JP5808280B2 - Traveling vehicle - Google Patents

Description

  The present invention relates to a traveling vehicle such as a combine that harvests cereal grains planted in a field and collects grains, or an agricultural tractor that cultivates the field, and more specifically, left and right traveling units (right and left traveling crawlers or left and right traveling crawlers). , Etc.) for a traveling vehicle that forcibly makes a differential movement of the wheel and the like.

  Conventionally, in a combine as a traveling vehicle, an engine is mounted on a traveling machine body supported by a traveling unit such as a left and right crawler, and a straight traveling device that transmits the power of the engine to the left and right traveling units to move straight forward; A turning traveling device is provided that transmits the power of the engine to the left and right traveling units to turn. An example of a combine having such a configuration is disclosed in Patent Document 1 or 2.

JP 2000-177619 A JP 2001-26282 A

  In Patent Document 1 or 2, a turning operation tool that controls turning output of the turning traveling device with respect to the left and right traveling units is provided, and the output control unit of the turning traveling device is mechanically connected to the turning operation tool via an output control mechanism. It is connected. The output control mechanism for controlling the operation of the turning traveling device (or the straight traveling device) uses a rod, an arm, a pivot pin, and the like, and thus has a complicated structure. In addition, since the rod body connected to the turning traveling device (or the straight traveling device) moves around the axis of the turning input shaft, the rod body is elongated in the axial direction of the turning input shaft. Need to form. Therefore, when it is mounted on a traveling vehicle such as a combine, not only a large occupied space is required, but also the parts cost required for the output control mechanism increases, and the assembly man-hours and adjustment man-hours in the production line are also large. There are problems such as.

  Accordingly, the present invention seeks to provide a traveling vehicle that has been improved by examining these current conditions.

In order to achieve the above object, a traveling vehicle according to a first aspect of the present invention includes a traveling machine body supported by left and right traveling units, a rectilinear hydraulic transmission having a rectilinear hydraulic pump and a rectilinear hydraulic motor, and a swing hydraulic pump. And a turning hydraulic transmission having a turning hydraulic motor, and a forcible differential mechanism that combines and outputs the output of the straight hydraulic transmission and the output of the turning hydraulic transmission. At least one of the housings of the hydraulic transmission is provided with an output control piston for the hydraulic motor and an output control oil passage, and the other is based on the output of the hydraulic pump of at least one of the straight-traveling hydraulic transmission and the turning hydraulic transmission. a of the hydraulic motor output controllably configuration, a structure comprising a swing cylinder for connecting the swing piston to the output control swash plate of the hydraulic swing motor A sensor for detecting the discharge pressure of the linear hydraulic pump provided on the basis of the detection result of the sensor, which is constituted to be capable of controlling the swing cylinder.

According to a second aspect of the present invention, in the traveling vehicle according to the first aspect of the present invention, the traveling vehicle according to the first aspect includes a linear cylinder that connects a linear piston to an output control swash plate of the linear hydraulic motor. Is provided so that the linear cylinder can be controlled based on the detection result of the sensor.

  According to the first aspect of the present invention, a traveling machine body supported by the left and right traveling units, a straight traveling hydraulic transmission having a rectilinear hydraulic pump and a rectilinear hydraulic motor, and a swing having a swing hydraulic pump and a swing hydraulic motor. In a traveling vehicle comprising a hydraulic transmission and a forced differential mechanism that combines and outputs the output of the straight hydraulic transmission and the output of the turning hydraulic transmission, at least one of the straight or turning hydraulic transmission An output control piston for hydraulic motor and an output control oil passage are provided in the housing, and the output of the other hydraulic motor can be controlled based on the output of the hydraulic pump of at least one of the straight traveling hydraulic transmission and the turning hydraulic transmission. Because it is configured, it has the same shifting function and steering function as the conventional one compared to the conventional structure in which the steering link mechanism or the shift link mechanism is provided. Yet the One thing can be easily reduced manufacturing cost. Maintenance work can be simplified.

