JP3404882B2 - Traveling gear for mobile agricultural machines - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention
Transmission of mobile agricultural machines such as combine harvesters and harvesters
Related to the device. 2. Description of the Related Art In the case of a crawler type mobile agricultural machine, the moving
There are three ways to change the road. Left and right claw
A spin turn that rotates the
A pivot turn to brake the rollers and one claw
Drive in the same direction as the other crawler and at a lower speed
This is a gentle turn. Depending on the situation, these three course changes
The steering control is performed by switching freely. A traveling transmission device for performing such steering control and
Conventionally, the power transmission path for driving the left and right crawlers
The left and right clutches are arranged independently, and while operating each clutch
Switch gears to reverse one crawler or drive at low speed
That perform a spin turn or a gentle turn
(Japanese Utility Model Laid-Open No. 3-71988). Pivot in this case
The turn takes place during the transition to the spin turn. Crawler
Rotation transitions from straight mode to spin turn mode
On the way, the reverse drive torque of the clutch and the braking torque of the aircraft
Stops in balance. At this time, a pivot turn is performed
It is done. [0004] As described above, the clutch
When the reverse drive torque and the braking torque of the
For those who make bot turns, the balance of both torques is
Subtle changes in road conditions (dry, wet, asphalt, etc.)
Is not always in a stable state,
The position of the steering lever that performs the turn is on the road surface
It changes more and there is no sense of stability. Also the adjustment of the clutch
Even with a steering lever position that balances torque
Position changes, mechanical interlocking system aging (deterioration due to wear, etc.)
However, madness occurs. Half the pivot turn
Clutch tends to wear and reduces durability
There are many problems such as [0005] Generally, a pivot turn has three course changes.
Is this the most important turning mode in use?
That it is difficult to set this way
Since the operability of the vine itself will be reduced,
A solution was desired. Therefore, the present invention provides
Set the pivot-turn single mode on the power transmission path to
It is an object to eliminate the above-mentioned problems. [0006] In the present invention, the left and right of the body
An independent rotating crawler is provided, and this crawler has an engine
A transmission to transmit the power of Then, a pair of left and right output shafts of the mission are
Each is connected to the crawler, and the input shaft of the transmission and output
A transmission shaft arranged between the power shafts is connected to the input shaft. The transmission includes a clutch and a brake.
The left and right side clutches and brakes
Upright, and through these side clutches and brakes
The pair of left and right output shafts are respectively connected to the transmission shaft.
You. On the other hand, a gentle turning drive driven by the speed change shaft
A reverse gear driven by a moving gear and a second transmission shaft is provided;
The pair of left and right output shafts are respectively connected to left and right switching clutches.
Through which the gear can be switched between the slow turning drive gear and the reverse rotation gear.
Tie. The left and right side clutches and brakes
By operating the key and the switching clutch, the left and right
Transmission of the rotation of the slow turning drive gear to one of the output shafts to output both
The shaft is driven in the same direction with a predetermined speed difference.
The turning state and the side clutch on one of the left and right output shafts
・ Pivot-turn state to apply brake,
The rotation of the reverse gear is transmitted to one of the left and right output shafts,
A spin-turn state driven in the opposite direction to the output shaft,
It is configured to be switchable to either. For example, the clutch of the left side clutch / brake
Switch to the `` on '' position and the right side clutch / brake clutch
Switch is turned off. Also, switch off the left switching clutch.
Then, the right switching clutch is turned on. At this time,
When the slow turning drive gear is connected to the input side of the shift clutch
In this case, the power of the transmission shaft is transmitted to the left output shaft and the right output shaft
, The power of the gentle turning drive gear is transmitted. As a result, the right
The crawler is decelerated and driven at a lower speed than the left crawler.
You. Therefore, the aircraft slowly turns to the right. In the same state, on the input side of the right switching clutch
If a reverse gear is connected, the right output shaft
Power is transmitted, the right crawler reverses, and the aircraft slides to the right.
Make a pin turn. The left side clutch / brake
Switch to the `` on '' position and the right side clutch / brake clutch
Switch to the off position, apply the brakes, and
When the switch is turned off, the right side clutch is attached to the right output shaft.
・ The brakes are applied and the aircraft pivots to the right
do. Such a brake operation is
Since operation is performed only by rake pressure control, operation is stable
I have. If the left and right operations are reversed, the aircraft
Make a gentle turn, spin turn or pivot turn to the side
You. FIGS. 1 and 2 show a combination according to the present invention.
To indicate 1, 1 is a combine crawler and 2 is a crawler.
3 shows a roller drive shaft. 3 is a mowing part and 4 is a threshing part.
You. FIG. 3 shows the power of an engine (not shown).
