JP3363324B2 - Steering device for traveling work equipment - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to steering in a traveling work machine having a pair of traveling crawlers, such as a combine capable of cutting and threshing, and a tractor for agricultural work or civil engineering. It concerns the device. 2. Description of the Related Art Conventionally, a traveling section in a traveling work machine such as a combine or a tractor is constituted by a pair of left and right traveling crawlers, and each of the left and right traveling crawlers is a combination of one hydraulic pump and a hydraulic motor. In other words, the left and right traveling crawlers are driven by left and right independent hydraulic drive systems (two-pump, two-motor type) to perform steering control along the crop row at the time of harvesting work, and The execution of the straight traveling control is described in, for example, Japanese Patent Publication No. 54-34972.
It is disclosed in Japanese Utility Model Laid-Open Publication No. 3-116422. [0003] However, according to these configurations, the left and right hydraulic drive systems must be separately operated by an operator. The output must be adjusted to be exactly the same. Also, from the gentle turning operation in which the traveling speed inside the turning is made the same direction and lower than the traveling speed outside the turning, when the spin outside is driven by driving the outside of the turning and the inside of the turning in mutually opposite directions, once both hydraulic pressures are used. Since the operation of stopping the output of the drive system and switching back is interposed,
There was room for improvement in the operability of stepless speed adjustment and smooth turning. Therefore, the present applicant connects the planetary speed change mechanism with traveling hydraulic drive means including a hydraulic pump and a hydraulic motor and turning hydraulic drive means also including a hydraulic pump and a hydraulic motor. By inputting the outputs of both hydraulic drive means to another input section of the planetary transmission mechanism,
We have developed a steering device that allows the turning radius to be adjusted steplessly with simple operation, and also allows the straight running speed to be adjusted steplessly. An object of the present invention is to improve the structure of such a steering device. In order to achieve the above object, a steering apparatus for a traveling work machine according to the present invention uses power from traveling hydraulic drive means comprising a hydraulic pump and a hydraulic motor. Power from a turning hydraulic drive unit including a hydraulic pump and a hydraulic motor, while transmitting the power to an output shaft to a pair of left and right traveling crawlers in the traveling work machine via a pair of left and right planetary transmission mechanisms. Is transmitted to the one planetary transmission mechanism and the other planetary transmission mechanism so as to impart rotations in opposite directions to each other, and according to the output adjustment amounts of both the traveling and turning hydraulic drive means, the vehicle travels straight. From the traveling to the turning operation in which the rotational directions of the one traveling crawler and the other traveling crawler are opposite to each other, it is possible to adjust steplessly. And a hydraulic motor mounted on a transmission case incorporating the transmission mechanism, and transmitting power from the prime mover to both hydraulic pumps via one common shaft.
The two hydraulic pumps are arranged above the two hydraulic motors.
