the transmission input shaft 23 from the left. ing. The reverse planetary gear train 30 includes a sun gear 30a integral with the transmission input shaft 23, a ring gear 30b located outside the sun gear 30a, and two gears 30a interposed between the two gears 30a, 30b. , 30b, and a planetary carrier 30d that is a carrier of the planetary gear 30c and that can be hydraulically braked by a reverse hydraulic clutch 32. Similarly, the forward planetary gear train 31 is
A sun gear 31a integral with the sun gear 31a, a ring gear 31b located outside the sun gear 31a and hydraulically brakeable by a forward hydraulic clutch 33, and both gears 31a, 31b interposed between the two gears 31a, 31b. Planetary gear 31c meshing with the planetary gear
31c carrier, the ring gear 30 of the reverse planetary gear train 30
b and an integral planetary carrier 31d.

Next, an intermediate shaft 35 is arranged on an extension of the transmission input shaft 23 and coaxially with the transmission input shaft 23, and the intermediate shaft 35 has a second speed A clutch plate 37 that can be hydraulically coupled by the hydraulic clutch 36 is provided. The second speed hydraulic clutch 36 is formed integrally with the planetary carrier 31d of the forward planetary gear train 31. In addition, each single planetary type first shaft is disposed on the intermediate shaft 35 in the axial direction of the intermediate shaft 35 from the left side in the drawing.
And second third-speed planetary gear trains 38 and 39. The first third-speed planetary gear train 38 includes a sun gear 38a rotatably supported on the intermediate shaft 35, and a sun gear 38a.
a planetary carrier of the forward planetary gear train 31 located outside
31d and ring gear 38b integral with second speed hydraulic clutch 36
Between the two gears 38a, 38b.
The planetary gear 38c meshes with the planetary gear 38b, and a planetary carrier 38d that is a carrier of the planetary gear 38c and that can be hydraulically braked by the third-speed hydraulic clutch 40. A second third-speed planetary gear train 39 is also rotatably supported by the intermediate shaft 35 and is integrally formed with the clutch plate 41 and a sun gear 39a.
A ring gear 39b which is located outside of the sun gear 39a and is integral with the sun gear 38a of the first 3-speed planetary gear train 38, and a pair of gears 39a, 39b interposed between the two gears 39a, 39b. A meshing planetary gear 39c and a first-speed hydraulic clutch that is a carrier of the planetary gear 39c and that can hydraulically couple the clutch plate 41.
42 and a fixed planetary carrier 39d integral therewith.

Reference numeral 43 denotes a reverse hydraulic clutch 32,
In this embodiment, which controls the clutch switching of the forward hydraulic clutch 33, the second-speed hydraulic clutch 36, the third-speed hydraulic clutch 40, and the first-speed hydraulic clutch 42, a speed-stage switching control valve constituted by an electromagnetic solenoid valve is used. is there.

(2) Hydrostatic transmission unit 25 The pump input of a transmission pump 50 which is a variable displacement hydraulic pump having a variable angle swash plate 50a for setting the discharge amount of both positive and negative swings with respect to the transmission input shaft 23. The shaft 51 is connected via a gear train 52. A transmission motor 54, which is a variable displacement hydraulic motor having a pulsating discharge amount setting variable angle swash plate 54a, is connected to the transmission pump 50 via a pair of communication pipes 53 formed of a forward path and a return path. . The motor output shaft 55 of the transmission motor 54 is connected to a gear train 56.
Incidentally, the discharge amount setting variable angle swash plates 50a and 54a of the transmission pump 50 and the transmission motor 54 correspond to the angle change of the discharge amount setting variable angle swash plates 50a and 54a, and the transmission pump 50 Further, the rotation speed of the transmission motor 54 is changed.

The transmission pump 50 is set to a constant rotation speed, the discharge amount setting variable angle swash plate 54a of the transmission motor 54 is set to the maximum swash plate angle state, and the discharge amount setting variable angle swash plate 50a of the transmission pump 50 is set to the swash plate angle. When tilted in the positive direction from 0 degrees, the transmission motor
The rotation speed of 54 increases from 0 in the positive direction. Next, the discharge amount setting variable angle swash plate 50a of the transmission pump 50 is set to the positive maximum swash plate angle state, and the discharge amount setting variable angle swash plate of the transmission motor 54 is set.
When the swash plate angle of 54a is reduced, the rotation speed of the transmission motor 54 further increases in the forward direction.

Conversely, the discharge amount setting variable angle swash plate 54a of the transmission motor 54 is set to the maximum swash plate angle state, and the discharge amount setting variable angle swash plate 50a of the transmission pump 50 is shifted from 0 degree to the negative direction. When tilted, the rotation speed of the transmission motor 54 increases in the negative direction from zero. Next, the discharge amount setting variable angle swash plate 50a of the transmission pump 50 is set to the negative maximum swash plate angle state, and the transmission motor
When the swash plate angle of the discharge amount setting variable angle swash plate 54a of 54 is reduced, the rotation speed of the transmission motor 54 further increases in the negative direction.

In this embodiment, reference numeral 57 denotes an angular displacement control valve constituted by an electromagnetic solenoid valve for controlling the swash plate angular displacement of the discharge amount setting variable angle swash plate 50a of the transmission pump 50, and 58. Reference numeral denotes an angle displacement control valve similarly constituted by an electromagnetic solenoid valve in the present embodiment for controlling the swash plate angle displacement of the discharge amount setting variable angle swash plate 54a of the transmission motor 54.

(3) Differential part 27 In the axial direction of the intermediate shaft 35, on the extension line on the right end side, the first differential planetary gear train 60 of the double planetary type and the single planetary type The second differential planetary gear train 61 is provided. The first differential planetary gear train 60 is rotatably supported by the intermediate shaft 35 and is integrally formed with the sun gear 39a and the clutch plate 41 of the second third-speed planetary gear train 39. A ring gear 60b located outside the sun gear 60a, a planetary gear 60c interposed between the two gears 60a, 60b and meshing with one of the two gears 60a, 60b, and a carrier of the planetary gear 60c. It is composed of an input gear 62 connected to a motor output shaft 55 of a transmission motor 54 of the hydrostatic transmission unit 25 via a gear train 56, and an integral planetary carrier 60d. The second differential planetary gear train 61 is also rotatably supported by the intermediate shaft 35 and is integrally formed with the planetary carrier 60d of the first differential planetary gear train 60. And a ring gear 61b integral with the transmission output shaft 26, which is located outside of the intermediate shaft 35 and is an extension of the intermediate shaft 35 and is coaxial with the intermediate shaft 35 on the right side in the drawing. , 61b interposed between the gears 61a, 61b and meshing with the two gears 61a, 61b, and a carrier of the planetary gear 61c, which is integral with the ring gear 60b and the intermediate shaft 35 of the first differential planetary gear train 60. It is composed of a planetary carrier 61d.

