JP3188028B2 - 4 crawler car steering system - 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 device for a four-crawler vehicle provided with a traveling portion including four front, rear, left and right rollers.

[0002]

2. Description of the Related Art In a general four-crawler vehicle, a pair of left and right front crawlers are steered by a steering mechanism, and a pair of left and right rear crawlers are differentially turned in connection with the steering operation. It is configured to

[0003]

However, in the prior art, the linking operation means for differentially moving the rear crawler in connection with the steering operation of the front crawler is complicated, and a failure easily occurs. However, since it is not possible to finely differentiate the left and right rear crawlers in accordance with the steering angle of the front crawlers, there have been problems such as roughening of the running ground when turning. The present invention has been made in order to solve such a problem,
In connection with the steering operation of the front crawler, the rear crawler is steered by making the rear crawler differential, but the structure for this is simple, the occurrence of failures is small, and good circling is performed.
It is an object of the present invention to provide a steering device for a crawler vehicle.

[0004]

Means for Solving the Problems In order to achieve the above object, the present invention is configured as follows.
A pair of left and right front rollers (3) and (3), which are turned by a steering mechanism (20);
By Chi-Brake (30) (31) (32) (33)
By a pair of left and right rear rollers (6) and (6) that are turned
In the four-crawler vehicle configured as described above, the drag rod (21) of the steering mechanism (20) is connected to the support shaft (18).
The connecting arm (19) is connected to one arm of a rotating arm (19) that rotates horizontally at the center, and the other arm of the rotating arm is connected to a connecting rod (17).
The steering tool (16) is interlocked with the steering arm (16), and the operating tools (41) of the side clutch brakes (30) (31) (32) (33) in connection with the turning operation of the steering mechanism (20). ) (42) a rotary cam member for actuating each different (45) disposed coaxially to the support shaft (18), said rotary cam
The body (45) has side clutch brakes (30) (3)
1) Connect to (32) and (33) operating tools (41) and (42)
The rollers (5) of the oscillators (50) (51) provided as
4) (55) is a small diameter for clutch connection which abuts in common
Arc cam surface (45a) and large diameter circle for brake braking
Between the arc cam surface (45d) and both (45a) (45d)
And the rollers (54) and (55) abut separately.
(45b) (45b)
c) to form a single plate .

[0005]

When the four-crawler vehicle on which the device of the present invention is implemented travels straight ahead, the steering device is maintained in the state shown in FIG. 3, and the power of the engine (25) is changed to the hydraulic continuously variable transmission (27). )
The forward and backward speeds are set by the drive shaft (11), and are transmitted to the left and right output shafts (34) and (34) via the transmission path after the auxiliary transmission gear train, and are also input to the front drive system (F) by the drive shaft (11). The pair of left and right front rollers (3) and (3) and the rear rollers (6) and (6) are driven synchronously by the front and rear drive systems (F) and (B) to move forward and backward as desired. Is done. When running on the ground during running, unevenness in the horizontal direction is dealt with by the left and right swings of the front rollers (3) and (3) around the center pin (7). For the unevenness in the direction, the rear crawler (6)
The vehicle travels in a stable and stable state with a small inclination of the vehicle body corresponding to the back and forth swinging about the drive shaft (36).

When the steering wheel (23) of the steering mechanism (20) is rotated leftward, for example, in the running state, the front rollers (3) and (3) turn left in accordance with the rotation angle. Then, the vehicle is turned to the left. At this time, if the front crawlers (3) and (3) are turned over a set angle, the rotation of the rotary cam body (45) causes the left swing body to rotate. The roller (54) of (52) rides on the left middle-diameter circular cam surface (45b), and the left operating tool (41) is engaged through the link mechanism (43), whereby the left side clutch is engaged. (30) is disengaged, and a differential is generated between the right transmission system and the right side of the side clutch maintained in the side clutch connection state. The turning of the turning diameter is performed.