It is a thing. [0007] With this configuration, the power of the traveling hydraulic drive means can be changed to the left and right while the power from the turning hydraulic drive means is stopped. When transmitted to the output shaft to a pair of left and right traveling crawlers of the traveling vehicle via a pair of planetary transmission mechanisms, straight traveling is executed, and even if the condition of the traveling surface such as mud is bad, the left and right traveling crawlers The straight running is facilitated by matching the rotation speed, and the straight running performance is improved. [0008] Further, at the time of turning, the power rotation speed from the turning hydraulic drive means comprising a hydraulic pump and a hydraulic motor is steplessly changed, so that the traveling crawler between the inside of turning and the outside of turning during the turning is changed. The speed ratio can be changed arbitrarily (steplessly). In other words, by controlling the output of the turning hydraulic drive means while the traveling hydraulic drive means is operating, it is possible to arbitrarily adjust the speed at which the left and right traveling crawlers are driven in the same direction, or As a result, the traveling speed of the outer traveling crawler can be changed in the forward direction while the inner traveling crawler is stopped or driven in the retreating direction. As a result, a stepless turning operation at an arbitrary traveling speed and an arbitrary turning radius can be performed. Therefore, there is an effect that the transition operation can be performed extremely smoothly from a gentle turning with a large turning radius to a sharp turning with a small turning radius. When the turning hydraulic drive means is operated while the traveling hydraulic drive means is stopped, the left and right traveling crawlers perform spin turns with the same rotational speed and opposite rotation directions. The turning speed at that time can also be arbitrarily adjusted. As described above, the configuration of the steering device of the traveling work machine is also extremely simple because only the output operation means of the hydraulic drive means for traveling and the operation means of the hydraulic drive means for turning are sufficient. This can be executed with a simple operation, and has an effect that the operability of the direction change is improved. [0010] By mounting two pairs of hydraulic pumps and hydraulic motors in the two hydraulic drive means to a transmission case having the transmission mechanism built therein, a position where power is output from each hydraulic motor to the transmission mechanism is brought closer. Can be placed
In addition, the structure of the combination of the hydraulic system and the mechanical system can be made compact such that the hydraulic path from the hydraulic pump to the hydraulic motor is shortened. Further, when the two hydraulic pumps arranged in tandem are driven to rotate by one common shaft, there is an effect that power can be transmitted from a prime mover such as an engine to the two hydraulic pumps with a simple input structure. Further
The two hydraulic pumps are arranged above the two hydraulic motors.
From the prime mover such as an engine,
Transmission shaft is a common shaft that is the power input shaft to the pump.
At the highest point of the road, and thus higher than the road surface.
This makes it difficult for the common shaft to receive mud.
It has the effect of cutting. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, an embodiment in which the present invention is applied to a combine will be described. FIG. 1 shows a traveling machine 1 of a general-purpose combine which is a traveling vehicle having a pair of left and right traveling crawlers 2a and 2b. FIG. 2 is a side view, in which a threshing device 3 is mounted on the traveling machine 1, and a handling drum 4 in a handling room of the threshing device 3 is disposed so that an axis thereof is along a traveling direction of the traveling machine 1, Is equipped with a rocking sorter 5 using a catching net and a sheave, and a wind sorter using the wind of Karan Juan 6, and a paddy tank for storing threshed grains is mounted on the side of the threshing device 3. The cutting pretreatment device 7 is opened at the front of the threshing device 3 and has a rectangular tubular feeder house 9 (having a chain conveyor 9a therein) which can be raised and lowered by a hydraulic cylinder 8 for lifting and lowering. A horizontally long bucket-shaped platform 10 connected to the front end of the feeder house 9, a horizontally long scraping auger 11 provided in the platform 10, a reel 12 with a tine bar at a front upper position thereof, and left and right sides of the lower surface of the platform 10. And a clipper-shaped cutting blade 14 disposed longitudinally. In addition, a pair of left and right weeding bodies 15 protruding forward are provided at the front left and right ends of the pre-cutting device 7. The left and right traveling crawlers 2a and 2b are respectively connected to left and right output shafts 21a and 21 of a steering device 20 described later.
starting wheels 22 and 2 that are driven to rotate by the power output from b.
2 and a guide wheel 2 urged rearward toward the rear end of the traveling body 1
And crawler belts 24, 24 wound around
4 and a suspension wheel (lower rolling wheel) 25 supporting the lower inner peripheral surface. Next, the configuration of the steering device 20 will be described. A first reference example shown in FIGS. 2 to 4 includes a pair of left and right planetary transmission mechanisms 31, 31 described below in a transmission case 30.
A traveling hydraulic drive unit 32 comprising a first hydraulic pump 33 and a first hydraulic motor 34, and a second hydraulic pump 36
And a hydraulic drive means 35 for turning composed of a second hydraulic motor 37 and the like. The pair of left and right planetary transmission mechanisms 31, 31 are bilaterally symmetric, and a plurality (three in this embodiment) are arranged on the same radius.
