JPH0735825Y2 - Steering operation device for crawler traveling device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to a steering operation device in a crawler traveling device.

<Prior Art> Conventionally, as described in, for example, Japanese Patent Laid-Open No. 58-183357, shift levers are provided separately on the left and right sides so that the crawler traveling device can shift the left and right crawler traveling bodies separately. Steering control devices are known.

<Problems to be Solved by the Invention> In these devices in which the left and right gear shift levers are provided separately, the driver needs to operate the left and right levers at the same time.
Therefore, it is necessary to operate with both hands, especially in the case of a super-spinning turn in which the left and right crawler traveling bodies are driven in the opposite direction to make a turn, or in the case of a pivoting turn in which one of the crawler traveling bodies is turned to make a turn. However, since it takes time to operate, the steering operability was deteriorated.

For example, in agricultural machines such as combine harvesters, a fine steering operation is required at the time of work such as mowing, and a crawler steering operation device having better operation performance is required.

<Means for Solving the Problems> The present invention for solving the above problems includes a transmission 13 that separately outputs the power from a prime mover to the left and right crawler traveling bodies 3, and each output shaft 55, Side clutches 46 and 47 are installed to operate transmission to 56 and one side clutch 46 and 47.
In the disengaged state, a slow-turning transmission 67 that gives a slow rotation to the output shafts 55 and 56 on the side of the side clutch disengagement, and a reverse rotation transmission 69 that transmits reverse rotation to the left and right output shafts 55 and 56 are provided. A slow turning operation cylinder 66 for operating the turning transmission 67 and a super-spinning turning cylinder 72 for operating the reverse rotation transmission 69 are provided.
A mechanism for connecting a solenoid valve 73 for selectively selecting one of the cylinders 66, 72 to the two cylinders 66, 72, and switching the solenoid valve 73 according to the swinging operation position of the operation lever of the operation unit 80. In addition, the slowly turning operation cylinder 66 and the super-sight turning operation cylinder 72 are provided with a normally closed variable relief valve 74 for gradually reducing the pressure applied to the slowly turning operation cylinder 66 and a super-sight turning operation cylinder 72. A normally open type variable relief valve 75 for gradually increasing the pressure is provided correspondingly, and interlocked with the operation lever operation,
The above-mentioned gentle turning operation cylinder 62 and super-sight turning operation cylinder 72
It is characterized in that it has a mechanism for gradually changing the pressure applied to high pressure to low pressure and from low pressure to high pressure.

<Operation> Turn off the side clutch 46 (or 47) in the turning direction,
When the operation position of the operation unit 80 reaches a predetermined position, the solenoid valve 73 is excited and switched, and the slow swing operation cylinder 66 is operated to apply slow rotation to the crawler traveling body on the swing direction side, and Turns gently. Further, the operation unit 80
When is operated to a predetermined operation position, the solenoid valve 73 is switched, the circuit of the slowly turning operation cylinder 66 is disconnected, and the super-sight turning operation cylinder 72 is operated. Supertrust turning cylinder 72
The reverse rotation transmission device 69 reversely drives the crawler traveling body on the side of the turning direction to make a super turning turn.

<Embodiment> An embodiment of the present invention will be described below with reference to the drawings.

FIG. 2 is an overall perspective view of the combine. The combine body 1 is placed on the left and right crawler traveling bodies 3, has a driver's seat 4 and an operation panel 5 on the front right side, and has a reaper 7 at the front end thereof so as to be able to move up and down.

FIG. 1 is a sectional view showing the internal mechanism of the counter device 11 and the transmission 13 of the combine body 1.

A counter input shaft 15 for inputting power from a prime mover projects from the counter device 11, a counter input pulley 17 is attached to the tip of the counter input shaft 15, and power is transmitted by a belt. A main clutch 16 is provided between the counter input pulley 17 and the counter input shaft 15 so that the input from the prime mover can be turned on and off.