  For example, in the structure that controls the output of the swing hydraulic motor based on the discharge hydraulic pressure of the straight hydraulic pump, the traveling machine body can be prevented from moving due to an erroneous operation of the turning operation tool, and the steering operation direction (turning direction) during forward movement On the other hand, it is possible to easily prevent the reverse steering operation in which the steering operation direction (turning direction) in reverse is reversed. On the other hand, in the structure that controls the output of the linear hydraulic motor based on the discharge hydraulic pressure of the turning hydraulic pump, the moving speed of the traveling machine body can be easily reduced during the turning operation without operating the operating gear for shifting gear.

Further , the structure includes a turning cylinder for connecting a turning piston to an output control swash plate of the turning hydraulic motor, and a sensor for detecting a discharge hydraulic pressure of the linear hydraulic pump is provided, and based on a detection result of the sensor, Since the slewing piston is configured to be operable, the swash plate angle of the slewing hydraulic motor can be set to 0 when the shift is neutral, and the output of the slewing hydraulic pump can be invalidated. The traveling machine body can be prevented from moving due to an erroneous operation of the turning operation tool or the like. Further, in the transmission structure in which the left and right traveling parts are rotated in different directions (reverse rotation) by the turning hydraulic motor to turn the traveling machine body in the left and right directions (change of course, direction change), the steering operation direction (turning) during forward movement It is possible to prevent a reverse steering operation during reverse travel in which the steering operation direction (turning direction) during reverse travel is reversed with respect to (direction).

According to the second aspect of the present invention, there is provided a structure including a rectilinear cylinder for connecting a rectilinear piston to the output control swash plate of the rectilinear hydraulic motor, and a sensor for detecting the discharge hydraulic pressure of the swing hydraulic pump is provided Since the linear piston is configured to be operable based on the detection result of the sensor, the output of the linear hydraulic motor can be controlled based on the discharge hydraulic pressure of the swing hydraulic pump. The traveling machine body is made proportional to the turning radius (steering angle of the turning operation tool) of the traveling unit by a turning operation (steering control of the turning hydraulic pump) of an operator that changes (changes the direction of) the course of the traveling machine body. The moving speed (vehicle speed) can be reduced. When changing the course of the traveling machine body by turning the turning operation tool, the moving speed of the traveling machine body can be reduced in proportion to the steering angle without operating the traveling gear shifting operation tool.

It is a right view of the combine for 2 line cutting. It is a top view of a combine. It is a drive system diagram of a mission case. It is a hydraulic circuit diagram of a combine. It is a partial expansion perspective view of a hydraulic transmission.

  Hereinafter, an embodiment embodying the present invention will be described based on the drawings (FIGS. 1 to 5) when applied to a combine as a traveling vehicle. In the following description, the left side in the forward direction of the traveling machine body 1 is simply referred to as the left side, and the right side in the forward direction is also simply referred to as the right side.

  As shown in FIGS. 1 and 2, the combine includes a traveling machine body 1 supported by a pair of left and right traveling crawlers 2 as traveling portions. At the front part of the traveling machine body 1, a two-row mowing device 3 that takes in while harvesting cereals is provided around a mowing input case 16 that is a horizontal axis by a single-acting lifting hydraulic cylinder 4 as a lifting actuator. It is attached to be adjustable up and down. A threshing device 5 having a feed chain 6 and a grain tank 7 for storing the grains taken out from the threshing device 5 are mounted on the traveling machine body 1 side by side. The threshing device 5 is disposed on the left side in the forward direction of the traveling machine body 1, and the grain tank 7 is disposed on the right side in the forward direction of the traveling machine body 1. A swivelable discharge auger 8 is provided at the rear part of the traveling machine body 1, and the grains inside the grain tank 7 are configured to be discharged from the spear opening of the discharge auger 8 to a truck bed or a container. . A driving control unit 9 is provided on the right side of the reaping device 3 and on the front side of the grain tank 7.

  The driving control unit 9 includes a control lever 10 as a turning operation tool, a driving seat 11, a main transmission lever 12 as a straight operation tool, an auxiliary transmission lever 13, a threshing clutch lever 14 for turning on and off the threshing clutch, A cutting clutch lever 15 for turning the cutting clutch on and off is disposed. The driving control unit 9 is provided with a handle column provided with a control lever 10 and a lever column provided with the levers 13, 14 and the like. An engine 17 as a power source is disposed below the driver seat 11 in the traveling machine body 1. A transmission case 18 is disposed in front of the engine 17 for appropriately shifting the power from the engine 17 and transmitting it to the left and right traveling crawlers 2.