A pair of left and right bracelets 38, 38 on which the planetary gears 39, 39, 39 are rotatably supported, respectively.
It is arranged so as to be opposed to each other on the coaxial line within 0 as appropriate. Sun gear 4 meshing with each of the planetary gears 39
The left and right ends of the sun shaft 41 to which 0 and 40 are fixed are
It is rotatably supported by a bearing located at the center of rotation of the inner side of each of the insides 8 and 38. The ring gear 42 having the inner teeth on the inner peripheral surface and the outer teeth on the outer peripheral surface has the inner teeth 39, 39, 3
9 are arranged concentrically with the sun shaft 41 so as to mesh with the sun shaft 41, respectively.
It is rotatably supported via a bearing on a center shaft 43 projecting upward or outward from the outer surface of the bracelet 38. By changing and adjusting the angle of the rotary swash plate of the variable displacement first hydraulic pump 33 in the traveling hydraulic drive means 32, the discharge direction and discharge amount of the pressure oil to the first hydraulic motor 34 are changed. Thus, the rotation direction and the rotation speed of the first hydraulic motor 34 are configured to be adjustable. The rotational power from the first hydraulic motor 34 is transmitted from the input gear 45 of the input shaft 44 via the gears 46, 47, 48 of the auxiliary transmission mechanism to the sun shaft 4.
The power is transmitted to the center gear 49 fixed at 1. A brake mechanism (not shown) is provided on the brake shaft 50 to which the gear 48 is attached. Also, a PTO shaft 5 that transmits a rotational force to a working machine or the like via a gear 51 that meshes with the gear 46.
Output to 2. The traveling hydraulic drive means 32
Is transmitted to the pair of left and right planetary transmission mechanisms 31, 31 via the center gear 49 fixed on the sun shaft 41, and the center shaft 4 of the left arm ring 38 is
The transmission gear 53 fixed to the output gear 3 meshes with the transmission gear 54 fixed to the output shaft 21a on the left side to output. Similarly,
A transmission gear 53 fixed to the center shaft 43 of the right bracelet 38
Is output in mesh with the transmission gear 54 fixed to the right output shaft 21b (see FIGS. 2 and 4). By changing and adjusting the angle of the rotary swash plate of the variable displacement type second hydraulic pump 36 in the turning hydraulic drive means 35, the discharge direction and discharge amount of the pressure oil to the second hydraulic motor 37 are controlled. , The rotation direction and the number of rotations of the second hydraulic motor 37 can be adjusted. Second
The rotational power from the hydraulic motor 37 is transmitted to a pair of transmission gears 56 and 57 attached to the input shaft 55. And FIG.
As shown in the figure, the external teeth of the left ring gear 42 mesh directly with the transmission gear 56, the right transmission gear 57 meshes with the reverse gear 59 attached to the reverse shaft 58, and the reverse gear 59 and the right ring gear 42 External teeth mesh. Accordingly, when the left ring gear 42 reversely rotates at a predetermined rotation speed by the forward rotation of the second hydraulic motor 37, the right ring gear 42 rotates forward at the same rotation speed as described above. The rotational force from the engine (not shown) is applied to the end of the endless chain 60 by the shaft of one hydraulic pump (for example, the shaft 33a of the first hydraulic pump 33 of the hydraulic drive means for traveling) outside the transmission case 30. And the shaft 33a of the first hydraulic pump 33 and the second hydraulic pump 3
6 with the shaft 36a in the transmission case 30 with the chain 61
If power is transmitted by winding (see FIG. 3), only one power transmission point from the engine is required, and the steering device becomes compact. A single operation lever (not shown) provided on a seat in a control section of the traveling body 1 can be moved in two directions orthogonal to each other in a front-rear direction and a left-right direction in plan view. The speed adjustment and the steering operation can be performed simultaneously. In the embodiment, the neutral position is set when the operation lever is raised substantially vertically upward, the traveling body 1 is advanced when rotated forward, and retracted when rotated backward, and the traveling speed is When the operation lever is tilted left and right, the traveling body 1 is turned in the direction, and the