Further, when the steering wheel (23) is further rotated leftward from the above-mentioned side clutch disengagement state, the left turning angles of the front rollers (3) and (3) are further increased, and the left-hand swing is increased. Roller (54) of moving body (52)
Abuts against the large-diameter circular cam surface (45d), thereby disconnecting the left side clutch (30) and adding the brake (3).
1) is braked, the differential between the right transmission system and the right transmission system is increased, and the turning with a smaller turning radius is performed as compared with the turning with the side clutch disengaged (see FIG. 5). .
Further, though not shown in the case of rightward turning, the steering wheel (23) of the steering mechanism (20) is rotated rightward to be turned in the same manner as in the leftward case.

[0008]

1 is an overall side view of a four-wheeled vehicle in which the device of the present invention is implemented, FIG. 2 is a schematic plan view of the four-wheeled vehicle, and FIG. 4 is a partial view showing a rotary cam body extracted from the apparatus of the present invention, FIG. 5 is a plan view showing an operation mode of the apparatus of the present invention, and FIG. 6 is a transmission system diagram of a four-wheeled vehicle.

In the figures, (1) is a vehicle body formed in a substantially rectangular shape in plan view, (2) is a front axle laterally provided below a front portion of the vehicle body, and (3) and (3) are front axles. A pair of left and right front rollers supported at left and right ends, (4) a transmission case disposed at a predetermined portion of a lower abdomen of the vehicle body, (5)
(5) is a rear roller support portion, and (6) and (6) are a pair of right and left rear rollers supported by the rear roller support portion.

The front axle (2) has a left and right case extending from a differential case (8) supported on the vehicle body (1) so as to swing left and right around a center pin (7). A drive case (10) is provided at each of the left and right ends so as to be rotatable around the axis of the kingpin shaft (9), and a front transmission system (F) is provided inside the drive case (F). The power is input to the transmission system (F) by a drive shaft (11) extending from the transmission mechanism housed in the transmission case (4).

The front frames (3) and (3) are provided by attaching track frames (12) to the left and right drive cases (10) of the front axle (2). The drive wheels (13) of the front crawler (3) are driven by a final transmission (14) interlocked with the kingpin shaft (9).

The left and right drive cases (10) (1)
Knuckle arms (a) and (a) respectively mounted on 0)
Are connected by a tie rod (15), a steering arm (16) is provided on one drive case (10), and a connecting rod (17) is pivotally connected to the steering arm (16). I have. The other end of the connecting rod (17) is pivotally connected to one arm (19a) of a rotating arm (19) attached to a vertical axis support shaft (18) provided on the lower surface of the vehicle body (1). When the drag rod (21) of the steering mechanism (20) is connected to the other arm (19b) of the rotating arm (19) and the steering mechanism (20) is operated, the rotating arm (19), The left and right drive cases (10) (10) are turned around the axis of the kingpin shaft (9) by the connecting rod (17), the steering arm (16) and the tie rod (15), and the front crawler ( 3) The steering of (3) can be achieved. The steering mechanism (20)
Is a control unit (2) disposed at one front corner of the vehicle body (1).
2), and can be steered by turning the steering wheel (23) left or right.

The mission case (4) is as close as possible to the front rollers (3) and (3) within a range that does not hinder the front rollers (3) and (33) that operate as described above. And is suspended from the lower surface of the vehicle body (1) with a slight gap. The Mission Ke - scan (4) transmission mechanism is inside the accommodation composition of the is configured as exemplified in FIG.

In FIG . 6 , an input shaft (24) is provided at the front end of the transmission case (4), and the input shaft (2) is provided.
4) is operatively connected via an input transmission mechanism (26) to an output shaft of an engine (25) mounted on the vehicle body (1). A hydraulic continuously variable transmission (27) is provided at the other shaft end of the input shaft (24), and an auxiliary transmission shaft (2) is provided at the output thereof.
8) are connected in an interlocking manner, and further provided between the auxiliary transmission shaft (28) and the next intermediate shaft (29) is an auxiliary transmission gear train that can be selectively coupled. The power transmitted to the intermediate shaft (29) through the pair of left and right side clutch brakes (30) is further composed on the next shaft.
(31) Left and right output shafts via (32) and (33) (34)
(34) to form a rear transmission system (B). In addition, the drive shaft (11)
Is interlockingly connected to the intermediate shaft (29) via a bevel gear mechanism (35).