Of the transmission transmitting to the left and right crawlers 1, 1
It is sectional drawing. 5 drives the pump by receiving the power of the engine
The motor of the hydrostatic continuously variable transmission (HST)
The output side is connected to the outside of the
It is directly connected to the input shaft 7 of the mission. A low-speed gear 8 and a high-speed gear 9 are provided on the left and right of the input shaft 7.
With a speed increasing clutch 10 between the two gears.
You. The speed-increasing clutch 10 is a disk-type clutch.
The clutch case 11 is fixed to the force shaft 7 and the low-speed gear 8
Or a disk (not shown) integrated on the high-speed gear 9 side
And an integral disk (not shown) on the clutch case 11 side.
) Were alternately arranged in multiples with a slight gap
In construction, these disks are attached to piston 12 or 13
Press with more hydraulic pressure, thereby friction between disk surfaces
The clutch case 11 and the low-speed gear 8 or the high-speed gear
9 and the rotation of the input shaft 7
Inform high-speed gear 9. Reference numeral 14 denotes a first transmission shaft fixed to the left and right sides thereof.
The first transmission gear 15 and the second transmission gear 16 each have a low speed.
The gear 8 and the high-speed gear 9 always mesh. Reference numeral 17 denotes a speed change shaft, which has a working speed change gear.
Gear 18 and the running speed change gear 19 are loosely fitted.
Slow transmission gear integrally formed with the speed change gear 18
Slider 21 is provided between drive gear 20 and traveling speed change gear 19.
Spline coupling movably in the axial direction. Working speed chain
The working gear is connected between the gear 18 and the traveling speed change gear 19.
The edge gear 18 is faster than the traveling speed change gear 19
The effective diameter of the gear is large. Slider 21 and gears 19 and 20
Form engaging teeth that are mutually disengageable. Slider 21 is lucky
Slide in the axial direction by operating the sub-shift lever (not shown) of the transfer seat.
Move. The working speed change gear 18 is fixed to the first transmission shaft 14.
And the traveling speed change gear 1
9 always meshes with the first transmission gear 15. Reference numeral 23 denotes an optical element attached to the end of the transmission shaft 17.
Combines the speed of the transmission shaft 17 with the vehicle speed sensor.
The vehicle speed of the vehicle. Reference numeral 24 denotes a second transmission shaft, which has side wheels on its left and right.
Equipped with latch brakes 25 and 26. These structures
Is symmetrical, of which the right side clutch and brake
The details of the key 25 are shown in FIG. Reference numeral 27 denotes the rotation of the side clutch / brake 25.
In the rolling case, it is freely rotatably fitted to the second transmission shaft 24.
You. The left and right sides of the rotating case 27 are
Right disc clutch 28 and right brake
29 is arranged. Reference numeral 30 denotes an annular disk, and a second transmission shaft
24 is engaged with the outer periphery of the gear 31 fixed to the
0, an annular disk engaged with the inner periphery of the rotating case 27 is
The discs 32 are arranged alternately. 33 is one in the rotating case 27
The pawl formed on the side of the receiving plate of the body is connected to the second transmission shaft 2.
4 is always connected to the pawl of the fourth transmission gear 34 that fits loosely. De
Pressure on the opposite side of the receiving plate 33 with the discs 30 and 32
A right side clutch piston 36 is provided via a plate 35
You. 37 represses the right side clutch piston 36
It is a spring. On the other hand, the disk 38 on the right brake 29 side
Is a bearing integrally projecting inside the transmission case 6
Engage with the outer periphery of the barrel 39, and rotate between the disks 38.
Discs 40 engaging with the inner periphery of case 27 are alternately arranged
I do. 41 is a receiving plate integrated with the rotating case 27,
Pressure plate on the opposite side of the receiving plate 41
A right brake piston 43 is provided via 42. 4
4, 45 and 46 drive pistons 36, 43
Hydraulic port. The outer periphery of the rotating case 27 slides in the axial direction.
The connecting plate 47 is freely attached, and the pressure plate 35 and the
2 and a part of the right side clamp.
The pressure plate 35 of the switch 28 and the pressure plate 42 of the right brake 29
connect. Such a right side clutch / brake
Left side clutch / brake 26 side symmetrical with key 25
The fifth transmission gear 48 paired with the fourth transmission gear 34
Is loosely fitted to the second transmission shaft 24. And the fourth transmission gear 3
A sixth transmission gear 49 is arranged between the fourth and fifth transmission gears 48
Then, this is fixed to the second transmission shaft 24. Sixth transmission gear 4
9, a seventh transmission gear 50 is fixedly attached thereto.
Gear 50 and the eighth transmission gear 51 fixed to the transmission shaft 17
When engaged. Reference numeral 52 denotes a third transmission shaft, which is gently turned left and right.