  As shown in FIG. 1, left and right track frames 21 are arranged on the lower surface side of the traveling machine body 1. The track frame 21 includes a driving sprocket 22 that transmits the power of the engine 17 to the traveling crawler 2, a tension roller 23 that maintains the tension of the traveling crawler 2, and a plurality of track rollers that hold the ground side of the traveling crawler 2 in a grounded state. 24 and an intermediate roller 25 that holds the non-grounded side of the traveling crawler 2 are provided. The driving sprocket 22 supports the front side of the traveling crawler 2, the tension roller 23 supports the rear side of the traveling crawler 2, the track roller 24 supports the grounding side of the traveling crawler 2, and the intermediate roller 25 supports the non-traveling crawler 2. Support the ground side.

  The reaping device 3 includes a hair clipper-type cutting blade device 31, a chopstick pulling device 32 for two strips, a pestle transporting device 33, and a weed body 34. The cutting blade device 31 is disposed on a cutting frame 35 that forms a machine frame of the cutting device 3. The grain raising apparatus 32 is disposed above the cutting frame 35. A corn straw transporting device 33 is arranged between the corn straw pulling device 32 and the feed start end of the feed chain 6. A weeding body 34 is projected in front of the lower part of the grain raising device 32. The traveling machine body 1 continuously cuts uncut cereal grains in the field by driving the reaping device 3 while driving the left and right traveling crawler 2 by the engine 17 and moving in the field.

  The threshing device 5 includes a handling cylinder 41 for threshing the harvested cereal, a swing sorting mechanism 42 and a wind sorting mechanism 43 disposed below the handling cylinder 41, and a threshing that is taken out from the rear part of the handling cylinder 41. A dust feed processing cylinder 44 for reprocessing an object is provided. The handling cylinder 41 is arranged in a handling chamber of the threshing device 5. The stock source side of the harvested cereal meal sent from the harvesting device 3 is inherited by the feed chain 6. Then, the tip side of the harvested cereal culm is carried into the threshing device 5 and threshed by the handling cylinder 41.

  In the lower part of the threshing device 5, the first receiving bowl 45 and the first conveyor 46 in which the most refined grains are collected among the grains sorted by the sorting mechanisms 42 and 43, A second receiving rod 47 and a second conveyor 48 for collecting second items such as spiked grains are provided. The first thing such as fine grains collected in the first receiving bowl 45 is sent to the grain tank 7 via the first conveyor 46 in the first receiving bowl 45 and the cereal conveyor in the cereal tube 49. .

  The second item such as the grain with branches is gathered in the second receiving rod 47 behind the first receiving rod 45, and passes through the second conveyor 48 in the second receiving rod 47 and the reducing conveyor in the reducing cylinder 50. And returned to the swing sorting mechanism 42. Then, the second item is re-sorted by the swing sorting mechanism 42. The sawdust is sucked into a dust exhaust fan (not shown) and discharged from the rear portion of the threshing device 5 to the outside of the machine.

  A waste chain 51 is disposed on the rear side (feed end side) of the feed chain 6. The waste (granulated soot) inherited from the rear end of the feed chain 6 to the waste chain 51 is discharged to the rear of the traveling machine body 1 in a long state, or the waste cutter located behind the threshing device 5. After being cut to a suitable length at 52, it is discharged to the rear of the traveling machine body 1.

  Next, a traveling drive structure for transmitting power from the engine 17 to the traveling crawler 2 will be described with reference to FIGS. A transmission case 18 having a straight traveling hydraulic transmission 53 and a turning hydraulic transmission 54 as a hydraulic continuously variable transmission is provided. The power from the engine 17 toward the traveling crawler 2 is transmitted to the straight traveling hydraulic transmission 53 and the turning hydraulic transmission 54 via the belt transmission mechanism. The output of the engine 17 is shifted by a straight traveling hydraulic transmission 53 or a turning hydraulic transmission 54 and output to the left and right drive sprockets 22 via left and right axles 75 projecting left and right outward from the mission case 18. It is configured as follows.