The left and right output shafts (34) and (34) of the transmission case (4) are connected to a rear crawler support (5).
The output shaft (34) is located at the upper front end of (5), and each of the output shafts (34) and the crawler drive shaft (36) provided laterally below the rear crawler support (5). ), Close after
And a final transmission unit (3) between the crawler drive shaft (36) and the drive wheel shaft (38) of the crawler (6).
9) Interlock and connect the side clutch and brake (3
The rear transmission system (B) provided with (0), (31), (32) and (33) allows the left and right rear rollers (6) and (6) to be driven separately. Note that the rear crawler (6)
(6) The middle part of each track frame (40) in the front-rear direction is rotatably fitted to the above-mentioned crawler drive shaft (36) so that the center of the crawler drive shaft (36) is attained. It is provided so that it can swing up and down in front and back.

Thus, the left and right side clutch brakes (30) (31) and (32) (3) of the rear transmission system (B)
In 3), the push and pull operations of the left and right operating tools (41) and (42) are performed to perform intermittent and braking operations, respectively. The left and right operating tools (41) and (42) are extended forward through a portion between the upper surface of the transmission case (4) and the lower surface of the vehicle body (1), and a link mechanism is provided at each extended end. (43)
(44) are continuously provided, and their link mechanisms (43) (4)
4) is engaged with the rotary cam body (45), and the link mechanisms (43) and (44) are operated by the rotary cam body (45) at a set time. (42) is pushed and pulled.

The link mechanisms (43) and (44) are bell cranks (47) and (48) fitted to a pivot (46).
And a left and right rocking body (50) fitted to the support shaft (49).
A rod (52) provided with a telescopic adjustment part between (51)
(53). Rollers (54) (55) are provided at the tips of the respective rocking bodies (52) (53).
Are rotatably mounted on shafts, and the respective rollers (54) (5)
5) is in contact with the outer peripheral surface of the rotary cam body (45).

The rotating cam body (45) includes a rotating arm body (19).
When the rotary arm (19) is swung by the drag rod (21), it is rotated to the left or right together with the support shaft (19). ing. As shown in FIG. 4, a portion slightly exceeding half of the outer peripheral surface of the rotary cam body (45) is formed on the small-diameter circular cam surface (45a), and is connected to both ends of the rotary cam body via step portions. The part is a medium-diameter arc cam surface (45b)
(45c), and the remaining portion is formed on a large-diameter circular cam surface (46d) connected to the intermediate-diameter circular cam surfaces (45b) and (45c) via a stepped portion. Corresponds to the row of the oscillating bodies (52) and (53) described above.
(54) and (55) are small-diameter circular cam surfaces (45).
a) The left and right side clutches are connected in contact with
The key is fitted and fixed to the support shaft (18) in a positional relationship where the key is maintained in a non-braking state.

When the rotary cam body (45) is rotated to the left or right, the roller (54) of the left rocking body (52) is placed on the medium-diameter circular cam surface (45b) or the right rocking body (53). )
When the roller (55) comes into contact with the medium-diameter circular arc cam surface (45c), only the side clutch is disengaged without braking and the rotary cam body (45) is moved beyond it. Is largely rotated left or right, and the oscillating body (52)
When any one of the rollers (54) and (55) of (53) comes into contact with the large-diameter circular arc cam surface (45d), the side clutch on that side is disconnected and the brake is released. Is in a braking state.