The dynamic gear 53 and the reverse gear 54 are loosely fitted, and the
The switching gear 55 that can move in the direction is spline-coupled. left
Slow turning drive gear 53 is connected to the slow transmission gear 20 and to the right
Side reverse gear 54 is always connected to the sixth transmission gear 49
Mesh. Switching gear 55, gentle turning drive gear 53, reverse gear
The teeth 54 are formed with engaging teeth which can be engaged and disengaged from each other. Reference numeral 56 denotes a fourth transmission shaft, which has discs on its left and right.
Equipped with switching clutches 57 and 58 of the type. Left / right switching
The structures of the clutches 57 and 58 are symmetrical, and basically,
It is the same as the speed increasing clutch 10. 59 and 60 are the fourth transmission
The clutch case fixed to the left and right of the shaft 56 is shown. The fourth transmission shaft 56 has a pair of ninth transmission gears.
61 and the tenth transmission gear 62 are loosely fitted.
Ninth transmission gear 63 and twelfth transmission gear
The transmission gear 64 is fixed. And the ninth transmission gear 61 and
Disc (not shown) integrated with the tenth transmission gear 62 side
And a disk integrated with the clutch cases 59 and 60 (FIG.
Not shown) alternately in multiples with a slight gap
Place these discs on piston 65 or 66
Press more with hydraulic pressure to rub the disk surfaces together.
The clutch cases 59 and 60 and the ninth transmission gear 61
Or the tenth transmission gear 62 and the fourth transmission shaft 5
The rotation of the sixth transmission gear 61 or the twelfth transmission gear 64
Tell The ninth transmission gear 61 is connected to the fifth transmission gear 48
And the twelfth transmission gear 64 is connected to the fourth transmission gear 34.
They always mesh. Reference numerals 67 and 68 denote the left and right parts of the transmission.
Left and right crawler drive shafts 2, 2
To gears via gears. Fixed to left and right output shafts 67, 68
The thirteenth transmission gear 69 and the fourteenth transmission gear 70
Always meshes with the ninth transmission gear 61 and the tenth transmission gear 62, respectively.
I do. 71 is a fifteenth transmission gear fixed to the fourth transmission shaft 56
Thus, the gear always meshes with the switching gear 55. FIG. 5 is a hydraulic circuit diagram. The hydraulic pump 72 includes a left clutch switching valve 73 and
And the right clutch switching valve 74 are connected. And right clutch
Connect the right side clutch 28 to the switching valve 74, and
Of the right clutch switching valve 74,
75, the right switching clutch 58 and the right brake are reduced.
The right brake 29 is connected via the pressure valve 76. Similarly, the left clutch switching valve 73 is
The left side clutch 77 of the id clutch / brake 26
To the left clutch switching valve 73,
The left switching clutch 57 is connected via the switching clutch pressure reducing valve 78,
Also, release the left brake 80 via the left brake pressure reducing valve 79.
Connect each one. Left side clutch 77 and left brake 8
0 is the right side clutch / brake mentioned above
25 right side clutch 28 and right brake 29
Are identical. Reference numeral 81 denotes a tank, 82 denotes a filter, 83 denotes a
Each shows a leaf valve. The hydraulic pump 72 further includes a speed increasing clutch.
The speed increasing clutch 10 is connected via the switching valve 84. FIG. 6 is a connection diagram of the control system.
5, the left clutch switching valve 73 and the right clutch switching
Valve 74, left brake pressure reducing valve 79, right brake pressure reducing valve 7
6. Left switching clutch pressure reducing valve 78, right switching clutch pressure reducing valve
75 and the speed increasing clutch switching valve 84 are connected respectively.
You. The input side of the controller 85 has a switch.
Steering lever to detect the position of the tearing lever (not shown)
Of the aligning lever position detection sensor 86 and the left brake 80
Left brake pressure sensor 87 for detecting pressure, right brake
Right brake pressure sensor 88 for detecting pressure of 29, left turn
Left switching clutch pressure sensor for detecting the pressure of the shift clutch 57
Sensor 89 and the right detecting the pressure of the right switching clutch 58
The switching clutch pressure sensors 90 are respectively connected. this
These pressure sensors 87 to 90 are for feedback control.
It is. Further, left and right transmission gear rotation sensors 9
1, 92 and the vehicle speed sensor 23
Connect to the power side. Transmission gear rotation sensors 91, 92
, The inside of the turn is completely stopped when entering the spin turn
Is detected, or the turning radius switching
When changing the turning radius during gentle turning with the switch
Use. Reference numeral 93 denotes a turn model for selecting a turn type.
Mode switch (not shown)
Each of the three contacts makes a gentle turn, pivot turn and spin
Corresponding to the turn. Reference numeral 94 denotes a connection of a turning radius changeover switch for gentle turning.
Points, the three contacts correspond to large, medium and small turning radii respectively
I do. An input switch 95 of the speed increasing clutch 10 is operated.