(4) Steering unit 28 The steering main shaft 70, which is disposed at right angles to the transmission output shaft 26, is connected to the transmission output shaft 26 via a bevel gear mechanism 71. The bevel gear mechanism 71 includes a first bevel gear 71a integrated with the transmission output shaft 26, and a first bevel gear 71a.
And a second bevel gear 71b integral with the steering main shaft 70. Also, first and second differential planetary gear trains 72 and 73 are provided on both left and right sides of the steering main shaft 70. Each of these first and second differential planetary gear trains 72,
73 is a sun gear rotatably supported on the steering spindle 70
72a, 73a, ring gears 72b, 73b located outside the sun gears 72a, 73a and integral with the steering main shaft 70, and both gears 72a, 72b; ,
72b; planet gears 72c, 73c meshing with 73a, 73b, and a carrier of the planet gears 72c, 73c,
It comprises 75 brake plates 76, 77 and left and right steering output shafts 78, 79 and integral planetary carriers 72d, 73d. In addition, the sun gear 72a on one left side is the sun gear
72a and a motor output shaft 81 of a steering motor 80 which is a hydraulic motor
Is connected to the motor output shaft 81 via an intermediate gear 83 interposed between the sun gear 72a and the gear train 82 interposed between the gear train 82 and the gear train 82 connected to the gear train 82. The other right sun gear 73a is interposed between the sun gear 73a, the gear train 82 and the intermediate gear 83, and has first left and right
The second gear 84b is connected to the sun gear 73 via a steering countershaft 84 provided integrally with the second gears 84a and 84b.
a, so that the first gear 84a
By meshing with 82, it is connected to the motor output shaft 81. Thus, both sun gears 72a and 73a are connected to the steering motor 80.
Are arranged so that they are driven to rotate in the reverse direction.

In this embodiment, the steering motor 80 is an EPC valve (Electric Propo) of an electromagnetic solenoid valve.
variable control valve 85 composed of a pressure control valve CLSS valve (Closed Center Lord Sensing System valve) and a pressure control valve CLS valve (Closed Center Lord Sensing System valve). A steering pump 86, which is a displacement steering hydraulic pump, and a steering motor 80 and a flow rate / flow direction control valve 85 are connected to each other through a pair of communication pipes 87 composed of a forward path and a return path. The valve 85 and the steering pump 86 are connected via one communication pipe 88. This flow / flow direction control valve
Numeral 85 flows from the steering pump 86 through the communication pipe 88, and controls the flow rate of the pressurized oil supplied to the steering motor 80 through the forward path and the return path by the pair of communication pipes 87 and discharged to the oil tank 89. The rotation speed of the motor 80 is adjusted, and the flow direction of the pressure oil is controlled by switching the forward path and the return path of the supplied pressure oil in the pair of communication pipes 87, and the steering motor 80 is controlled.
It defines the forward and reverse rotation of. Reference numeral 90 indicates a steering pump.
In this embodiment for controlling the angular displacement of the discharge amount setting variable angle swash plate 86a of 86, this is an angular displacement control valve composed of an electromagnetic solenoid valve, and this angular displacement control valve 90 is a flow rate / flow direction control valve 85. The swash plate angular displacement control of the discharge amount setting variable angle swash plate 86a is performed so that the oil pressure difference between the pressure oil between the input and output ports becomes a predetermined pressure value.

Next, the mechanical transmission unit 24 and the hydrostatic transmission unit
The mechanism operation of the differential unit 27, the differential unit 27, and the steering unit 28 will be described. In addition, each speed stage, in other words, the forward first speed F1, 2
Speed F2, 3rd speed F3 and reverse 1st speed R1, 2nd speed R2, 3rd speed
The transmission motor speed ratio (= transmission motor 54) to the transmission rotation speed ratio at the speed R3 (= the rotation speed of the transmission output shaft 26 / the rotation speed of the engine output shaft 22 of the engine 21 [engine rotation speed])
Speed of motor output shaft 55 [motor speed] / engine
The relationship between the number of revolutions of the engine output shaft 22 (the number of revolutions of the engine 21) is as shown in FIG.

(I) Forward and reverse 1st speed F1, R1 Only the 1st speed hydraulic clutch 42 is operated, and the 1st speed hydraulic clutch 42 operates the sun gear 60 of the first differential planetary gear train 60.
a is hydraulically braked via the clutch plate 41, and the intermediate shaft 35 enters a free rotation state. Therefore, only the rotational force of the transmission motor 54 of the hydrostatic transmission unit 25 is controlled by the motor output shaft 55 of the transmission motor 54, the gear train 56, the input gear 62 of the differential unit 27,
Planetary carrier 60d of first differential planetary gear train 60, planetary gear
The power is transmitted to the transmission output shaft 26 through the gear 60c, the ring gear 60b, the planetary carrier 61d of the second differential planetary gear train 61, the planetary gear 61c, and the ring gear 61b in this order. In short, the transmission output shaft 26 is coupled to the hydrostatic transmission unit 25 only by the differential unit 27 and is rotationally driven.

Thus, as the transmission motor speed ratio is increased from 0 in the forward direction, the rotation speed of the transmission output shaft 26 is increased in the forward direction from 0. Conversely, when the transmission motor speed ratio is decreased in the negative direction from 0, the rotation speed of the transmission output shaft 26 is also decreased in the negative direction from 0. In this way, the transmission rotational speed ratio can be changed steplessly within a positive / negative range.

In the case of first and second reverse speeds F1 and R1, even if the second speed hydraulic clutch 36 is not operating,
It may be in operation. However, front and reverse 2nd speed F
2. In consideration of the clutch switching to R2, it is better to operate the second speed hydraulic clutch 36 to engage the clutch.

In the first speed state, when the rotation speed of the transmission output shaft 26 increases in the positive direction and the transmission rotation speed ratio becomes a predetermined positive value a, the forward hydraulic clutch 33 is connected to the forward planetary gear. The relative rotation speed of the row 31 with the ring gear 31b becomes zero. At this time, when the forward hydraulic clutch 33 is operated and the first speed hydraulic clutch 42 is deactivated, the second forward speed F2 state is established.
At this time, the second speed hydraulic clutch 36 is operated.

In the first speed state, when the rotation speed of the transmission output shaft 26 decreases in the negative direction and the transmission rotation speed ratio becomes a predetermined negative value b, the reverse hydraulic clutch 32 The relative rotational speed of the planetary gear train 30 to the planetary carrier 30d is 0.
become. At this time, when the reverse hydraulic clutch 32 is similarly operated and the first-speed hydraulic clutch 42 is deactivated, the reverse second-speed R2 state is established. At this time, the second speed hydraulic clutch 36 is operated.

(Ii) The second forward speed F2 The clutch plate 37 is hydraulically coupled by the operation of the second speed hydraulic clutch 36, and the wheel gear 31b of the forward planetary gear train 31 is hydraulically braked by the operation of the forward hydraulic clutch 33. Therefore, the rotational force of the transmission input shaft 23 is transmitted to the second differential planetary gear in the differential unit 27 via the forward planetary gear train 31, the second speed hydraulic clutch 36, and the intermediate shaft 35 in the mechanical transmission unit 24. The rotation speed is transmitted to the gear train 61 at a reduced speed. The rotational force of the transmission motor 54 of the hydrostatic transmission unit 25 also depends on the motor rotation shaft 55 of the transmission motor 54, the gear train 56, the input gear 62 of the differential unit 27, and the planetary carrier 60d of the first differential planetary gear 60. The rotational speed is reduced and transmitted to the second differential planetary gear train 61 via the. The second differential planetary gear train 61 couples the mechanical transmission unit 24 side and the hydrostatic transmission unit 25 side, and the rotational speed is combined to drive the transmission output shaft 26 to rotate. Thus, as the transmission motor speed ratio is reduced, the rotation speed of the transmission output shaft 26 increases in the positive direction.