  The transmission case 18 includes a straight traveling hydraulic transmission 53 including a first hydraulic pump 55 and a first hydraulic motor 56, a turning hydraulic transmission 54 including a second hydraulic pump 57 and a second hydraulic motor 58, and a plurality of shifts. A sub-transmission mechanism 59 having a gear and a differential mechanism 61 (forced differential mechanism) having a pair of left and right planetary gear mechanisms 60 and the like are provided (see FIG. 3).

  Power from the output shaft of the engine 17 toward the traveling crawler 2 is transmitted to the transmission input shaft 62 that drives the first hydraulic pump 55 and the second hydraulic pump 57. In the straight traveling hydraulic transmission 53, the first hydraulic motor 56 is driven by the first hydraulic pump 55. Similarly, in the turning hydraulic transmission 54, the second hydraulic motor 58 is driven by the second hydraulic pump 57.

  The rectilinear hydraulic transmission 53 changes and adjusts the inclination angle of the output control swash plate in the first hydraulic pump 55 according to the operation amount of the main transmission lever 12 disposed in the control unit 9, and thereby adjusts the first hydraulic motor 56. By changing the discharge direction and the discharge amount of the hydraulic oil, the rotation direction and the rotation speed of the straight advance motor shaft 63 protruding from the first hydraulic motor 56 are arbitrarily adjusted.

  The rotational power of the linear motor shaft 63 is transmitted from the linear transmission gear mechanism 64 to the sub-transmission mechanism 59, while the cutting that projects from the transmission case 18 via the linear transmission gear mechanism 64 and the one-way clutch 65 described above. It is also transmitted to the PTO shaft 66. The power transmitted to the reaping PTO shaft 66 is transmitted to each part of the reaping device 3. For this reason, each part of the reaping device 3 is driven at a speed synchronized with the vehicle speed.

  The sub-transmission mechanism 59 is for switching the rotational output of the linear motor shaft 60 in two stages, low speed or high speed, by operating the sub transmission lever 13 disposed in the control unit 9. A parking brake 68 such as a wet multi-plate disk is provided on the parking brake shaft 67 which is a component of the auxiliary transmission mechanism 59.

  The rotational power from the auxiliary transmission mechanism 59 is transmitted to the differential mechanism 61 from an auxiliary transmission output gear 69 fixed to the parking brake shaft 67. The differential mechanism 61 includes a sun gear shaft 70 positioned between a pair of left and right planetary gear mechanisms 60. The auxiliary speed change output gear 69 of the parking brake shaft 67 meshes with a center gear 76 fixed in the middle of the sun gear shaft 70.

  The planetary gear mechanism 60 includes one sun gear 71, a plurality of planetary gears 72 that mesh with the outer periphery of the sun gear 71, a ring gear 73 that meshes with the circumference of the planetary gear 72, and a carrier 74 that rotatably supports the plurality of planetary gears 72. Is provided. The carriers 74 of the left and right planetary gear mechanisms 68 are arranged on the axis line of the axle 75. The left and right sun gears 71 are fixed to both ends of the center gear 76.

  The ring gear 73 is concentrically arranged on the sun gear shaft 70 with its inner teeth meshed with the plurality of planetary gears 72 and is rotatably supported on an axle 75 projecting left and right outward from the outer surface of the carrier 74. Has been. Accordingly, the linear rotational force transmitted from the auxiliary transmission mechanism 59 to the left and right planetary gear mechanisms 60 is transmitted from the respective axles 75 to the left and right drive sprockets 22 at the same rotational speed in the same direction, and travels straight through the left and right traveling crawlers 2. To drive.

  In the turning hydraulic transmission 54, by changing and adjusting the inclination angle of the output control swash plate in the second hydraulic pump 57, the discharge direction and discharge amount of the hydraulic oil to the second hydraulic motor 58 are changed, so that the second The rotation direction and the number of rotations of the turning motor shaft 77 protruding from the hydraulic motor 58 are arbitrarily adjusted.

  As shown in FIG. 3, in the mission case 18, the steering input shaft 78, the reverse rotation input shaft 79, the left input gear 80 that always meshes with the external teeth of the left ring gear 73, and the external teeth of the right ring gear 73 are always meshed. A right input gear 81 and a reverse gear 82 for connecting the left input gear 80 to the steering input shaft 78 are provided. The rotational power of the turning motor shaft 61 is transmitted from the turning transmission gear mechanism 83 to the steering input shaft 78. The rotational power transmitted to the steering input shaft 78 is transmitted to the right ring gear 73 through the right input gear 81 in the normal rotation state, and at the same time, reversely transmitted to the left ring gear 73 through the left input gear 80 and the reverse gear 82. Transmitted in a rotating state.