It is installed on the grip of the main transmission lever (not shown) in the seat. 96
Indicates a parking brake input switch. Next, the operation will be described. Motor of hydrostatic continuously variable transmission (HST)
The input shaft 7 of the transmission rotates upon receiving the output of 5.
I do. HST is an HST that is driven by the power of the engine.
Change the angle of the pump swashplate with the main shift lever in the driver's seat
As a result, the rotation of the output shaft of the motor 5 of the HST is stepless.
Can change speed. Here, when the speed increasing clutch 10 is
If the force switch 93 is off, the piston 12
Presses the disk, thereby lowering the clutch case 11
The speed gear 8 is integrated, and the rotation of the input shaft 7 is
Convey. The rotation of the low-speed gear 8 is performed by rotating the first transmission gear 15.
Through the first transmission shaft 14, and further with the first transmission gear 15
Working with the traveling speed change gear 19 from the third transmission gear 22
It is transmitted to the speed change gear 18. Gear 18 and gear 19 rotation
The rotation speed is different, and the rotation of the gear 18 is slower than that of the gear 19.
No. Therefore, sliding is performed by a sub-transmission lever (not shown).
The sliding element 21 is moved to change the traveling speed change gear.
19 or the slow transmission gear 20. Running speed
When engaged with the change gear 19, the rotation of the gear 19 slides.
The transmission is transmitted to the transmission shaft 17 through the shaft 21 and the shaft 17 rotates at a high speed.
You. On the other hand, the slider 21 is engaged with the slow transmission gear 20.
And the slow transmission gear 20 is integrated with the working speed change gear 18.
Therefore, the shaft 17 rotates at low speed. The rotation of the transmission shaft 17 is controlled by the eighth transmission gear 51.
Through the seventh transmission gear 50 and the sixth transmission gear 49,
It is transmitted to the transmission shaft 24. Here, the right side clutch 28 is in the "ON" state.
In this state, the rotation of the second transmission shaft 24 is fixed to the second transmission shaft 24.
Through the rotating case 27 from the gear 31 and the fourth transmission gear
It reaches to 34. Similarly, left side clutch brake
26 is also in the "on" state, and the second transmission shaft 2
4 is transmitted to the fifth transmission gear 48. The rotation of the gears 34, 48 is controlled by the eleventh transmission gear.
63 and the tenth transmission gear 64, and further integrated with them.
Through the ninth transmission gear 61 and the eighth transmission gear 62
The transmission gear 69 and the twelfth transmission gear 70
And transmitted to the left and right output shafts 67 and 68. Thus, the left and right crawler drive shafts 2 are the same.
It spins at speed and the combine goes straight. Then, the slider 21 is moved by the auxiliary transmission lever.
To select the working speed or running speed, and cut, thresh, etc.
During operation, the vehicle travels at a low speed (work mode).
If you are traveling on the road without doing business,
Drive). Also, in both modes,
By operating the main shift lever, the HST motor 5
The vehicle speed can be adjusted more continuously. When the speed increasing clutch 10 is switched to the high speed side,
It is possible to run at a higher speed. Of the speed increasing clutch 10
Close the input switch 93 and set the clutch to "On" on the high speed side.
Then, a control signal is output from the controller 85 to increase the speed.
The latch switching valve 84 switches. This allows piston 1
When hydraulic pressure is applied to 3 and the disk on the high speed side is integrated,
The disk clutch on the low speed side is disengaged and the rotation of the input shaft 7
It is transmitted to the high-speed gear 9. The rotation of the high-speed gear 9 is controlled by the second transmission gear.
Gear 16 to the first transmission shaft 14, and the first transmission shaft 14
Rotate at high speed. When the speed increasing clutch 10 is provided as described above,
Higher running mode speeds and quicker distances between fields
The work efficiency of the combine improves, such as being able to move. Also
Set the speed increasing clutch 10 to the high speed side even in the same work mode.
Thereby, a wheat operation with a high operation speed can be performed. Next, the case of gentle turning will be described. First, move the turn mode switching lever.
Adjust to "slow turning". Thereby, the switching gear 55 of FIG.
Moves to the left, engages with the slow turning drive gear 53, and turns slowly.
The drive gear 53 and the third transmission shaft 52 are integrated. And loose
The rotation of the speed transmission gear 20 is reduced and transmitted to the third transmission shaft 52.
Further, the switching gear 55 passes through a fifteenth transmission gear 71.
And transmitted to the fourth transmission shaft 56. At the same time
Controller by the position detection lever 93
A position signal of “slow turning” is output to 85. Following the operation of the turn mode switching lever,
When the steering lever is tilted to the right, the steering
The sensor output of the bar position detection sensor 86 is
5 and a control signal is output from the controller 85.