right and left tilt angle is increased when the operation lever is tilted right and left. Adjusting the direction and amount of pressure oil discharged from the hydraulic pumps 33 and 36 of the hydraulic drive means 32 for traveling and the hydraulic drive means 35 for turning so as to make the turning radius as small as possible (small turning). It is. With this configuration, for example, if the turning hydraulic drive means 35 is stopped, the rotation of the left and right ring gears 42 is stopped and fixed. When the traveling hydraulic drive means 32 is driven in this state, the rotational force from the first hydraulic motor 34 is input to the center gear 49 of the sun shaft 41, and the rotational force is transmitted to the left and right sun gears 40, 40. At the same rotational speed, and are equally output to the left and right output shafts 21a and 21b via the planetary gear 39 and the arm gear 38 of the left and right planetary transmission mechanisms at the same rotational speed in the same direction. You can go straight. On the contrary, when the traveling hydraulic drive means 32 is stopped, the sun shaft 41 and the left and right sun gears 40, 40 are fixed. In this case, the brake shaft 50
Preferably, the brake means is actuated to fix.
In this state, when the turning hydraulic drive means 35 is driven, for example, in forward rotation, the planetary transmission mechanism including the left planetary gear 39 and the arm gear 38 rotates in reverse, while the right planetary gear 3 rotates.
9. The planetary speed change mechanism including the arm gear 38 rotates forward. Therefore, while the left traveling crawler 2a moves backward,
Since the right traveling crawler 2b moves forward, the traveling body 1 spins to the left on the spot. FIG. 5 shows the horizontal tilt angle of the operation lever on the horizontal axis and the traveling speed (m / se) of the left and right traveling crawlers on the vertical axis.
c)), the solid line and the dotted line show the state of the spin turn, the solid line A1 and the dotted line a1 show the left traveling crawler 2a, and the solid line B1 and the dotted line b1 show the right traveling crawler 2b. Solid line A1, dotted line a1 are forward (+ sign), solid line B1,
The dotted line b1 indicates reverse (-sign), and indicates that the absolute value of the traveling speed of both the left and right traveling crawlers is the same for the same inclination angle of the left or right direction (turning direction) of the operation lever. The solid line and the dotted line indicate the magnitude of the forward tilt angle of the operation lever, that is, the magnitude of the traveling speed. Therefore, the spin turn can be steplessly adjusted at an arbitrary speed by changing the forward tilt angle or the backward tilt angle of the operation lever and the left-right tilt angle. The alternate long and short dash lines in FIG.
This is a case in which the turning radius is arbitrarily and steplessly adjusted at an arbitrary speed and up to a sharp turning.
When turning right from a state in which the a and 2b are traveling forward at 1.5 (m / sec.), the left traveling crawler 2a becomes x (m
/ Sec.) (See dashed-dotted line A2), while the right traveling crawler 2b decelerates at the same value x (m / sec.) (See dashed-dotted line B2). That is, the left traveling crawler 2a travels at 1.5 + x (m / sec.),
The right traveling crawler 2b travels at 1.5-x (m / sec.) And turns right. Also, this acceleration / deceleration x
(M / sec.) Can be arbitrarily steplessly adjusted by the inclination angle of the operation lever, and a gentle turning like a speed line a2 of the left traveling crawler 2a and a speed line b2 of the right traveling crawler 2b shown by a two-dot chain line. it can. In this case, the velocity line A of the left traveling crawler 2a
In the state where the speed line 2 and the speed line a2 are large, it is possible to adopt a state of zero speed and a reverse state like the speed line B2 and the speed line b2 of the right traveling crawler 2b. In these cases, neither the hydraulic drive means 32 for traveling nor the hydraulic drive means 35 for turning has a power loss due to slippage of the brake or clutch, and only a normal hydraulic power transmission loss of the hydraulic pump and the hydraulic motor. As a result, there is an effect that the horsepower loss can be significantly reduced. In this type of steering apparatus, the first hydraulic pump 33 and the first hydraulic motor 3 of the hydraulic drive means 32 for traveling are used.