  That is, the rotational power of the turning motor shaft 77 (second hydraulic motor 58) is input to the right planetary gear mechanism 60 in the normal direction and is input to the left planetary gear mechanism 60 in the reverse direction. Accordingly, the left and right traveling crawlers 2 are configured to be driven in different rotational directions by the second hydraulic motor 58. The steering input shaft 78 is provided with a steering brake 84 such as a wet multi-plate disk.

  For example, when the vehicle travels straight in the forward direction with the output of the first hydraulic motor 56, when the right traveling crawler 2 is rotated forward with the forward rotation output of the second hydraulic motor 58, the left traveling crawler 2 is The vehicle rotates backward and the traveling machine body 1 turns in the left direction. On the other hand, when the vehicle travels straight in the forward direction with the output of the first hydraulic motor 56, when the left traveling crawler 2 is rotated forward with the reverse rotation output of the second hydraulic motor 58, the right traveling crawler 2 moves backward. It rotates and the traveling body 1 is comprised so that turning movement may be carried out rightward.

  As can be seen from the above configuration, the shift output from the motor shafts 63 and 77 is transmitted to the drive sprockets 22 of the left and right traveling crawlers 2 via the auxiliary transmission mechanism 59 and the differential mechanism 61, respectively. As a result, the vehicle speed (traveling speed) and traveling direction of the traveling machine body 1 are determined.

  That is, when the first hydraulic motor 56 is driven in a state where the second hydraulic motor 58 is stopped and the left and right ring gears 73 are stationary and fixed by braking of the steering brake 84, the rotation from the linear motor shaft 63 is performed. The output is transmitted from the center gear 76 to the left and right sun gears 71 at the same rotational speed in the same direction, and the left and right traveling crawlers 2 have the same rotational speed in the same direction via the planetary gears 72 and the carriers 74 of the left and right planetary gear mechanisms 60. The traveling machine body 1 travels straight.

  On the other hand, when the second hydraulic motor 58 is driven forward (or reverse) while the first hydraulic motor 56 is stopped and the left and right sun gears 71 are stationary and fixed by the braking of the parking brake 68, The left planetary gear mechanism 60 is rotated forward (or reversely rotated) by the normal rotation (or reverse rotation) power from the motor shaft 77, and the right planetary gear mechanism 60 is reversely rotated (or forwardly rotated). That is, one of the drive sprockets 22 of the left and right traveling crawlers 2 rotates forward, the other rotates backward, and the traveling machine body 1 performs a pivoting operation in which a spin turn is performed on the spot.

  Further, when the second hydraulic motor 58 is driven while the first hydraulic motor 56 is driven, a difference occurs between the speeds of the left and right traveling crawlers 2, and the traveling machine body 1 moves forward or backward and has a turning radius that is larger than the belief turning radius. Turn left or right. The turning radius of the traveling machine body 1 at this time is determined according to the speed difference between the left and right traveling crawlers 2 (the rotational speed of the first hydraulic motor 56 and the rotational speed of the second hydraulic motor 58).

  Next, with reference to FIGS. 4 and 5, a hydraulic circuit and a shift operation structure of the traveling drive unit that transmits power to the traveling crawler 2 will be described. As shown in FIG. 4, the first hydraulic pump 55 for straight travel and the first hydraulic motor 56 are connected by a closed loop straight forward oil passage 91. The second hydraulic pump 57 for turning and the second hydraulic motor 58 are connected by a closed loop turning oil passage 92. The engine 17 drives the first hydraulic pump 55, the second hydraulic pump 57, and the charge pump 93. The first hydraulic motor 56 is configured to rotate forward or backward by controlling the swash plate angle of the first hydraulic pump 55 by the main transmission lever 12 (travel shifting operation tool). By controlling the swash plate angle of the second hydraulic pump 57 by the control lever 10 (turning operation tool), the second hydraulic motor 58 is configured to rotate forward or backward.