When the transmission motor speed ratio is positive in the second forward speed F2 state, a part of the rotational force is transmitted from the second differential planetary gear train 61 of the differential section 27 to the second differential planetary gear train. 61
Planetary gear 61c, sun gear 61a, first differential planetary gear train
The current flows back to the input gear 62 after passing through 60 in sequence, and the transmission motor 54 performs a pumping operation. The transmission pump 54 drives the transmission pump 50 by the pumping action of the transmission motor 54. The rotational force of the transmission pump 50 is applied to the pump input shaft 51 and the gear train.
At the transmission input shaft 23 via 52, the torque is combined with the rotational force from the engine 21.

On the other hand, when the transmission motor speed ratio is negative, a part of the torque of the transmission input shaft 23 drives the transmission pump 50 via the gear train 52 and the pump input shaft 51, and the transmission pump 50 The rotational force of the transmission motor 54 by driving is transmitted to the second differential planetary gear train 61 of the differential unit 27 via the motor output shaft 55, the gear train 56, the input gear 62 in the differential unit 27, and the like.
In the second differential planetary gear train 61, the transmission output shaft 26 is rotationally driven by being combined with the rotational force from the mechanical transmission unit 24 side.

When the transmission rotational speed ratio is increased to a predetermined value c in the state of the second forward speed F2, the third speed hydraulic clutch 40 is connected to the planetary carrier 38 of the first third speed planetary gear train 38.
The relative rotation speed with respect to d becomes zero. At this time, when the third speed hydraulic clutch 40 is operated and the second speed hydraulic clutch 36 is deactivated, the third forward speed F3 state is established.

When the transmission rotational speed ratio is reduced from a high state to a predetermined value a in the state of the second forward speed F2, the first-speed hydraulic clutch 42 has its relative rotational speed with the clutch plate 41 reduced to zero. Become. At this time, when the first speed hydraulic clutch 42 is operated and the forward hydraulic clutch 33 is deactivated, the first forward speed F1 state is established.

(Iii) Third forward speed F3 The planetary carrier 38d of the first third speed planetary gear train 38 is hydraulically braked by the operation of the third speed hydraulic clutch 40, and the forward planetary by the operation of the forward hydraulic clutch 33. Since the ring gear 31 b of the gear train 31 is hydraulically braked, the rotational force of the transmission input shaft 23 is reduced by the forward planetary gear trains 31, 2,
Speed hydraulic clutch 36, first 3-speed planetary gear train 38, second
The rotation speed is reduced and transmitted to the first and second differential planetary gear trains 60 and 61 in the differential section 27 via the third speed planetary gear train 39. Further, the rotational force of the transmission motor 54 of the hydrostatic transmission unit 25 is also controlled by the motor output shaft 55 and the gear train 56 of the transmission motor 54.
The rotation speed is reduced and transmitted to the first and second differential planetary gear trains 60 and 61 in the differential unit 27 via the differential gear. By means of these first and second differential planetary gear trains 60 and 61, a mechanical transmission
The 24 side and the hydrostatic transmission unit 25 side are connected, the rotation speed is synthesized, and the transmission output shaft 26 is driven to rotate. As the transmission motor speed ratio is increased in this way, the rotation speed of the transmission output shaft 26 increases in the positive direction.

When the transmission motor speed ratio is negative in the third forward speed F3 state, a part of the rotational force from the first and second differential planetary gear trains 60 and 61 of the differential unit 27 is transmitted to the input gear 62. The flow reverses, and the transmission motor 54 operates as a pump, and as described above, the rotational force of the transmission motor 54
And at the transmission input shaft 23 via the gear train 52 and the like, the rotational force from the engine 21 is combined.

On the other hand, when the transmission motor speed ratio is positive, a part of the rotational force of the transmission input shaft 23 drives the transmission pump 50 via the gear train 52 and the pump input shaft 51, and the transmission The torque of the motor 54 is transmitted to the first and second differential planetary gear trains 60 and 61 of the differential unit 27 via the gear train 56, the input gear 62 of the differential unit 27, and the like. In the first and second differential planetary gear trains 60 and 61, the transmission output shaft 26 is rotationally driven by being combined with the rotational force from the mechanical transmission unit 24 side.

When the transmission rotational speed ratio is reduced from a high state to a predetermined value c in the third forward speed F3,
The relative speed of the second speed hydraulic clutch 36 with respect to the clutch plate 37 becomes zero. At this time, the second speed clutch 36 is operated,
When the third speed hydraulic clutch 40 is deactivated, a forward second speed F2 state is established.

(Iv) Reverse second speed R2 The clutch plate 37 is hydraulically coupled by operating the second speed hydraulic clutch 36, and the planetary carrier 30d of the reverse planetary gear train 30 is hydraulically braked by operating the reverse hydraulic clutch 32. Therefore, the rotational force of the transmission input shaft 23 is transmitted through the reverse planetary gear train 30, the second speed hydraulic clutch 36, and the intermediate shaft 35 in the mechanical transmission unit 24 to the second differential planetary gear in the differential unit 27. Gear train 61
The speed is reduced and transmitted. Also, the hydrostatic transmission
As described above, the rotational force of the transmission motor
The rotation speed is reduced to the second differential planetary gear train 61 via the motor output shaft 55, the gear train 56, the input gear 62 in the differential unit 27, and the planetary carrier 60d of the first differential planetary gear train 60. It is transmitted. The second differential planetary gear train 61 couples the mechanical transmission unit 24 side and the hydrostatic transmission unit 25 side, and the rotational speed is combined to drive the transmission output shaft 26 to rotate. Thus, as the motor speed ratio is increased, the rotation speed of the transmission output shaft 26 increases in the negative direction.

In the reverse second speed R2 state, when the transmission motor speed ratio is negative, a part of the rotational force from the second differential planetary gear train 61 of the differential unit 27 is transmitted to the hydrostatic transmission unit 25 side. Except that the transmission motor 54 performs a pump action by flowing backward, and that a part of the torque of the transmission input shaft 23 flows to the hydrostatic transmission unit 25 side when the transmission motor speed ratio is positive, the other is the second forward speed F2. Same as state.

In the case of the second reverse speed R2, when the transmission rotation speed ratio is reduced from the high state to the predetermined value d,
The relative speed of the third-speed hydraulic clutch 40 with respect to the planetary carrier 38d of the first third-speed planetary gear train 38 becomes zero. At this time, when the third speed hydraulic clutch 40 is operated and the second speed hydraulic clutch 36 is deactivated, the reverse third speed R3 state is established.

When the transmission rotational speed ratio is increased to the predetermined value b in the second reverse speed R2, the relative speed of the first speed hydraulic clutch 42 with respect to the clutch plate 41 becomes zero. At this time, when the first-speed hydraulic clutch 42 is operated and the reverse hydraulic clutch 32 is deactivated, the reverse first-speed R1 state is established.

(V) Reverse third speed R3 The planetary carrier 38d of the first third speed planetary gear train 38 is hydraulically braked by the operation of the third speed hydraulic clutch 40, and the reverse planetary gear is operated by the operation of the reverse hydraulic clutch 32. Since the planet carrier 30d of the gear train 30 is hydraulically braked, the transmission input shaft
The rotational force of 23 is the reverse planetary gear train in the mechanical transmission 24.
30, 2nd speed hydraulic clutch 36, 1st 3rd speed planetary gear train 3
8. The rotation speed is reduced and transmitted to the first and second differential planetary gear trains 60 and 61 in the differential section 27 via the second third-speed planetary gear train 39. Further, the rotational force of the transmission motor 54 of the hydrostatic transmission unit 25 is also controlled by the first and second differential planetary gear trains of the differential unit 27 via the motor output shaft 55 and the gear train 56 of the transmission motor 54 as described above. The rotation speed is reduced and transmitted to 60 and 61. These first and second differential planetary gear trains 60, 61
The mechanical transmission unit 24 side and the hydrostatic transmission unit 25 side are coupled together, the rotational speeds are combined, and the transmission output shaft 26 is driven. Thus, as the transmission motor speed ratio is reduced, the rotation speed of the transmission output shaft 26 increases in the negative direction.