Thus, the right clutch switching valve 74 is switched. This allows
Hydraulic pressure on port 45 of id clutch / brake 25
The piston 36 for the right side clutch shown in FIG.
Move to the right against Thereby, the second transmission shaft 24
Side disk 30 and rotating case 27 side disk 32
Between the right side clutch 28 and the right side clutch 28
Be in a state. Further, according to the control signal of the controller 85,
And the right switching clutch together with the right clutch switching valve 74.
The pressure reducing valve 75 also switches, and the pressure on the discharge side increases,
The piston 66 is pressed against the disc. Disc is integrated
When the right switching clutch 58 is turned on,
The rotation of the transmission shaft 56 is transmitted from the eighth transmission gear 62 to the twelfth transmission.
Via gear 70, the right output shaft 68 of the transmission
Transmitted to. On the other hand, the output shaft 67 on the left is
Similarly to the above, the rotation of the transmission shaft 17 is
7 transmission gear 50, sixth transmission gear 49, second transmission shaft 24,
Fifth transmission gear 48, eleventh transmission gear 63, ninth transmission gear
61 and the fifteenth transmission gear 69 to the output shaft 67 in order.
Because it is transmitted, the rotation speed is the same as when traveling straight. On the other hand, the right output shaft 68
Gear 20, gentle turning drive gear 53, switching gear 55 and first
(5) Transmission is performed at a lower speed than the left side by the transmission gear 71, etc.
Therefore, the rotation of the right crawler is slower than the left.
You. As described above, the right crawler is moved to the left craw.
The aircraft is driven at a lower speed than
Turn. At this time, together with the tenth transmission gear 62,
At the same time, the twelfth transmission gear 64 having an integral structure also rotates.
Although the rotation is transmitted to the fourth transmission gear 34, the right side clutch
Since the hook 28 is turned off, the fourth transmission gear 34
Rotate freely without hindrance. FIG. 7 shows the operating angle of the steering lever.
That is, the sensor of the steering lever position detection sensor 86
Output), the left and right clutch switching valves 73 and 74
"OFF" output and the left and right switching clutch pressure reducing valves 75, 78
It is a time chart. As shown here, the steering lever is
When tilting and disengaging the right or left side clutch
The switching clutch pressure reducing valve should be actuated 0.5 seconds after
With this, the side clutch "off" and the switching clutch "on"
If there is a 0.5 second time difference between
Because the speed of the crawler drops, connect the switching clutch.
However, there is an advantage that the impact is small. Such time
The setting of the difference is performed by the controller 85. FIG. 8 shows the steering wheel when turning right.
The operating angle of the bar and the sensor output voltage of the position detection sensor 86
Relationship between pressure, operating angle of steering lever and various valves
Are shown side by side. As shown in the "slow turning mode" of this figure,
Tilt the steering lever to the right over the neutral zone
First, the right clutch switching valve 74 is operated, and then the right switching is performed.
The output of the clutch pressure reducing valve 75 rises and the right switching clutch
When 58 is completely turned on, the fourth transmission shaft 56 and
When the rotation of the tenth transmission gear 62 matches, the reduction ratio of the crawler
Is the cumulative gear ratio in the transmission path of the left and right crawlers.
Turns slowly to the specified value. As described above, the left and right switching clutches 57, 58
Of the crawler when one of them is completely turned on
The speed ratio, that is, the specified reduction ratio, differs between the work mode and the drive mode.
You. The slider 21 is engaged with the slow transmission gear 20 to
Is selected, and the driving speed change gear 19 is engaged.
The running mode is selected,
The speed is different and the speed of the left crawler is different.
In this case, the rotation speed of the slow transmission gear 20 does not change.
Is not changed. Driving mode
Is higher than in the work mode.
Because it rotates at high speed, the specified reduction ratio of the crawler
Is larger than in work mode. Therefore, the running mode
The turning radius in the work mode is better than the turning radius in the work mode.
Smaller. For example, the specified reduction ratio in the work mode is
1/3, and the specified reduction ratio in the running mode to 1/6
If set, the turning radius in the driving mode is made sufficiently small
Can be used for narrow intersections such as pedestrian streets.
It is very convenient because you can make a turn all at once in C. The output of the right switching clutch pressure reducing valve 75
But gradually rises in proportion to the operating angle of the steering lever.
If the configuration is raised (broken line m in FIG. 8), the steering
In a region proportional to the operating angle of the bar, the right switching clutch 58
Is in a half-clutch state and is connected to the crawler drive shaft 2 side.
10 The transmission gear 62 receives the inertial force of the running crawler.
Therefore, it rotates faster than the fourth transmission shaft 56. The speed of both at this time
The difference is inversely proportional to the clutch connection pressure. Therefore, this area
If you change the operating angle of the steering lever within
The speed of the crawler rotation can be continuously changed,
Driving of the right crawler from the gentle turning drive gear 20
The transmission force changes and the turning radius can be adjusted. The speed reduction ratio of the crawler is determined by the turning radius switch.