[0020]

The steering apparatus for a four-crawler vehicle according to the present invention comprises a pair of left and right front crawlers (3) and (3) which are turned by a steering mechanism (20) to a front transmission system (F).
, And a pair of right and left rear rollers (6) (6)
And left and right side clutch brakes (30) (31)
(32) In a four-crawler vehicle configured to be driven by a rear transmission system (B) provided with (33), a drag rod (21) of the steering mechanism (20) is connected to a support shaft (1).
8) While being connected to one arm of a rotating arm (19) that rotates horizontally at the center, the other arm of the rotating arm is connected to a connecting rod (1).
7) is interlocked with the steering arm (16) via
Side clutch brakes (30) (31) (32) (33) in connection with the turning operation of the steering mechanism (20)
A rotary cam body (45) for separately operating the operation tools (41) and (42) is provided coaxially with the support shaft (18), so that the rear crawler is related to the steering operation of the front crawler. The linkage means for making the differential is simple and robust, has few failures, is easy to assemble and disassemble, and becomes simpler when the rotary cam body (45) is formed of a single plate.

The steering by only turning the front rollers (3) and (3) while keeping the side clutch connected, and the turning side clutch in accordance with the turning of the front rollers (3) and (3). And the turning on the turning side in conjunction with the turning of the front rollers (3) and (3) and the disengagement of the side clutch.
Steering mechanism (20) that performs steering by also braking the key
Can be performed according to the situation of the traveling place while instantaneously switching only by the operation of, so that good turning can be performed without unnecessarily damaging the traveling place.

[Brief description of the drawings]

FIG. 1 is an overall side view of a four-crawler vehicle embodying the present invention.

FIG. 2 is a schematic plan view of a four-wheeled vehicle.

FIG. 3 is a plan view of a main part of the device of the present invention.

FIG. 4 is a partial view showing a rotary cam body extracted from the apparatus of the present invention.

FIG. 5 is a plan view showing an operation mode of the device of the present invention.

FIG. 6 is a transmission system diagram of the tracked vehicle according to the present invention.

[Explanation of symbols]

 B Rear transmission system F Front transmission system 1 Body 3 Front crawler 6 Rear crawler 16 Steering arm 17 Connecting rod 18 Support shaft 19 Rotating arm 20 Steering mechanism 21 Drag rod 30 Side clutch 31 Brake 32 Side clutch 33 Brake 41 Operating tool 42 Operating tool 45 Rotating cam body 45b Medium-diameter arc cam face 45c Medium-diameter arc cam face 45d Large-diameter arc cam face 50 Oscillator 51 Oscillator 54 Roller

──────────────────────────────────────────────────続 き Continuation of the front page (56) References Japanese Utility Model Showa 56-97178 (JP, U) Japanese Utility Model Showa 55-119263 (JP, U) Japanese Patent Publication No. 39-7358 (JP, B1) (58) Field (Int.Cl. ⁷ , DB name) B62D 11/08 B62D 7/08 B62D 55/065

Claims (1)

(57) [Claims] A pair of left and right front rollers (3) and (3) that are turned by a steering mechanism (20) ;
Side clutch brakes (30) (31) (32)
A pair of right and left rear rollers turned by (33)
(6) In the four-crawler vehicle configured by (6) ,
Drag rod (2) of the steering mechanism (20)
Rotating arm (1) that horizontally rotates 1) about support shaft (18)
9), and the other arm of the rotating arm is connected to the steering arm (16) via a connecting rod (17), and is further associated with the turning operation of the steering mechanism (20). And side clutch brakes (30) (31)
(32) A rotary cam body (45) for individually operating the operation tools (41) and (42) of (33) is provided coaxially with the support shaft (18), and the rotary cam body (45) is provided with a side clutch B
The operating tools (4) of the rakes (30) (31) (32) (33)
1) Oscillator (50) (5) provided to be connected to (42)
The rollers (54) and (55) of 1) are
Small diameter cam surface for switch connection (45a), and
A large-diameter circular cam surface (45d) for braking and both (45d)
a) formed between (45d) and the rollers (54) (5)
5) A medium-diameter cam surface for clutch disconnection that abuts separately
(45b) and (45c).
La vehicle steering system - 4 black, characterized in that that.