In the reverse third speed R3 state, when the transmission motor speed ratio is positive, a part of the rotational force from the first and second differential planetary gear trains 60 and 61 of the differential unit 27 is partially changed to the hydrostatic pressure. The transmission motor 54 performs a pumping operation by flowing backward to the transmission unit 25 side, and in a state where the transmission motor speed ratio is negative, except that a part of the torque of the transmission input shaft 23 flows to the hydrostatic transmission unit 25 side. Others are the same as in the third forward speed F3 state.

When the transmission rotational speed ratio is increased to a predetermined value d in the state of the third reverse speed R3, the relative speed of the second speed hydraulic clutch 36 and the clutch plate 37 becomes zero. At this time, when the second speed clutch 36 is operated and the third speed hydraulic clutch 40 is deactivated, the reverse second speed R2 state is established.

As described above, the forward first speed F1, the second speed F2, and the third speed F transmitted from the engine 21 to the transmission output shaft 26
The forward rotation driving force of each rotation speed in 3 or the reverse rotation driving force of each rotation speed in reverse 1st speed R1, 2nd speed R2, 3rd speed R3 drives the steering main shaft 70 via the bevel gear mechanism 71 at each rotation speed. To rotate forward or reverse. Thus, the forward rotation or the reverse rotation of each rotational speed of the steering main shaft 70 causes the left and right steering output shafts 78 and 79 to rotate forward or reverse at the same rotational speed, in other words, the left and right steering output shafts. The first and second crawler belts 5 are driven by the shafts 78 and 79 via the corresponding right and left sprockets 6 so that the left and right crawler belts 5 are driven forward or backward at a constant speed to move the vehicle body 2 straight forward or straight backward. It is transmitted to left and right steering output shafts 78 and 79 via two differential planetary gear trains 72 and 73.

On the other hand, the rotation of the steering motor 80 whose rotation speed is adjusted by the flow rate / flow direction control valve 85 and whose rotation is defined to be normal or reverse is controlled by the intermediate gear 83 and the first differential planetary gear train 72. The left and right steering output shafts 78 and 79 are rotated via the steering counter shaft 84 and the second differential planetary gear train 73. The rotation of the left and right steering output shafts 78 and 79 is performed by rotating the left steering output shaft 78 forward and rotating the right steering output shaft 79 reversely when the steering motor 80 is rotating forward. The vehicle body 2 is turned to the right, and when the steering motor 80 rotates in the reverse direction, the left steering output shaft 78 is rotated in the reverse direction, and the right steering output shaft 79 is rotated in the forward direction to rotate the vehicle body 2. It is transmitted to each crawler belt 5 via each sprocket 6 so as to make a left turn.

Thus, the left and right steering output shafts 78,
The forward and reverse rotation of the two steering output shafts 78 and 79 and the two steering output shafts 78 and 79 provided by the rotation including the forward and reverse rotation and the rotation speed transmitted from the transmission output shaft 26 and the steering motor 80 to the transmission output shaft 79.
The steering operation of the vehicle body 2 is performed based on the rotational speed difference between 79. When the rotation including the forward and reverse rotation and the rotation speed is transmitted only from the transmission output shaft 26 to the left and right steering output shafts 78 and 79, the vehicle body 2 is driven at the traveling speed (vehicle speed) corresponding to the rotation speed. The vehicle goes straight forward or goes straight backward. When the rotation including the forward and reverse rotations and the rotation speed is transmitted only from the steering motor 80, the vehicle body 2 performs the right turn or the left turn at the pivot speed corresponding to the rotation speed. Become.

Next, control of the mechanical transmission unit 24, the hydrostatic transmission unit 25, and the steering unit 28 will be described. 2, the engine output shaft 22 of the engine 21 is provided with an engine speed detector 91 for detecting the speed of the engine output shaft 22 to detect the engine speed n _E of the engine 21. The motor output shaft 55 of the transmission motor 54 of the hydrostatic transmission unit 25 is provided with a motor rotation number detector 92 for detecting the motor rotation number _nm of the transmission motor 54, which can also detect the rotation direction. An engine throttle (not shown) is provided with a throttle position detector 93 for detecting a throttle position x of the engine throttle driven by an engine throttle lever 13 operated forward and backward. The steering lever displacement detector 94 detects the steering lever displacement θ of the steering lever 14 that is operated left and right, and the forward / reverse switching of the forward / backward switching lever 15 that is operated to switch back and forth is performed on the forward / backward switching lever 15. Lever position FN
A forward / reverse switching lever position detector 95 for detecting R, a forward position F for moving the vehicle body 2 forward, a neutral position N, and a reverse position R for moving the vehicle body 2 backward is provided. The engine speed signal, motor speed signal, throttle speed signal from the engine speed detector 91, motor speed detector 92, throttle position detector 93, steering lever displacement detector 94, and forward / reverse switching lever position detector 95. The position signal, the steering lever displacement signal, and the forward / reverse switching lever position signal are provided to the controller unit 96.

The controller section 96 includes a central processing unit (CPU) 96A for executing a predetermined program, a read-only memory (ROM) 96B for storing the program, and various tables, and necessary for executing the program. Writable memory (RAM) as working memory
It consists of 96C. Thus, by executing the program based on the above-described engine speed signal, motor speed signal, throttle position signal, steering lever displacement signal, and forward / reverse switching lever position signal, arithmetic processing is performed, and the reverse hydraulic clutch 32, forward hydraulic clutch 33, 2nd speed hydraulic clutch 36, 3rd speed hydraulic clutch
A switching control signal is applied to a speed-stage switching control valve 43 that performs clutch switching control of the 40 and first speed hydraulic clutches 42 as described above. Further, an angle displacement control valve 57 for controlling the swash plate angular displacement of the discharge amount setting variable angle swash plate 50a of the transmission pump 50, and an angle for controlling the swash plate angle displacement of the discharge amount setting variable angle swash plate 54a of the transmission motor 54. The displacement control valve 58 is supplied with a swash plate angle control signal.

Further, a flow rate / flow direction control signal is supplied to a flow rate / flow direction control valve 85 for controlling the flow rate of the pressure oil supplied to the steering motor 80 and the flow direction of the hydraulic pressure. When the steering lever 14 is operated left and right, the vehicle body 2 turns correspondingly left and right. However, −θ _0, θ ₀ shown in FIG. Displacement value and this maximum stroke displacement value-
θ _0, −θ _1, θ ₁ of about 90% of θ ₀ are the maximum steering motor speed reaching displacement values that reach the maximum motor speed of the steering motor 80. In this manner, the steering lever 14 moves the steering lever displacement value −θ ₁ from the neutral position of the steering lever displacement value 0 to the left and right sides,
rotational speed of the steering motor 80 is increased in the reverse rotation or forward rotation as it is brought down to the theta _1. In other words, reverse rotation or forward rotation is performed according to the displacement direction displaced from the neutral position, and the reverse rotation or forward rotation is increased according to the displacement distance from the neutral position.