Can also be changed by selecting the three contacts on
You. When the contact of the switch 94 is closed, the control
A control signal is output from the
H For example, the right side clutch 28 is interrupted by pulse output
I do. When the right side clutch 28 is interrupted, the second
The rotation of the transmission shaft 24 is controlled by the fourth transmission gear 34 and the twelfth transmission gear.
The gear is transmitted to the tenth transmission gear 62 through the gear 64. Then right
The switching clutch 58 slips into the half-clutch state,
0 The rotation of the transmission gear 62 becomes faster than the fourth transmission shaft 56,
The reduction ratio becomes smaller than the specified value. The pulse output data for intermittently engaging the side clutch
Duty ratio, i.e. connection and disconnection times of the side clutch
Is different depending on which of the three contacts is selected.
A contact with a large turning radius has a large connection time ratio and a turning radius.
A small contact has a large ratio of cutting time. Connection time ratio
If it is large, the influence of the rotation of the second transmission shaft 24 is large, and
The speed ratio is small. Therefore, the turning radius is large. Conversely, cutting
If the time ratio is large, the effect of the rotation of the second transmission shaft 24
And the reduction ratio is close to the specified value. Therefore, the turning radius is small
Please. Selecting a contact point within the turning radius will increase the turning radius.
Between the large turning radius and the small turning radius.
You. As described above, the turning radius switch 94 is turned on and off.
By selecting the points appropriately, the steering lever
The minimum of "slow turning" mode when tilting more than a predetermined angle
Can be adjusted to be larger. Next, the case of a pivot turn will be described. Move the turn mode switching lever to
`` Turn '', this switch lever is mechanically linked
Then, the switching gear 55 returns to the center position. Switching lever at the same time
From the position detection switch 93 to the controller 85.
A turn signal is output. Following the operation of the switching lever, the steering
Tilt the lever to the right to detect the steering lever position
The sensor output of the sensor 86 is input to the controller 85,
A control signal is output from the controller 85 to
The switching valve 74 is switched. Due to this, the gentle turning
As in the case of, the side clutch / brake 25
And the right side clutch 28 is turned off.
become. Further, according to the control signal of the controller 85,
The right brake pressure is reduced together with the right clutch switching valve 74.
The valve 76 switches to “on”. In this state, the steering lever is moved to the neutral
Tilt right after the steering lever
Sensor output of output sensor 86 is input to controller 85
Then, a control signal is output from the controller 85. Soshi
As shown in FIG. 8, the tilt angle of the steering lever
The output pressure of the right brake pressure reducing valve 76 increases in proportion to
Hydraulic pressure enters port 46 of id clutch / brake 25
To drive the right brake piston 43 of FIG. 4 rightward.
Then, the pressure plate 42 moves to the right. With this, disk 3
8 and 40 are pressed, and both are united by friction.
Since the pressure plate 35 also moves to the right via the binding plate 47,
The gap between the discs 30 and 32 opens, and the right side clutch 28
Cut surely. And the rotating case 27 is cut from the gear 31
A bearing cylinder that is separated and integrated with the transmission case 6
The rotating case 27 is connected to the right brake 39 and the right brake 29 is used.
Then, the rotation of the rotating case 27 is braked. The fourth transmission gear 34 is always attached to the rotating case 27.
Because of the connection, the braking of the rotating case 27 is performed.
Are from the fourth transmission gear 34 to the twelfth transmission gear 64 and the first
4 to the output shaft 68 via the transmission gear 70, and further to the right
To the crawler drive shaft 2 of the
La brakes. On the other hand, the power transmission path of the left crawler
Is the same as when going straight. Accordingly, the aircraft turns right. Steering wheel
As the lever is tilted greatly, the right brake 29
The turning radius becomes smaller. Then, the speed increasing clutch 10 is operated to drive at high speed.
While performing, such a pivot turn operation
If you do, it will be dangerous because only one side brake is applied strongly,
When the speed increasing clutch 10 is
When the vehicle is running at a constant speed (for example,
Above), the input switch of the speed increasing clutch 10
Switch 93, the position detection switch 91 of the switching lever and the vehicle speed
Control by the controller 85 based on the signal of the sensor 23
Output the signal, thereby increasing the speed increasing clutch 10 to the low speed side.
Switch and decelerate automatically. Thus, in the case of a pivot turn at a high speed
Automatic deceleration, the turn is stable and safe,
At the same time as the ground improves, the load during turning decreases and the HST
The capacity of 5 is small, and the engine needs only a small horsepower.