  As shown in FIGS. 4 and 5, a shift cylinder 121 that changes the angle of the swash plate 56 a of the first hydraulic motor 56 and a shift switching valve 122 that operates the shift cylinder 121 are provided. A straight motor side piston 123 provided in the transmission cylinder 121 is connected to the swash plate 56 a of the first hydraulic motor 56. In addition, steering pressure sensors 124 and 125 that detect a change in hydraulic pressure in the closed-loop swirling oil passage 92 are provided. The steering pressure sensors 124 and 125 sense changes in the discharge hydraulic pressure of the second hydraulic pump 57 due to the operator's operation of the control lever 10, and the shift switching valve 122 is switched based on the detection results of the steering pressure sensors 124 and 125, and the linear motor side piston The swash plate 56a angle of the first hydraulic motor 56 is adjusted to a predetermined angle by 123 control.

  That is, the angle of the swash plate 57a of the second hydraulic pump 57 is changed corresponding to the manual operation of the control lever 10, and the rotational speed of the turning motor shaft 77 of the second hydraulic motor 58 is changed steplessly or reversed. The left and right steering operation is performed, the traveling direction is changed to the left and right, the direction is changed at the field headland, and the course is corrected. When the control lever 10 is tilted to the left turn side (or right turn side), the angle of the swash plate 56a of the first hydraulic motor 56 is returned to the deceleration side by the control of the linear motor side piston 123. Therefore, in either the left turning operation or the right turning operation of the control lever 10, the output of the first hydraulic motor 56 is controlled to be decelerated in proportion to the operation amount of the control lever 10. With the main transmission lever 12 fixed at a fixed operation position on the forward side or the reverse side, the vehicle speed is reduced by the turning operation of the control lever 10 as the turning radius of the traveling machine body 1 decreases, while the control lever 10 moves straight. By returning to the position, the vehicle speed of the traveling machine body 1 returns to the original speed (the vehicle speed set by the main transmission lever 12).

  The shift switching valve 122 may be formed in an electromagnetic switching type that is switched by an electric control signal of the steering pressure sensors 124 and 125 that electrically detect hydraulic pressure fluctuations, and steering that detects hydraulic pressure fluctuations as a hydraulic pilot. You may form in the hydraulic switching type switched by the hydraulic pilot signal of the pressure sensors 124 and 125.

  As shown in FIGS. 4 and 5, a steering cylinder 131 that changes the angle of the swash plate 58 a of the second hydraulic motor 58 and a steering switching valve 132 that operates the steering cylinder 131 are provided. A swing motor side piston 133 provided in the steering cylinder 131 is connected to a swash plate 58 a of the second hydraulic motor 58. In addition, speed change pressure sensors 134 and 135 for detecting a change in hydraulic pressure of the closed loop straight oil passage 91 are provided. Changes in the discharge hydraulic pressure of the first hydraulic pump 55 due to the operator's operation of the main transmission lever 12 are detected by the transmission pressure sensors 134 and 135, and the steering switching valve 132 is switched based on the detection results of the transmission pressure sensors 134 and 135, thereby turning motors. The swash plate 58a angle of the second hydraulic motor 58 is adjusted to a predetermined angle by the side piston 133 control.

  That is, when the main transmission lever 12 is tilted in the front-rear direction, the angle of the swash plate 55a of the first hydraulic pump 55 is changed, the hydraulic output of the first hydraulic pump 55 is controlled, and the first hydraulic motor 56 rotates. By changing the direction and the number of revolutions, the traveling direction is switched to the forward side or the reverse side, and the moving speed (straight vehicle speed) is changed. When the main transmission lever 12 is supported at the neutral position (the vehicle speed is 0), the swash plate 58a angle of the second hydraulic motor 58 is adjusted to the 0 output angle. Therefore, even if the angle of the swash plate 57a of the second hydraulic pump 57 is changed by manual operation of the control lever 10, the rotation speed of the turning motor shaft 77 of the second hydraulic motor 58 is maintained at zero.