Finally, the variable angle swash plate 50a for setting the discharge amount of the transmission pump 50 and the variable angle swash plate 54 for setting the discharge amount of the transmission motor 54 by the above-mentioned program in the controller section 96.
The arithmetic processing of the swash plate angular displacement control and the flow rate control of the hydraulic oil supplied to the steering motor 80 and the flow direction control of the hydraulic pressure will be described with reference to the flowchart shown in FIG.

[0052] S1: First, the throttle position signal from the throttle position detector 93, including converting the target engine rotational speed N _E of the engine 21 for the throttle position x, the characteristic functional equation or table is previously set and stored It is obtained by performing an operation. These characteristic function expression or table, which was set based on the characteristic curve of the target engine rotational speed N _E to the throttle position x, which is illustrated in Figure 6 which is created from the characteristic curve of the torque with respect to the engine speed of the engine 21 It is. Next, the actual engine speed n _E based on the engine speed signal from the engine speed detector 91 and the current actual motor speed n _m from the motor speed detector 92 are used to determine the actual engine speed. determining the actual ratio of the motor rotational speed n _m with respect to the rotational speed n _E actual gear motor speed ratio e _m a (= n _m / n _E) by performing a calculation. Subsequently, the actual transmission motor speed ratio e _m which are thus determined, the aforementioned current actual engine speed n _E and the forward-reverse switching lever position before from the detector 95 reverse switching lever position signal according to the forward-reverse switching lever Position FN
Based on the current control state of the speed stage of the mechanical transmission unit 24 controlled via the speed stage switching control valve 43 based on R, a preset and stored characteristic function formula: e =
f (e _m ) or a table is used to determine the current actual transmission rotational speed ratio e. This characteristic function formula: e = f
(E _m ) or the table is a characteristic curve similar to that shown in FIG. 3 and shows the actual transmission motor speed ratio e _m to the actual transmission rotation speed ratio e shown in FIG.
Are set according to the characteristic curve of.

From the target engine speed N _E and the actual transmission speed ratio e obtained as described above, and the actual engine speed n _E , the target transmission speed ratio E is calculated by the following equation. Ask. Here, k is a coefficient whose unit is 1 / rpm. _{E = e + k (n E} -N E) (1)

Further, based on the steering lever displacement signal from the steering lever displacement detector 94, the target steering motor speed ratio E _{S of the} steering motor 80 corresponding to the steering lever displacement θ (= the motor of the steering motor 80) The target rotation speed of the output shaft 81 [target steering motor rotation speed N _S ] / target engine rotation speed _NE or the actual engine rotation speed n _E ) is converted by a preset and stored characteristic function formula or table. It is obtained by performing calculations including These characteristic function expression or table is one that has been set based on the characteristic curve of the target steering motor speed ratio E _S for steering lever displacement θ that are illustrated in Figure 8. Next, the absolute value of the thus target steering motor speed ratio E _S obtained.

S2: A forward / reverse switching lever position signal FNR from the forward / reverse switching lever position detector 95 causes the forward / reverse switching lever position FNR to be a neutral position where the left and right crawler belts 5 are traveling at a constant speed in opposite directions. Judge whether it is N or not,
If the forward / reverse switching lever position FNR is the forward position F other than the neutral position N or the reverse position R, the process proceeds to step S9.

S3 to S5: If the forward / reverse switching lever position FNR is the neutral position N at which the turning point is determined to be a pivot turn in the determination in step S2, the current actual speed based on the engine speed signal from the engine speed detector 91 is used. It is determined whether or not the engine speed n _E satisfies the following equation. _{n E <N E - △ N} E N E; target engine speed △ N _E; deviation which is set in advance

Next, based on this determination, the target steering motor speed ratio E _s1 during the pivot turn is obtained from the target steering motor speed ratio E _s corresponding to the steering lever displacement θ as follows.

(Equation 1) In this way, the engine is driven by the load
21 actual engine speed n _E is the target engine speed N
_{In the} case where the engine efficiency is lowered too much from _E, the target steering motor speed ratio of the steering motor 80, in other words, the target steering motor speed is reduced to reduce the load torque of the engine 21, and The engine speed is prevented from lowering to maintain the engine efficiency at the optimum efficiency, and the engine stall is avoided.

S6-8: Steering lever 14 operated left and right
To the left turning direction of the left and right side and the vehicle body 2 to be brought down a defines a direction of rotation of the steering motor 80 to match, obtains a target steering motor speed ratio E _'s including turning direction as follows . i) When the steering lever 14 is tilted to the neutral position N or to the left and the steering lever displacement θ based on the steering lever displacement signal is zero or negative, E _s ′ = −E _s1 (reverse rotation) ii) The steering lever 14 is tilted to the right and the steering lever displacement θ by the steering lever displacement signal is positive. E _s ′ = E _s1 (forward rotation)

S9-11: If the forward / reverse switching lever position FNR is a forward position F or a reverse position R other than the neutral position N at which the pivoting is performed at the pivot point in the determination in step S2, the actual transmission rotational speed ratio e Judge whether or not the following expression is satisfied.

(Equation 2) e ₀ ; the maximum transmission rotation speed ratio at which one of the left and right crawler belts 5 stops running and the vehicle body 2 can turn at the ground position e ₁ ; the maximum transmission rotation speed ratio at which the vehicle body 2 can turn at a constant turning diameter Es ₀ ; the absolute value of the transmission rotation speed ratio e at the maximum steering motor speed ratio at the steering motor speed ratio Es corresponding to the steering lever displacement θ is the maximum transmission rotation speed e _{0 at which} a pivot turn is possible.
Up to the auxiliary variable that makes the steering motor speed ratio proportional to the transmission rotation speed ratio e so that the vehicle body 2 makes a pivotal turn.

Next, based on this determination, the target steering motor speed ratio _Es2 including the constant turning diameter is obtained as follows.

(Equation 3)

FIG. 9 shows the aforementioned auxiliary variable E _s0 .
As shown in FIG. Note that the hatched portion is a range in which the turning radius is constant, and the dashed line portion is the pivot turning portion. Thus, in the low vehicle speed range, the steering lever displacement θ
Is maintained constant, regardless of the vehicle speed, the turning radius including the pivot turning is maintained, and the minimum turning diameter is determined as the pivot turning, so that the stroke of the steering lever 14 tilted to the left and right sides can be reduced. It is possible to operate the vehicle body 2 with high accuracy by making it possible to use it to the maximum range, thereby facilitating the steering control of the vehicle body 2.

S12-18: When the forward / reverse switching lever 15 is switched and the forward / backward switching lever position FNR based on the forward / backward switching lever position signal is the forward position F for moving the vehicle body 2 forward or the reverse position R for moving the vehicle body 2 backward. When the steering lever displacement θ due to the steering lever displacement signal is negative when the steering lever 14 is tilted to the left to turn the vehicle body 2 to the left, or when tilted to the right to rotate the vehicle body 2 to the right, In order to define the rotation direction of the steering motor 80 so that the left and right sides on which the steering lever 14 is tilted and the left and right turning directions of the vehicle body 2 sensibly coincide with each other in the forward and backward traveling state of the vehicle body 2, to to determine the steering motor speed ratio E _s including turning direction of the vehicle body 2 as. i) the forward position F (N) is and when steering lever displacement θ is positive E _s' = E _s2 (forward rotation) ii) a forward position F (N) and when the steering lever displacement θ is negative E _s '= -E _s2 (reverse rotation) iii) When the reverse position R and the steering lever displacement θ are positive E _s ' = -E _s2 (reverse rotation) iv) When the reverse position R and the steering lever displacement θ are negative E _s' = E _s2 when (forward rotation)

S19: Target steering including turning direction of vehicle body 2
Motor speed ratio E_s’Based on the actual engine speed n
_EFrom the following equation, the eye including the rotation direction of the steering motor
Target steering motor speed N_sAsk for. N_s= E_s'× n_E Thus, the actual engine speed n_EEyes against
Target steering motor speed N _sTo determine the engine speed
Regardless of the entire stroke that is tilted to the left or right of the steering lever 14
Best steering mode at any engine speed
To change the steering motor speed up to
Thus, high turning accuracy of the vehicle body 2 is achieved.