There is an advantage. In the gentle turning mode, the pivot
Does not automatically decelerate as in the case of That is, turn mode switching lever
With the gear set to "slow turning",
I turned on the high-speed side and operated the steering lever
If the vehicle speed exceeds a certain speed (for example, 2 meters per second)
The speed-increasing clutch 10 automatically switches to the low speed side.
Absent. The turning radius of gentle turning is larger than the pivot turn,
This is because there is no danger even when turning at high speed. Next, the case of a spin turn will be described. Move the turn mode switching lever to
When this is set to “turn”, the switch lever
The switching gear 55 moves to the right in FIG.
Engage. As a result, the reverse gear 54 and the third transmission shaft 52
The rotation of the reversing gear 54 is reduced and the third transmission shaft 5
2 and further from the switching gear 55 to the fifteenth transmission gear 7.
1 and to the fourth transmission shaft 56. At the same time
Control by the position detection switch 93 of the
A “spin turn” position signal is output to the roller 85. Following the operation of the turn mode switching lever,
When the steering lever is tilted to the right, the steering
The sensor output of the bar position detection sensor 86 is
5 and a control signal is output from the controller 85.
Thus, the right clutch switching valve 74 is switched. And gentle turning
As in the case of, the side clutch / brake 25
And the right side clutch 28 is turned off.
become. Similarly, the control signal from the controller 85
The right switching clutch pressure reducing valve 75 and the right brake pressure reducing valve 7
6 also switches. In this state, turn the steering lever to the neutral
Tilt right after the steering lever
Sensor output of output sensor 86 is input to controller 85
Then, a control signal is output from the controller 85,
The output pressure of the right brake pressure reducing valve 76 is steered by
It increases in proportion to the tilt angle of the lever. And right brake
Port of side clutch / brake 25 from pressure reducing valve 76
46 is supplied with hydraulic pressure, and the same
Similarly, the right brake piston 43 in FIG. 4 is driven rightward.
Then, the rotation of the rotating case 27 is braked, and
The crawler is braked. Here, the output pressure of the right brake pressure reducing valve 76
Corresponds to the operating angle of the steering lever as shown in FIG.
Because it increases rapidly in proportion, the right crawler
The movement also suddenly starts. For this reason, the airframe moves right like a pivot turn.
Start turning, but tilt the steering lever further
Exceeds the predetermined angle K point (spin start / end position)
The output pressure of the right brake pressure reducing valve 76 begins to decrease,
On the other hand, the output pressure of the right switching clutch pressure reducing valve 75 increases. FIG. 10 shows that the steering lever has a predetermined angle K.
The right brake pressure reducing valve 76 and the right switching
7 shows how the output pressure of the switch pressure reducing valve 75 changes. This is it
As is clear, the output pressure of the right brake pressure reducing valve 76 is
The output pressure of the right switching clutch pressure reducing valve 75 gradually decreases.
Increase gradually. In this way, the output pressure
Gradually, the right switching clutch 58 gradually moves.
Each time it is in the “on” state, avoiding sudden clutch connection
You. This will be described with reference to the flowchart of FIG.
The steering lever spins beyond the predetermined angle K point
Before the elapse of the predetermined time T from the beginning, “the switching clutch pressure reducing valve
Increase the pressure "and"
(Steps S3 and S4). And stearin
After the predetermined time T has passed after the glever has exceeded the predetermined angle K point,
"Position sensor" of the steering lever position detection sensor 86
Switching clutch pressure reducing valve output according to the output ''
Output "Brake pressure reducing valve output according to position sensor output"
(Steps S5 and S6). In this way, the right switching clutch 58
When it is turned on, the rotation of the reverse rotation gear 54 is
And transmitted to the fifteenth transmission gear 71 and the fourth transmission shaft 56,
Further, through the right switching clutch 58, the tenth transmission gear 62
And the fourteenth transmission gear 70, the output shaft 68 and the right
Transmitted to the roller drive shaft 2. At this time, the reverse rotation gear 54 is
Since the power is transmitted through the second transmission shaft 24, the transmission shaft 17
The rotation of the gently rotating drive gear 53, which is directly transmitted,
The direction is reversed. In response to the rotation of the reverse gear 54,
The right crawler rotates in reverse with the left crawler,
Makes a right spin turn. From such a spin-turn state, steer is performed.
When returning the ring lever to the original position, the right switching clutch 58
Gradually shifts from “on” to “off”. This will be described again with reference to the flowchart of FIG.
Then, the steering lever moves past the point K
Before the elapse of the predetermined time T from the end of the
Together with "Pressure of brake pressure reducing valve"
Is increased ”(steps S8, S9). Also Steari
After a predetermined time T has passed after the operating lever has passed the predetermined angle K point
Indicates the “position position” of the steering lever position detection sensor 86.