4 can use a large horsepower (capacity), and the horsepower (capacity) of the second hydraulic pump 36 and the second hydraulic motor 37 of the hydraulic drive means 35 for turning can be set to be small, and energy efficiency can be improved. Is improved. On the other hand, when the left and right traveling crawlers are separately and independently driven by two sets of hydraulic driving means including a hydraulic pump and a hydraulic motor as in the conventional case, the right and left traveling crawlers are driven at the same speed during straight traveling. It is necessary to provide a large horsepower (capacity) required for driving, and at the time of gentle turning, the horsepower (capacity) of the hydraulic drive means inside the turning becomes excessive, resulting in a large energy loss. In the second embodiment shown in FIGS. 6 and 7, the input shaft 44 from the first hydraulic motor 33 in the traveling hydraulic drive means 32 is connected to the output shafts 21a, 21a to the left and right traveling crawlers 2a, 2b. 21b, the input shaft 5 from the second hydraulic motor 3 in the hydraulic drive means 35 for turning.
5 is arranged orthogonal to the input shaft 44, and the input shaft 55
The bevel gear 62 at the tip of
Meshing with 64. The bevel gears 63, 64 and the transmission gears 65, 66 which rotate integrally therewith mesh with the external teeth of the left and right ring gears 42, 42 to transmit the rotational force. Accordingly, if the bevel gear 63 rotates forward with respect to the normal rotation of the second hydraulic motor 37, the bevel gear 64 rotates in the reverse direction,
Thus, the left ring gear 42 rotates forward and the right ring gear 42
Will rotate in the reverse direction. It should be noted that the shaft of the first hydraulic pump 33 in the traveling hydraulic drive means 32 and the hydraulic drive means 3 for turning are used.
5 is arranged in parallel with the axis of the second hydraulic pump 36, the power from the engine is input to the axis of one hydraulic pump, and the chain is transmitted from this axis to the axis of the other hydraulic pump. Good. Since the other engagement relationships hydraulic drive means 32 such as a gear of the planetary transmission mechanism and the travel is the same as the first reference example are denoted by the same reference numerals for the same parts, details of construction and operation described Is omitted. FIGS. 8 and 9 show the first embodiment, in which the axis of the first hydraulic pump 33 in the hydraulic drive means 32 for traveling and the axis of the second hydraulic pump 36 in the hydraulic drive means 35 for turning are shown. Is a common shaft 70, and power is input from an engine to a pulley 71 fixed to the common shaft 70 by a belt 72 or the like. In the embodiment shown in FIG. 9, the common shaft 70 includes left and right output shafts 21a,
Although it is parallel to 21b, it may be arranged orthogonally. On the other hand, the input shaft 73 from the first hydraulic motor 34 in the traveling hydraulic drive means 32 and the input shaft 74 from the second hydraulic motor 37 in the turning hydraulic drive means 35 are connected to the output shafts 21a, 21a. It is arranged orthogonal to 21b. The pair of bevel gears 76 and 77 that mesh with the bevel gear 75 attached to the tip of the input shaft 73 of the traveling hydraulic drive means 32 rotate integrally with the sun shaft 41. A pair of left and right planetary transmission mechanisms 31, 3
Reference numeral 1 denotes a left-right symmetrical shape, and a pair of left and right arm rings 38, 38 each having three planetary gears 39, 39, 39 rotatably supported on the same radius on a coaxial line in the transmission case 30 as appropriate. They are placed facing each other at a distance. The left and right ends of the sun shaft 41 to which the sun gears 40, 40 meshing with the respective planetary gears 39 are fixed, respectively, are both arm rings 38, 38.