S20: target steering motor rotation including rotation direction
Number of turns N_sFrom the target steering motor rotation including this rotation direction
Number N_sThe steering motor 80 in the predetermined rotation direction
Flow / flow direction control valve to rotate at rotation speed
85, specifically the solenoid control current supplied to the EPC valve
i is a characteristic function formula or text stored in advance and stored.
It is obtained by performing an operation including conversion using a cable. these
The characteristic function formula or table is illustrated in FIG.
Target steering including rotation direction for solenoid control current i
Motor rotation speed N_sIs set based on the characteristic curve of
It is. This solenoid control current i
Output to the flow / flow direction control valve 85 as a control signal
You. Thus, the actual steering motor speed of the steering motor 80 is calculated.
Is the target steering motor speed N _sIs controlled.

S21: Based on the steering lever displacement signal from the steering lever displacement detector 94, the absolute value of the steering lever displacement θ is about 90% of the maximum stroke displacement value θ ₀ , the maximum steering motor rotational speed reaching displacement value. judge whether it exceeds θ ₁ and
If it does not exceed the maximum steering motor rotation speed reaches quantiles theta ₁ goes to step S32.

[0066] S22, S23: If the absolute value of the steering lever displacement theta is greater than the maximum steering motor rotation speed reaches quantiles theta ₁ in the determination of the step S21, the steering lever displacement theta in the previous control cycle absolute value to determine whether it exceeds the maximum steering motor rotation speed reaches displacement values theta ₁ of. According to this determination, if the absolute value of the actual transmission rotational speed ratio e is not exceeded in the previous control cycle but is exceeded for the first time in this control cycle, the transmission rotational speed of the maximum steering motor rotational speed attainment displacement value θ ₁ is obtained. It is set as the ratio E _1.

S24: The transmission rotational speed ratio E _{1 of the} set maximum steering motor rotational speed attainment displacement value θ ₁ and the maximum transmission rotational speed ratio e _{0 at} which the pivot turn is possible at the maximum stroke displacement value θ ₀ . determining the maximum target transmission rotational speed ratio E _max based by proportional calculation such as shown in Figure 11 by the absolute value of the steering lever displacement theta.

S25 to S32: First, it is determined whether or not the maximum target transmission rotation speed ratio E _max satisfies the following expression. Previous E _max -E _max > △ E _max Previous E _max ; Previous maximum target transmission speed ratio ΔE _max ; Preset deviation

Next, the maximum target transmission rotational speed ratio E _'max comprise buffering control based on the determination obtained as follows. i) When the previous E _max −E _max > △ E _max is satisfied E ′ _max = Last E _max − △ E _max ii) When the previous E _max −E _max > △ E _max is not satisfied E ′ _max = E _max

[0070] Subsequently, it is determined whether the absolute value of the target transmission rotational speed ratio E is greater than the maximum target transmission rotational speed ratio E _'max comprise buffering control, the maximum target transmission rotational speed ratio including buffer control If it exceeds E, the target transmission rotational speed ratio E 'including the positive and negative of the steering lever displacement θ is obtained by the following equation. i) When the target transmission rotation speed ratio E is positive forward E ′ = E ′ _max ii) When the target transmission rotation speed ratio E is negative (0) reverse E ′ = − E ′ _max

[0071] The maximum target transmission rotational speed ratio E 'if it does not exceed the _max, even the maximum steering absolute value of the steering lever displacement θ is in step S21, including the absolute value of the target transmission rotational speed ratio E is buffered control Displacement value θ ₁
If the steering lever displacement θ does not exceed
The target transmission rotation speed ratio E ′ including the positive and negative of the above is determined. E '= E

In this manner, even when the vehicle body 2 is traveling at a high speed with a small traveling load, the steering lever displacement θ of the steering lever 14 is set to exceed the maximum steering motor rotational speed reaching displacement value θ _1. When the steering lever 14 is operated, the target transmission rotation speed ratio is reduced, the vehicle speed is reduced, and the turning diameter of the vehicle body 2 is reduced. Further, when the operation is performed up to the maximum stroke displacement value θ _{0, the} target rotation speed ratio e _{0 at} which the pivot turning is possible is set, and the operability is improved so that the pivot turning can be performed. Moreover, avoiding the rapid deceleration of the vehicle speed has also steering lever 14 is abruptly operated by the deviation △ E _max, as the vehicle speed decreases is smoothly performed, thereby achieving suppression of impact by rapid deceleration.

S33: The target transmission rotational speed ratio E 'including the steering lever displacement θ is determined based on the current control state of the speed stage of the mechanical transmission unit 24, and a characteristic function formula set and stored in advance: _Em = converted by f (E ') or table determine the target transmission motor speed ratio E _m. This characteristic function formula:
E _m = f (E ′) or the table is also a characteristic curve similar to that shown in FIG. 3 and includes the target transmission rotational speed ratio E ′ including the steering lever displacement θ shown in FIG.
It is set in accordance with the characteristic curve of the target gear motor speed ratio E _m for. S34: target gear motor speed ratio E _m, further from the actual transmission motor speed ratio e _m, the target gear motor speed ratio E _m feedforward amount proportional to KE _m: and (K feedforward coefficient), the target transmission motor speed seeking operation amount a of the sum of the proportional element content and the integral element content of the actual transmission motor speed ratio e _m deviation for the ratio _{E m (= E m -e m} ),
The signal is output to the angular displacement control valves 57 and 58 as a swash plate angle control signal. Thus, the control of the actual transmission motor speed ratio e _m is the target gear motor speed ratio E _m, the actual transmission speed ratio e is the target transmission rotational speed ratio E including steering lever displacement theta '
Is controlled.

In this embodiment, the steering motor 80 is set so that the left and right sides of the steering lever 14 that are tilted and the left and right turning directions of the vehicle body 2 are intuitively coincident with each other when the vehicle body 2 is traveling forward and backward.
The turning direction of the vehicle body 2 is determined by the forward / backward position F and the reverse position R of the forward / reverse switching lever position FNR of the forward / backward switching lever 15 and the positive / negative of the steering lever displacement θ of the steering lever 14. Although the steering motor speed ratio E _s ' including the above is obtained, it may be obtained as follows. i) the actual transmission speed ratio e is positive and when the steering lever displacement θ is positive E _s' = E _s2 (forward rotation) ii) the actual transmission speed ratio e is positive and the steering lever displacement θ There negative when E _s '= -E _s2 (reverse rotation) iii) a negative actual transmission speed ratio e is and when steering lever displacement θ is positive E _s' = -E _s2 (reverse rotation) iv) When the actual transmission rotation speed ratio e is negative and the steering lever displacement θ is negative E _s ′ = E _s2 (positive rotation)

In this embodiment, when the steering lever displacement θ is kept constant in a low vehicle speed range, the steering motor 80
Of it the target steering motor speed N _s was determined vehicle speed from the actual transmission speed ratio e when controlling such that a constant turning diameter in proportion to the vehicle speed is maintained, the vehicle speed by providing a Doppler speedometer It may be determined from the actual vehicle speed of the vehicle body 2 detected by the Doppler vehicle speedometer.