Two output shafts project from the counter device 11. Power is transmitted to each output shaft while being speed-changed via several gears. A continuously output pulley 21 is attached to the counter output shaft 19. The continuously variable output pulley 21
The width is adjusted by an adjusting device also mounted on the counter output shaft 19, and the transmission speed is adjusted without permission. A cam lever 23 operates the adjusting device hydraulically. The constant speed output shaft 25 projects to the side opposite to the protruding side of the counter output shaft 19 and
26 is fixed. The continuously variable output pulley 21 and the constant speed output pulley 26 are rotating in opposite directions.

Next, the internal mechanism of the transmission 13 will be described. Transmission 13
A shift input shaft 27 and a constant speed input shaft 28 project left and right on the counter device 11 side. A differential gear device 31 provided inside the transmission 13 is provided at the abutting portion of both the input shafts 27 and 28.

On the other hand, a continuously variable input pulley 29 and a constant speed input pulley 30 are attached to the projecting ends of the variable speed input shaft 27 and the constant speed input shaft 28, and rotational forces in opposite directions are transmitted via a transmission belt. A cutting output shaft 38 is inserted and supported adjacent to the differential gear device 31, and a switching device is provided on the cutting output shaft 38.
34 are provided. The switching device 34 has a mowing output shaft 38.
It includes a high-speed gear 33 and a low-speed gear 35 rotatably attached to the cutting gear, and a switching gear 37 that rotates integrally with the cutting output shaft 38 and is slidable in the axial direction. A mowing output pulley 39 is attached to the protruding end of the mowing output shaft 38, and transmits a rotational force to the drive system of the mowing machine 7. Therefore, the mowing drive speed of the mowing machine transporting section 7a changes according to the change in the rotation speed of the mowing output shaft 38.

The high speed gear 33 meshes with a gear 32 fixed to the speed change input shaft 27, and the low speed gear 35 meshes with a reaping output gear 31b provided outside the differential gear device 31. The switching gear 37 slides along the reaping output shaft 38 to move the high speed gear 33.
Alternatively, the cutting output shaft 38 outputs high-speed rotation or low-speed rotation by meshing with one of the inner teeth of the low-speed gear 35. Since the low-speed gear 35 has a smaller diameter than the high-speed gear 33, the ratio of increase in the number of rotations of the mowing output gear 31b is larger than that of the high-speed gear 33. Therefore, at low speed running, the mowing drive speed is lower in the case of low speed gear 35 meshing than in the case of high speed gear 33 meshing. Become slow.

Next, the traveling transmission system will be described.

From the differential gear device 31, the running output gear formed on the outer periphery
The rotational force is transmitted to the forward / reverse switching device 41 by 31a.
From the forward / reverse switching device 41, the back shaft 42 or the transmission shaft 43
The rotational force is transmitted to the drive gear 45 of the clutch shaft 44 via. A left side clutch 46 and a right side clutch are provided on both sides of a drive gear 45 provided at the center of the clutch shaft 44.
A clutch 47 is slidably and rotatably fitted independently of the clutch shaft 44, and a pinion that meshes with the internal gear of the drive gear 45 is formed on the outer circumference. Both side clutches 46, 47 are constantly urged by the spring in the direction of the drive gear 45 and are engaged with each other.
The engagement with the drive gear 45 is released by the operation of 6,77. Further, an output gear 48 for turning travel is fixed to one end of the clutch shaft 44 so as to be integrally rotatable, and meshes with a free gear 63 described later.

The intermediate shaft 51 adjacent to the clutch shaft 44 has transmission gears 53, 54 engaged with the side clutches 46, 47, respectively.
Is rotatably fitted on the outside. Therefore, the intermediate shaft 51 and the transmission gears 53 and 54 can rotate independently.
The transmission gears 53, 54 are composed of large-diameter and small-diameter gears, and the large-diameter gear meshes with the side clutches 46, 47.

The small-diameter gears of the transmission gears 53, 54 mesh with the output gears 57, 58 fixed to the output shafts 55, 56 protruding on both sides of the transmission 13, and the left and right crawler traveling bodies are rotated by the rotation of the output gears 57, 58. The driving force is output to 3. Attached to the tip of the output shaft 55 is a traveling wheel 60 composed of a drive sprocket, and the crawler belt is driven by the rotation of the traveling wheel 60.

During normal straight running, the left and right side clutches 46, 47 are in the engaged state, and power is transmitted independently to the left and right output shafts 55, 56. At this time, the intermediate shaft 51 is freely rotating.