  When the main speed change lever 12 is shifted forward, the swash plate 58a angle of the second hydraulic motor 58 is switched to the normal rotation angle by the swing motor side piston 133 control. On the other hand, when the main speed change lever 12 is shifted to the reverse side, the angle of the swash plate 58a of the second hydraulic motor 58 is switched to the reverse rotation angle by the swing motor side piston 133 control. Accordingly, in either the forward side operation of the main speed change lever 12 or the reverse side operation of the main speed change lever 12, the traveling body 1 can be turned to the right by the tilting operation of the control lever 10 in the right direction. By the tilting operation of the lever 10 in the left direction, the traveling machine body 1 can be turned in the left direction.

  The steering switching valve 132 may be formed in an electromagnetic switching type that is switched by an electric control signal from the shift pressure sensors 134 and 135 that electrically detect hydraulic pressure fluctuations, and detects hydraulic pressure fluctuations hydraulically. You may form in the hydraulic switching type switched by the hydraulic pilot signal from the transmission pressure sensor 134,135.

  Further, as shown in FIG. 5, a speed change cylinder 121 (steering cylinder 131) is formed integrally with a housing 53 a of the straight traveling hydraulic transmission 53 (a housing 54 a of the turning hydraulic transmission 54). The housing 53a (housing 54a) incorporates a shift switching valve 122 (steering switching valve 132) and a linear motor side piston 123 (swing motor side piston 133). A straight motor side piston 123 (swing motor side piston 133) is connected to a swash plate 56a of the first hydraulic motor 56 (swash plate 58a of the second hydraulic motor 58) via a speed change arm 126 (steering arm 136). ing.

  That is, a shift switching valve 122 (steering switching valve 132) and a linear motor side piston 123 (swing motor side piston 133) are placed in a housing 53a of the linear travel hydraulic transmission 53 (housing 54a of the swing hydraulic transmission 54). By providing, a shift output control oil passage 127 (steering output control oil passage 137) can be formed in the housing 53a (housing 54a of the turning hydraulic transmission 54). The shift switch valve 122 (steering switch valve 132) can be easily connected to the shift cylinder 121 (steering cylinder 131) by the shift output control oil path 127 (steering output control oil path 137).

  As shown in FIGS. 1, 4, and 5, a traveling machine body 1 supported by a traveling crawler 2 as a left and right traveling unit, a first hydraulic pump 55 as a linear hydraulic pump, and a first hydraulic pressure as a linear hydraulic motor. A rectilinear hydraulic transmission 53 having a motor 56, a second hydraulic pump 57 as a swing hydraulic pump, and a swing hydraulic transmission 54 having a second hydraulic motor 58 as a swing hydraulic motor, and the straight hydraulic shift 53 In the traveling vehicle provided with the differential mechanism 61 as a forced differential mechanism that combines and outputs the output of the hydraulic transmission 54 and the output of the turning hydraulic transmission 54, at least one of the straight hydraulic transmission 53 and the turning hydraulic transmission 54 is provided. One housing 53a or 54a has a linear motor-side piston 123 or a swing motor-side piston 133 as a hydraulic motor output control piston, and a speed change output. A control oil passage 127 or a steering output control oil passage 137 is provided, and the other hydraulic motor 58, based on the output of at least one of the hydraulic pumps 55, 57 of the straight traveling hydraulic transmission 53 or the turning hydraulic transmission 54. 56 outputs can be controlled. Therefore, the manufacturing cost can be easily reduced while having a shift function and a steering function similar to those of the conventional structure compared to the conventional structure in which the steering link mechanism or the shift link mechanism is provided. Maintenance work can be simplified.

  For example, in the structure in which the output of the second hydraulic motor 58 is controlled based on the discharge hydraulic pressure of the first hydraulic pump 55, the traveling machine body 1 can be prevented from moving due to an erroneous operation of the control lever 10 (turning operation tool), and at the time of forward movement It is possible to easily prevent the reverse steering operation in which the steering operation direction (turning direction) during reverse travel is opposite to the steering operation direction (turning direction). On the other hand, in the structure in which the output of the first hydraulic motor 56 is controlled based on the discharge hydraulic pressure of the second hydraulic pump 57, the main body of the traveling body 1 can be operated during the turning operation without operating the main transmission lever 12 (operating tool for traveling transmission). The moving speed can be easily decelerated.