In this embodiment, the steering motor 80
When controlling the target steering motor including a constant turning diameter, the flow rate / flow direction control valve 85 controls the flow rate and flow direction of the pressure oil to the steering motor 80 to control the steering motor rotation speed of the steering motor 80. Although was performed by controlling the rotational speed N _s, connected directly between the pair of the communication pipe of the steering motor 80 and the steering pump 86 without using a flow-flow direction control valve 85 that steers Variable discharge angle setting swash plate 86 for pump 86
The control of the solenoid displacement current i of the angular displacement control valve 90 for performing the swash plate angular displacement control a is performed by controlling the discharge capacity by a characteristic function formula or table set based on the characteristic curve shown in FIG. it may be performed by controlling the steering motor speed ratio to the target steering motor speed ratio E _s' including the turning diameter constant. In this embodiment,
In determining the target steering motor speed N _s including turning diameter constant aforementioned steering motor 80, first target motor speed ratio E
from _s through a parametric E _so it obtains a target steering motor speed ratio E _s2 including turning diameter constant, the target steering motor speed ratio E _s2
Although obtains a target steering motor speed N _s from, first determine the target motor rotational speed from the target motor speed ratio E _s, the target steering including turning diameter constant over the same auxiliary variables from the target motor rotational speed The motor rotation speed may be obtained.

In this embodiment, in order to control the swash plate angle of the discharge amount setting variable angle swash plate 50a of the transmission pump 50 and the discharge amount setting variable angle swash plate 54a of the transmission motor 54, the transmission pump 50 and the transmission motor Transmission motor speed ratio corresponding to the discharge volume ratio of 54, in other words

(Equation 4) By utilizing the fact is, since it gives the swash plate angle control signal corresponding to the target gear motor speed ratio E _m by the target gear motor speed ratio feedforward amount proportional to E _m KE _m controls the swash plate angle Responsiveness of the swash plate angle control can be increased. Also, convergence to the target engine rotational speed N _E can also be a good control for doing the proportional and integral control for the deviation (= E _m -e _m). Furthermore, the target transmission rotational speed ratio E (1) the actual transmission speed ratio target transmission rotational speed ratio E when the actual engine speed n _E coincides with the target engine rotational speed N _E by calculating the equation e Therefore, the actual engine speed n _E can be stably controlled to the target engine speed N _E.

In this embodiment, the equation (1) is used to obtain the target transmission rotational speed ratio E.

(Equation 5) May be used. Furthermore, 'by using the following equation E = E' previous target transmission rotational speed ratio _{E + k (n E -N E} ) or

(Equation 6) May be used. In this case, the target transmission rotation speed ratio E
It is not necessary to determine the actual transmission rotational speed ratio e in order to determine.

In the present embodiment, the target steering motor speed ratio E _s1 at the time of the pivot turn is determined by the equation (2), but may be determined by the following equation. Here, k is a coefficient whose unit is 1 / rpm.

(Equation 7) Or _{E s1 = E s + k (} n E -N E)

[0080] In the present embodiment, was determined from the ratio of the transmission motor rotational speed actual transmission motor speed ratio e _m for directly to the engine speed, transmission input shaft 23 by considering the reduction ratio or the like from the engine 21 The rotation speed of the transmission output shaft 26 and the rotation speed of the transmission output shaft 26 may be detected to obtain the ratio of the transmission output shaft rotation speed to the transmission input shaft rotation speed. Alternatively, the rotation speed of the transmission input shaft 23 and the rotation speed of the motor output shaft 55 of the transmission motor 54 may be detected, and the ratio may be obtained from the ratio of the transmission motor rotation speed to the transmission input shaft rotation speed. In these cases, the throttle position x from the throttle position signal from the throttle position detector 93 is used.
Transmission with obtaining the target transmission rotational speed of the input shaft 23, the actual transmission motor speed ratio e _m a is converted into a rotational speed transmission rotational speed ratio of the transmission input shaft 23 relative to the rotational speed of the transmission output shaft 26 transmission input shaft against it may be obtained the target gear motor speed ratio E _m through the calculation of the rotational speed of the target transmission rotational speed ratio of the transmission output shaft 26 with respect to the rotational speed of the 23. Further, the actual transmission motor speed ratio is similarly obtained from the ratio of the transmission output shaft rotation speed to the engine rotation speed or the ratio of the transmission motor rotation speed to the transmission output shaft rotation speed in consideration of the reduction ratio from the engine 21 and the like. May be.

In the present embodiment, the discharge amount setting variable angle swash plate 50a of the transmission pump 50 and the discharge amount setting variable angle swash plate of the transmission motor 54 are controlled via the swash plate angle displacement control valves 57 and 58 based on the operation amount A. Although the angle of 54a is controlled, the angle of one of the discharge amount setting variable angle swash plates 50a and 54a may be controlled.

In this embodiment, although the engine throttle is configured to be mechanically driven directly by the engine throttle lever 13, a dial type rotary switch is used and the rotary switch is used as a servo motor or the like. May be driven to drive the engine throttle.

In this embodiment, when obtaining the target steering motor speed N _s , the actual engine speed n _{E is} added to the target steering motor speed ratio E _s ^′ corresponding to the steering lever displacement θ.
It was multiplied by may be multiplied by the target engine rotational speed N _E in place of the actual engine speed n _E. In addition, the actual engine speed n _E or the target engine speed N is directly calculated based on the steering lever displacement θ without going through the target steering motor speed ratio E _s ^′ corresponding to the steering lever displacement θ.
A target steering motor rotation speed proportional to _E may be obtained.

In this embodiment, although the steering lever 14 and the forward / reverse switching lever 15 are provided separately, the forward and backward positions F, the neutral position N, and the reverse position R of the forward / backward switching lever 15 move left and right. Steering lever configured to be operable
The forward and backward switching lever 15 may be integrally provided, for example, as a forward / backward switching / steering lever. Further, a steering handle may be used in place of the steering lever 14.

In the present embodiment, a description has been given of a so-called hydrostatic type steering motor 80 which is driven by the engine 21 via a steering pump 86 and is capable of normal and reverse rotation.
A steering motor may be provided corresponding to each crawler belt 5, and the present invention is not limited to the hydrostatic steering motor, and may be an electric steering motor driven by the engine 21 via a generator. Needless to say, it can be applied.

In this embodiment, a description has been given of a hydrostatic-mechanical transmission called a so-called stepless transmission. However, if a similar stepless transmission such as a hydrostatic transmission or a belt-type transmission is used. It goes without saying that the present invention can be applied.

As described above, it is apparent that the present invention can be variously modified. Such modifications do not depart from the spirit and scope of the invention, and all such changes and modifications which are obvious to a person skilled in the art are intended to be covered by the appended claims.

[0088]

As described above, according to the present invention, the rotation speed of the steering motor is controlled by the target rotation speed of the target motor which is proportional to the rotation speed of the power source. The rotation speed of the steering motor can be changed over the entire predetermined range of displacement of the vehicle body, and high turning accuracy of the vehicle body can be achieved.

[Brief description of the drawings]

FIG. 1 is an external view of a bulldozer for explaining a specific embodiment when a steering control device for a tracked vehicle according to the present invention is applied to a bulldozer.

FIG. 2 is an overall schematic block diagram showing a power transmission system for explaining a specific embodiment when the steering control device for a tracked vehicle according to the present invention is applied to a bulldozer.