Is rotatably supported by a bearing located at the center of rotation of the shaft inside. The ring gear 42 having the inner teeth on the inner peripheral surface and the outer teeth on the outer peripheral surface has the inner teeth 39, 3
The ring gear 42 is arranged concentrically with the sun shaft 41 so as to mesh with the sun shafts 9 and 39, respectively. The ring gear 42 is provided on the sun shaft 41 or on a central shaft 43 projecting outward from the outer surface of the bracelet 38. It is rotatably supported via a bearing. The second in the hydraulic drive means 35 for turning
The rotating power from the hydraulic motor 37 is transmitted to a bevel gear 78 attached to the end of the input shaft 74 by a bevel gear pair 7 disposed opposite to each other.
A transmission gear 81 that meshes with the first and second bevel gears 80 and meshes with the external teeth of the left ring gear 42 shown in FIG. It meshes with the external teeth of the right ring gear 42. Therefore, if the bevel gear 79 rotates forward with respect to the normal rotation of the second hydraulic motor 37, the bevel gear 80 rotates reversely, so that the left ring gear 42 rotates forward and the right ring gear 42 rotates reversely. Will be. A pulley 83 is provided on one of the bevel gear 77 or the sun shaft 41 that meshes with the bevel gear 75 of the traveling input shaft 73 so as to rotate integrally therewith. Is transmitted around the pulley 84 of the PTO shaft 52 which transmits the output signal. The traveling hydraulic drive means 32
Is transmitted to the pair of left and right planetary transmission mechanisms 31 via the sun shaft 41, and the transmission gear 53 fixed to the center shaft 43 of the left arm ring 38 is transmitted to the left output shaft 21a. The output is meshed with the transmission gear 54 fixed to the transmission gear 54. Similarly, the transmission gear 53 fixed to the center shaft 43 of the right wristband 38 meshes with the transmission gear 54 fixed to the right output shaft 21b and outputs (see FIGS. 8 and 9). With this configuration, for example, if the turning hydraulic drive means 35 is stopped, the rotation of the left and right ring gears 42, 42 is stopped and fixed. When the driving hydraulic drive means 32 is driven in this state, the rotational force from the first hydraulic motor 34 is input to the sun shaft 41 via bevel gears 75, 76, 77, and the rotational force is Sun gears 40, 40 in the planetary transmission mechanisms 31, 31
At the same rotational speed, and through the planetary gear 39 and the arm gear 38 of the left and right planetary transmission mechanisms, the left and right output shafts 2
Since the signals are output equally to 1a and 21b, the vehicle can travel straight. On the contrary, when the traveling hydraulic drive means 32 is stopped, the sun shaft 41 and the left and right sun gears 40, 40 are fixed. In this state, when the turning hydraulic drive means 35 is driven, for example, in forward rotation, the planetary transmission mechanism including the left planetary gear 39 and the arm gear 38 rotates forward through the ring gear 42, while rotating through the ring gear 42. The planetary transmission mechanism including the right planetary gear 39 and the arm gear 38 rotates in the reverse direction. Therefore, the left traveling crawler 2
While a moves forward, the right traveling crawler 2b moves backward, so that the traveling body 1 spins left at that location. The traveling hydraulic drive means 32
By changing and adjusting the angle of the rotary swash plate of the variable displacement type first hydraulic pump 33 and the variable displacement type second hydraulic pump 36 of the hydraulic drive means 35 for turning, the first hydraulic motor 34 (2) Since the discharge direction and discharge amount of the pressure oil to the hydraulic motor 37 can be respectively changed, the turning radius and the turning speed can be changed steplessly from gentle turning to sharp turning in the same manner as in the first embodiment. It can be adjusted and the speed of the spin turn can be adjusted steplessly. In this embodiment, since the lengths of the input shafts 73, 74 between the bevel gears 75, 78 from the first hydraulic pump 33 and the second hydraulic pump 37 can be set arbitrarily, the transmission case 30 can be made compact. it can. In addition, the distance between the two hydraulic drive units and the output shaft to the starting wheel 22 can be arbitrarily set. Further, since power is