The gentle turning transmission system will be described.

A traveling wheel transmission transmission 61 is provided between the output shafts 55, 56, and the traveling wheel transmission transmission 61 is a differential gear unit 59 in the mechanism of the present embodiment.

On the other hand, a free gear 63 is rotatably fitted on one end of the intermediate shaft 51, and a friction clutch 65 is provided between the intermediate shaft 51 and the free gear 63. The friction clutch 65 is in the disengaged state during normal straight running, and the rotational force transmitted from the turning output gear 48 to the free gear 63 is not normally transmitted to the intermediate shaft 51. The friction clutch 65 is a slowly turning cylinder.
It is turned on and off by 66.

The intermediate shaft 51 is formed with a gear 51a that rotates integrally.
Meshes with a swing drive input gear 59a provided on the differential gear unit 59. Therefore, in the straight running state, the differential gear device
59 rotates in the same direction as the output shafts 55 and 56, and turns drive input gear 5
The intermediate shaft 51 is also rotating via the 9a and the gear 51a.

Here, the output gear for turning traveling 48, the intermediate shaft 51, the free gear 63
Also, the friction clutch 65 constitutes a slowly turning transmission 67.

The slow turn transmission system is composed of a slow turn transmission 67 and a traveling wheel transmission transmission 61, that is, in the mechanism of this embodiment, a turning output gear 48, a free gear 63, a friction clutch 65, and an intermediate shaft 5 are provided.
1, a gear 51a, a swing drive input gear 59a, and a differential gear unit 59.

For example, when turning to the left gently, the left side clutch 46 is disengaged and the friction clutch 65 is engaged.
As a result, the output shaft 55 has no input to the output gear 57, the rotational force transmitted to the intermediate shaft 51 via the friction clutch 65 is input to the differential gear device 59, and the differential gear device 59 outputs the rotational force. Rotational force is output to 55. And the friction clutch 65
If the operating pressure is gradually released, the rotational force transmitted to the intermediate shaft 51 is reduced depending on the degree of friction of the friction clutch 65, and the rotational speed of the output shaft 55 is accordingly reduced. Therefore, a difference in rotation speed occurs between the crawler traveling body on the right side and the crawler traveling body on the left side, and the vehicle body advances while gently turning in the left direction where the rotation number is small.

When turning to the right gently, the right side clutch 47 may be disengaged and the friction clutch 65 may be operated in the same manner.

Next, a super transmission turning system for driving the left and right crawler traveling bodies 3 in opposite directions to each other to make a super turning turning in a fixed position will be described.

The intermediate shaft 51 is provided with a brake 71 at the end opposite to the mounting end of the friction clutch 65, and the brake 71 is operated by a super-spinning turning cylinder 72. The intermediate shaft 51 is fixed by the operation of the brake 71, and the rotation is stopped.

Then, the reverse rotation transmission 69 by the brake 71 and the intermediate shaft 51.
Is configured. The super-spindle turning transmission system includes a reverse rotation transmission 69 and a traveling wheel transmission transmission 61. In the mechanism of this embodiment, the brake 71, the intermediate shaft 51, the gear 51a, and the turning drive input gear 59 are included.
a and the differential gear device 59.

For example, in the case of making a super-spinning turn counterclockwise, if the left side clutch 46 is disengaged and the brake 71 is actuated, the rotation of the intermediate shaft 51 is stopped and the rotation drive input gear 59a is stopped. Due to the action of the differential gear device 59, a rotational force in the opposite direction to the output shaft 56 is applied to the output shaft 55 in the free state, and the output shaft 55 rotates at the same rotational speed as the output shaft 56.

In the case of a right-handed super turning, the right side clutch 47 may be disengaged and the brake 71 may be similarly operated.

As described above, the slow turn transmission 67 and the reverse rotation transmission
Since 69 is provided at symmetrical positions on the left and right sides of the transmission 13, the balance between the left and right is good, and the outer shape of the transmission 13 is not impaired, so it is easy to install and the intermediate shaft 51 is shared. This has the advantage of reducing the number of parts.