FIG. 3 is a characteristic curve diagram of a transmission motor speed ratio with respect to a transmission rotation speed ratio described in FIG. 2;

FIG. 4 is a schematic view showing the operation of the steering lever described in FIG. 1;

FIG. 5 is a flowchart of the program described in FIG. 2;

FIG. 6 is a characteristic curve diagram of a target engine speed with respect to a throttle position described in FIG.

FIG. 7 is a characteristic curve diagram of an actual transmission motor speed ratio with respect to the actual transmission rotation speed ratio described in FIG.

FIG. 8 is a characteristic curve diagram of a target steering motor speed ratio with respect to the steering lever displacement described in FIG.

FIG. 9 is a graph of the auxiliary variables described in FIG.

FIG. 10 is a characteristic curve diagram of a target steering motor rotation speed including a rotation direction with respect to the solenoid control current described in FIG.

FIG. 11 is a graph of the maximum target transmission rotation speed ratio with respect to the absolute value of the steering lever displacement described in FIG.

FIG. 12 is a characteristic curve diagram of a target transmission motor speed ratio to a target transmission rotation speed ratio described in FIG. 5;

FIG. 13 is a characteristic curve diagram of a discharge capacity with respect to a solenoid control current i corresponding to FIG. 10 of another embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Bulldozer 2 Body 3 Bonnet 4 Operator's seat 5 Crawler belt 6 Sprocket 7 Blade 8,9 Straight frame 10 Blade lift cylinder 11 Brace 12 Blade chilled cylinder 13 Engine throttle lever 14 Steering lever 15 Forward / reverse switching lever 16 Blade control lever 17 Parking brake DESCRIPTION OF SYMBOLS 18 Instrument 21 Engine 22 Engine output shaft 23 Transmission input shaft 24 Mechanical transmission unit 25 Hydrostatic transmission unit 26 Transmission output shaft 27 Differential unit 28 Steering unit 30 Reverse planetary gear train 31 Forward planetary gear train 32 Reverse hydraulic clutch 33 Forward hydraulic clutch 35 Intermediate shaft 36 Second speed hydraulic clutch 37, 41 Clutch plate 38 First third speed planetary gear train 39 Second third speed planetary gear train 40 Third speed hydraulic clutch 42 First speed hydraulic Clutch 3 Speed stage switching control valve 50 Transmission pump 51 Pump input shaft 52 Gear train 53, 87, 88 Communication pipe 54 Transmission motor 55, 81 Motor output shaft 56 Gear train 57, 58, 90 Angular displacement control valve 60 First differential Planetary gear train 61 Second differential planetary gear train 62 Input gear 70 Steering spindle 71 Bevel gear mechanism 72 First differential planetary gear train 73 Second differential planetary gear train 74, 75 Brake 76, 77 Brake plate 78, 79 Steering output shaft 80 Steering motor 82 Gear train 83 Intermediate gear 84 Steering counter shaft 85 Flow / flow direction control valve 86 Steering pump 89 Oil tank 91 Engine speed detector 92 Motor speed detector 93 Throttle Position detector 94 Steering lever displacement detector 95 Forward / reverse lever position detector 96 Controller

Claims (13)

(57) [Claims] (A) a power source; (b) driven by rotation of the power source,
A steering motor for driving each of the crawler belts provided on the left and right sides of the vehicle body so as to cause a relative running difference to turn the vehicle body left or right; Steering instruction means for instructing the turning direction of the vehicle body in accordance with the displacement distance and a turning radius which becomes smaller in accordance with the displacement distance; (d) displacement detecting means for detecting a displacement of the steering instruction means; and (e) Based on the displacement of the steering instructing means detected by the displacement detecting means, a target steering motor speed is obtained in proportion to the speed of the power source, and the target steering motor speed is determined by the target steering motor speed. A steering control device for a tracked vehicle, comprising: a steering motor rotation speed control means for controlling the steering speed. A power source rotational speed detecting means for detecting an actual rotational speed of the power source, wherein the steering motor rotational speed controlling means detects a displacement of the steering instructing means detected by the displacement detecting means. 2. A target steering motor rotational speed is obtained in proportion to an actual rotational speed of the power source detected by the power source rotational speed detecting means on the basis of the rotational speed.
The steering control device for a tracked vehicle according to Claim 1. 3. The steering motor rotation speed control means is proportional to the actual rotation speed of the power source detected by the power source rotation speed detection means based on the displacement of the steering instruction means detected by the displacement detection means. The target steering motor rotation speed is obtained while the target steering motor speed ratio, which is the ratio of the rotation speed of the steering motor to the rotation speed of the power source, is obtained based on the displacement of the steering instruction means. 3. The steering control device for a tracked vehicle according to claim 2, wherein the target steering motor speed ratio is obtained by multiplying the actual rotation speed of the power source by a target steering motor speed ratio. 4. The steering motor rotation speed control means controls the target steering motor rotation speed in proportion to a target rotation speed set by the power source based on a displacement of the steering instruction means detected by the displacement detection means. The steering control device for a tracked vehicle according to claim 1, wherein the number is obtained. 5. A target steering motor rotational speed while being proportional to a target rotational speed set by said power source based on a displacement of a steering instruction means detected by said displacement detecting means in said steering motor rotational speed control means. Obtaining a target steering motor speed ratio, which is a ratio of the rotation speed of the steering motor to the rotation speed of the power source, based on the displacement of the steering instruction means. The steering control device for a tracked vehicle according to claim 4, wherein a target steering motor rotation speed is obtained by multiplying the target rotation speed set by the power source. 6. The steering motor according to claim 1, wherein the steering motor is driven to rotate forward and reverse so as to drive the respective crawler belts to travel in opposite directions at a constant speed to generate a relative travel difference. A steering control device for a tracked vehicle according to any one of claims 1 to 5. 7. The steering control device for a tracked vehicle according to claim 6, wherein the steering motor is a hydrostatic steering motor or an electric steering motor. 8. The rotary driving force from the power source is transmitted through a continuously variable transmission so as to drive the respective crawler belts to travel in the same direction at a constant speed so as to advance or reverse the vehicle body. The steering control device for a tracked vehicle according to any one of claims 1 to 5. 9. The system according to claim 1, wherein the steering instruction means is a steering lever or a steering handle.
The steering control device for a tracked vehicle according to any one of the above. 10. The steering control of a tracked vehicle according to claim 8, wherein the stepless transmission is a hydrostatic-mechanical transmission, a hydrostatic transmission, or a belt transmission. apparatus. 11. The rotation speed of the power source at a target steering motor speed ratio, which is a ratio of the rotation speed of the steering motor to the rotation speed of the power source, is a set target rotation speed or the power source rotation speed detection means. 4. The steering control device for a tracked vehicle according to claim 3, wherein the rotation speed of the power source is the actual rotation speed of the power source, and the rotation speed of the steering motor is the target rotation speed. 5. 12. A target steering motor speed ratio which is a ratio of a rotation speed of a steering motor to a rotation speed of the power source, further comprising a power source rotation speed detecting means for detecting an actual rotation speed of the power source. Is the set target speed or the actual speed of the power source detected by the power source speed detecting means, and the speed of the steering motor is the target speed. 6. The method according to claim 5, wherein
The steering control device for a tracked vehicle according to Claim 1. 13. A throttle position detecting means for detecting a throttle position with respect to the power source, wherein a target rotation speed of the power source is set based on a throttle position detected by the throttle position detecting means. The steering control device for a tracked vehicle according to claim 4, 5, 11, or 12.