Switching clutch pressure reducing valve output according to sensor output ''
In addition, `` Brake pressure reducing valve output according to position sensor output ''
(Steps S10 and S11). When entering the spin turn as described above,
Lower the brake pressure while increasing the connection pressure of the switching clutch,
To stop the spin turn, on the contrary,
By increasing the brake pressure while lowering the connection pressure of
The impact on the fuselage can be reduced, and the operation becomes smooth. In summary, in the present invention, the clutch
Clutch and brake integrated with brake and brake
The side clutch and brake are provided independently for the left and right
To transmit the power of the engine to the crawler through the
And the slow turn mode and spin turn mode are separate
Road surface condition after setting the pivot turn alone mode
Pivots regardless of variations in clutch or clutch adjustments
The position of the steering lever performing the turn is always stable,
Operability of pivot turn is improved. Also pivot tar
The side clutch / brake clutch is half
, So there is no clutch wear and durability is improved
It has the effect of doing. [0099]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an overall side view of a combine embodying the present invention. FIG. 2 is a plan view of the combine shown in FIG. 1; FIG. 3 is a sectional view showing a transmission of the combine shown in FIG. 1 in a developed state. FIG. 4 is an enlarged sectional view of the side clutch / brake of FIG. 1; FIG. 5 is a hydraulic circuit diagram of the combine shown in FIG. 1; FIG. 6 is a control block diagram of the combine shown in FIG. 1; 7 is a time chart of outputs of a clutch switching valve and a switching clutch pressure reducing valve in the control system of FIG. 6; 8 is a graph showing the relationship between the operating angle of a steering lever, the output voltage of a steering lever position detection sensor 86, and the output pressure of various valves in the control system of FIG. FIG. 9 is a graph showing the relationship between the operating angle of the steering lever, the output voltage of the steering lever position detection sensor 86, and the output pressure of the right brake pressure reducing valve and the right switching clutch pressure reducing valve in the case of a spin turn. FIG. 10A is a table showing a relationship between an output pressure of a right brake pressure reducing valve and time in a spin turn;
(B) is a chart showing the relationship between the output pressure of the right switching clutch pressure reducing valve and time in the case of a spin turn. FIG. 11 is a flowchart of a spin turn in the combine of FIG. 1; DESCRIPTION OF SYMBOLS 1 Crawler 2 Crawler drive shaft 5 Motor of hydraulic continuously variable transmission (HST) 6 Transmission case 7 Input shaft 8 Low speed gear 9 High speed gear 10 Speed increasing clutch 14 First transmission shaft 15 First transmission gear 16 Second transmission gear 17 Transmission shaft 18 Working speed change gear 19 Running speed change gear 20 Slow transmission gear 21 Slider 24 Second transmission shaft 25, 26 Side clutch / brake 28 Right side clutch 29 Right brake 34 Fourth transmission gear 48 fifth transmission gear 52 third transmission shaft 53 gentle turning drive gear 54 reverse rotation gear 55 switching gear 56 fourth transmission shaft 57, 58 switching clutch 67, 68 output shaft 73 left clutch switching valve 74 right clutch switching valve 75 right switching clutch Pressure reducing valve 76 right brake pressure reducing valve 77 left clutch 78 left switching clutch pressure reducing valve 79 left brake pressure reducing valve 80 left shake · The 84 speed increasing clutch switching valve 86 steering lever position sensors

Continuation of front page (56) References JP-A-5-69852 (JP, A) JP-A-5-97053 (JP, A) JP-A-5-176622 (JP, A) JP-A-5-330447 (JP) JP-A-2-290786 (JP, A) JP-A-4-72078 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) B62D 11/00

Claims (1)

(57) [Claim 1] A crawler that rotates independently on the right and left of the machine body is provided, and a mission for transmitting the power of the engine to the crawler is provided. And a transmission shaft arranged between an input shaft and an output shaft of the transmission is connected to the input shaft.The transmission is provided with side clutches and brakes in which a clutch and a brake are integrally assembled, independently of left and right, The pair of left and right output shafts are respectively connected to the speed change shaft via the left and right side clutches and brakes, and a slow turning drive gear driven by the speed change shaft and a reverse rotation gear driven by a second transmission shaft are provided. A pair of left and right output shafts are switchably connected to the gentle turning drive gear or the reverse rotation gear via respective left and right switching clutches; By operating the clutch / brake and the switching clutch, the rotation of the slow turning drive gear is transmitted to one of the left and right output shafts to drive both output shafts in the same direction with a predetermined speed difference. State and
A pivot-turn state in which one of the left and right output shafts is braked by a side clutch and a brake; and a spin turn in which rotation of a reverse gear is transmitted to one of the left and right output shafts to drive the other output shaft in the opposite direction. A traveling transmission device for a mobile agricultural machine, wherein the traveling transmission device is configured to be switchable to any one of a state and a state.