Next, the friction clutch 65, the brake 71 and the side clutch 4
The operation mechanism of 6,47 will be described.

FIG. 3 is a hydraulic circuit diagram of the combine using this embodiment. The gentle turning operation cylinder 66 and the super-spinning turning operation cylinder 72 are single-acting cylinders and are always urged in the contracting direction. Slow rotation operation cylinder 66 and super-field rotation operation cylinder 72
Is connected to a single 3-position 4-way switching solenoid valve 73, and a circuit is connected so that hydraulic pressure always acts on only one side. Further, electrically controlled variable relief valves 74 and 75 are connected to the cylinders 66 and 72 to control the pressure applied to the cylinders 66 and 72. Here, the variable relief valve 74 connected to the slowly swiveling operation cylinder 66 is a normally closed type relief valve, which controls to gradually reduce the pressure applied to the slowly swirling operation cylinder 66. Further, the variable relief valve 75 connected to the super-spindle turning operation cylinder 72 is a normally open relief valve,
The pressure applied to the super-spindle turning operation cylinder 72 can be controlled so as to gradually increase from zero.

Reference numerals 76 and 77 denote side clutch cylinders, which are controlled by a clutch operation switching solenoid valve 78.

Further, 79 indicates a continuously variable transmission operating cylinder. The continuously variable shift operation cylinder 79 is operated by the continuously variable shift operation solenoid valve 81 to adjust the width of the continuously variable output pulley 21 and perform the on / off operation of the main clutch 16. That is, the stepless output pulley 21
Is in the lowest speed state, the main clutch 16 is disengaged, and the continuous clutch operation cylinder 79 is driven to drive the main clutch.
At the same time when 16 is turned on, the continuously variable output pulley 21 is driven in the speed increasing direction.

The electrically operated valves 73, 74, 75, 78 described above are the operation panel 5
It is controlled by the operation unit 80 provided in the.

As shown in FIG. 4, the operating portion 80 swings in the left-right direction.
It consists of a book lever. A sensor 82 for detecting the operation position of the operation unit 80 is attached to the swing center of the operation unit 80. Then, as shown in FIG. 4, each swing position O, A,
In B, C, A ', B', C ', the signal from the sensor 82 changes, and the electrically operated valves 73, 74, 75, 78 are switched or the operation amount changes in accordance with it.

FIG. 5 is a graph showing the relationship between the operating position of the operating portion 80, the pressure applied to each of the cylinders 66, 72, 76 and the rotational speed of the output shaft.

The steering operation by the operation unit 80 will be described below with reference to FIGS. 3, 4, and 5. FIG. 5 shows a case of turning left.

When the operating portion 80 is in the upright state, both side clutches 46 and 47 are in the on state, and the pressure in the side clutch cylinders 76 and 77 is zero. Here, when the operation portion 80 is tilted leftward and positioned at the point A, the clutch operation switching solenoid valve 78 is switched by the signal from the sensor 82, and the side clutch cylinder 76.
Is driven, and the left side clutch 46 is disengaged. At the same time, the solenoid valve 73 is excited and switched, and the slowly turning operation cylinder 66
Pressure is applied to. Therefore, the friction clutch 65 is turned on, the intermediate shaft 51 rotates, and the rotational force is transmitted to the output shaft 55.

Here, when the operating portion 80 is further tilted toward the point B, the variable relief valve 74 operates in response to the change in the amount of electricity from the sensor 82, and the pressure in the slowly turning operation cylinder 66 begins to drop. Therefore, it is possible to change the frictional force of the friction clutch 65 according to the operation amount of the operation unit 80 and continuously shift the rotational force of the crawler traveling body 3 in the turning direction side, and to achieve a desired turning radius. The aircraft can be turned.

The pressure of the gently swirling operation cylinder 66 changes according to the operation amount of the operation portion 80 as shown in the lower column of FIG. This rate of change can be obtained by changing the amount of electricity transmitted to the variable relief valve 74, and is preset by an electric control device provided between the sensor 82 and the solenoid valves 74 and 75.