transmitted to the PTO shaft 52 by a chain, there is an advantage that the arrangement position of the PTO shaft 52 can be arbitrarily set. When the turning operation is performed when the traveling speed is equal to or higher than a predetermined (predetermined) value, the centrifugal force is increased, and there is a risk that the occupant may swing around the outside of the turn and fall off the traveling body 1. Therefore, when the turning operation is performed when the vehicle speed (running speed) is equal to or higher than a certain value, the discharge amount control of the first hydraulic pump 33 and the discharge amount control of the second hydraulic pump 36 are performed mechanically so that the running speed is reduced. Or it is preferable to be configured to be electrically linked. Further, if the mechanical or electrical restricting means for preventing the turning operation is provided when the operation lever is in the vicinity of the neutral position (stop position) in the hydraulic drive means 32 for traveling, the erroneous operation may be erroneous. By touching the operation lever, it is possible to prevent the danger of the operator turning unexpectedly. Instead of the reference example of FIG. 2, power is transmitted to the left and right ring gears 42, 42 in the same direction and at the same rotational speed via transmission gears 48 from the hydraulic drive means 32 for traveling. The sun gear 41 is divided into left and right parts so that the center gear 49 is omitted and the left and right sun gears 40 and 40 can rotate independently of each other. 65 is the left sun axis 41
, And the right transmission gear 65 may mesh with a gear (not shown) fixed to the right sun shaft 41. It goes without saying that the present invention can be applied to not only agricultural work machines but also civil running vehicles such as bulldozers.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a side view of a combine. FIG. 2 is a power transmission block diagram of a steering device according to a first reference example ; FIG. 3 is a side view of the steering device according to the first reference example ; FIG. 4 is a partial cross-sectional view of a pair of planetary transmission mechanisms of the steering device according to the first reference example ; FIG. 5 is an operation explanatory view of the first reference example . FIG. 6 is a power transmission block diagram of a steering device according to a first reference example ; FIG. 7 is a side view of a steering device according to a second reference example ; FIG. 8 is a power transmission block diagram of the steering device of the first embodiment . FIG. 9 is a side view of the steering apparatus according to the first embodiment . DESCRIPTION OF SYMBOLS 20 Steering devices 21a, 21b Output shaft 30 Transmission case 31, 31 Planetary transmission mechanism 32 Hydraulic drive means 33 for traveling 33 First hydraulic pump 34 First hydraulic motor 35 Hydraulic drive means for turning 36 Second hydraulic pump 37 Second hydraulic motor 38 Bracelet 39 Planetary gear 40 Sun gear 42 Ring gear 49 Center gear

Continuation of front page (58) Field surveyed (Int.Cl. ⁷ , DB name) B62D 11/00 B60K 17/10

Claims (1)

(57) [Claim 1] A pair of left and right pair of left and right planetary gears of a traveling work machine are driven by power from a traveling hydraulic drive unit including a hydraulic pump and a hydraulic motor via a pair of left and right planetary transmission mechanisms. While being configured to be transmitted to the output shaft to the traveling crawler, the power from the turning hydraulic drive means including the hydraulic pump and the hydraulic motor is mutually transmitted to the one planetary transmission mechanism and the other planetary transmission mechanism. In accordance with the output adjustment amount of both the traveling and turning hydraulic drive means, the rotation directions of one traveling crawler and the other traveling crawler from the straight traveling are mutually The reverse turning operation can be adjusted steplessly, while the hydraulic pump and the hydraulic motor of both the traveling and turning hydraulic drive means are mounted on the transmission case incorporating the transmission mechanism. Rutotomoni, running power from the prime mover through a common shaft arranged to transmit to the hydraulic pump, wherein the hydraulic pump, wherein this <br/> and disposed upward from the hydraulic motor Steering device for work equipment.