  As shown in FIGS. 4 and 5, the structure includes a steering cylinder 131 as a turning cylinder for connecting a turning motor side piston 133 as a turning piston to the output control swash plate 58 a of the second hydraulic motor 58. Shift pressure sensors 134 and 135 for detecting the discharge hydraulic pressure of the first hydraulic pump 55 are provided, and the swing motor side piston 133 is configured to be operable based on the detection results of the shift pressure sensors 134 and 135. Therefore, when the speed change is neutral, the swash plate angle of the second hydraulic motor 58 can be set to 0, and the output of the second hydraulic pump 57 can be invalidated. The traveling body 1 can be prevented from moving due to an erroneous operation of the control lever 10 or the like. Further, in the transmission structure in which the left and right traveling crawlers 2 are rotated in different directions (reverse rotation) by the second hydraulic motor 58 to turn the traveling machine body 1 in the left and right direction (change of course, direction change), the steering operation at the time of forward movement It is possible to prevent the reverse steering operation during the reverse movement in which the steering operation direction (the turning direction) during the reverse movement is opposite to the direction (the turning direction).

  As shown in FIGS. 4 and 5, the first hydraulic motor 56 includes a speed change cylinder 121 as a rectilinear cylinder that connects the output control swash plate 56 a to a rectilinear motor side piston 123 as a rectilinear piston. Steering pressure sensors 124 and 125 for detecting the discharge hydraulic pressure of the two hydraulic pump 57 are provided, and the linear motor side piston 123 is configured to be operable based on the detection results of the steering pressure sensors 124 and 125. Therefore, the output of the first hydraulic motor 56 can be controlled based on the discharge hydraulic pressure of the second hydraulic pump 57. The traveling machine body is proportional to the turning radius of the traveling crawler 2 (the steering angle of the turning operation tool) by the turning operation (steering control of the second hydraulic pump 57) of the operator that changes (changes the direction of) the traveling path of the traveling machine body 1. 1 movement speed (vehicle speed) can be decelerated. When changing the course of the traveling machine body 1 by operating the control lever 10 (changing direction), the moving speed of the traveling machine body 1 can be reduced in proportion to the steering angle without operating the main transmission lever 12.

1 traveling machine body 2 traveling crawler (traveling section)
53 Hydraulic transmission for straight travel 53a Housing 54 Hydraulic transmission for turning 54a Housing 55 First hydraulic pump (linear hydraulic pump)
56 1st hydraulic motor (straight forward hydraulic motor)
56a Swash plate 57 of the first hydraulic motor Second hydraulic pump (swing hydraulic pump)
58 Second hydraulic motor (Swivel hydraulic motor)
58a Swash plate 61 of second hydraulic motor Differential mechanism (forced differential mechanism)
121 Shift cylinder (cylinder for straight running)
123 Linear motor piston (linear piston)
124 Steering pressure sensor 125 Steering pressure sensor 127 Shift output control oil passage 131 Steering cylinder (turning cylinder)
133 Rotating motor side piston (Pivoting piston)
134 Shift pressure sensor 135 Shift pressure sensor 137 Steering output control oil passage

Claims (2)

A traveling machine body supported by the left and right traveling units, a straight traveling hydraulic transmission having a straight hydraulic pump and a straight hydraulic motor, a turning hydraulic transmission having a swing hydraulic pump and a swing hydraulic motor, and the straight hydraulic shift In a traveling vehicle having a forced differential mechanism that combines and outputs the output of the aircraft and the output of the turning hydraulic transmission,
A hydraulic motor output control piston and an output control oil path are provided in at least one of the linear or turning hydraulic transmission, and the hydraulic pressure of at least one of the linear hydraulic transmission and the turning hydraulic transmission is provided. Based on the pump output, the other hydraulic motor output can be controlled ,
An output control swash plate of the swing hydraulic motor is provided with a swing cylinder for connecting a swing piston, and a sensor for detecting a discharge hydraulic pressure of the straight hydraulic pump is provided, and based on a detection result of the sensor, the swing A traveling vehicle characterized in that the control cylinder can be controlled . An output control swash plate of the linear hydraulic motor is provided with a linear cylinder for connecting a linear piston, and a sensor for detecting a discharge hydraulic pressure of the swing hydraulic pump is provided, and based on a detection result of the sensor, the linear advance The traveling vehicle according to claim 1, wherein the operating cylinder is configured to be controllable .

Images