When the operating portion 80 reaches the point B, the pressure of the gently swirling operation cylinder 66 becomes 0, and the rotation speed of the output shaft 55 becomes 0. Operation part
When 80 is further tilted, after passing through the dead zone for preventing simultaneous meshing, the solenoid valve 73 is switched by the signal from the sensor 82 and pressure is applied to the super-spindle turning operation cylinder 72. On the other hand, the variable relief valve 75 acts in the closing direction in accordance with the operation amount of the operation portion 80, and the hydraulic pressure in the cylinder changes as shown in the lower column of FIG. Hydraulic pressure changes slowly
It is set to indicate the change in oil pressure and the target change rate of 66. Therefore, the operator can operate the operation section 80 with a substantially same operation feeling as the gentle turning operation and the super-sight turning operation, and the operability is excellent.

At the point C, the intermediate shaft 51 completely stops, the left and right output shafts 55, 56 rotate in the opposite directions at the same number of revolutions, and the airframe makes a super turning turn.
The upper column of FIG. 5 shows how the rotational speed of the output shaft on the side of the turning direction changes according to the change of the cylinder pressure. Further, the dead zone at the point B is irrespective of the operation amount of the operation section 80, from the gentle turning operation cylinder 66 operation to the super-field turning operation cylinder 72.
A time lag can be provided during the operation to prevent simultaneous gear meshing. Also, as shown in FIG.
The swing angles between the operation angles O, A, A, B, and B, C are set to be equal to each other, so that a gentle turn or a solid turn can be performed with the same operation feeling.

<Effect of the Invention> According to the mechanism of the present invention configured as described above, the solenoid valve is switched depending on the operation position of the operation portion, and the steering operation from the gentle turning to the super-sight turning is made extremely easy. There is an effect that you can. Further, since the gentle turning is switched to the super-spinning turning by the continuous operation of the operation unit, there is an effect that the response operation of the driver can be promptly transmitted to the transmission.

Furthermore, the cylinders for gentle turning and super turning turning have their respective variable relief valves, so that even when the operating lever is continuously operated, the pressure change is stepwise at the operation switching position, so that the lever operation and the above switching operation are performed. There is an effect that the operation feelings of are matched and the operation is smooth.

[Brief description of drawings]

FIG. 1 is a sectional view showing an internal mechanism of a counter device and a transmission, FIG. 2 is an overall perspective view of a combine, FIG. 3 is a hydraulic circuit diagram for operating a cylinder, and FIG. 4 is an overall sectional view of an operating portion. FIG. 5 is a graph showing the relationship between the operating position of the operating portion, each cylinder pressure, and the rotation speed of the output shaft. 3: Crawler traveling body, 13: Transmission 44: Clutch shaft, 46, 47: Side clutch 55, 56: Output shaft 61: Travel wheel transmission transmission 65: Friction clutch, 66: Slow turning operation cylinder 67: Slow turning Transmission 69: Reverse rotation transmission, 73: Solenoid valve 80: Operation part

Claims (1)

[Scope of utility model registration request] 1. A side for turning on / off the transmission to each output shaft (55), (56) in a transmission (13) for separately outputting power from a prime mover to left and right crawler traveling bodies (3). Clutch (46), (47) is provided, and one side clutch (46),
(47) Output shaft (55) on the side clutch disengaged side when disengaged,
A slowly turning transmission (67) for giving a slow rotation to (56),
The left and right output shafts (55) and (56) are provided with a reverse rotation transmission (69) for transmitting reverse rotation, and a slow rotation operation cylinder (66) for operating the slow rotation transmission (67) and a reverse rotation transmission. (6
9) A super-spinning operation cylinder (72) for operating
A solenoid valve (73) for selectively selecting one of the cylinders (66) and (72) is connected to the two cylinders (66) and (72) to swing the operation lever of the operation section (80). A mechanism for switching the solenoid valve (73) according to the operating position is used. The slow swing operation cylinder (66) and the super-spindle swing operation cylinder (72) gradually reduce the pressure applied to the slow swing operation cylinder (66). A normally closed type variable relief valve (74) and a normally open type variable relief valve (75) for gradually increasing the pressure of the super-spindle turning operation cylinder (72) are provided in correspondence with each other to operate the operation lever. A steering operation in a crawler traveling device having a mechanism for interlocking and gradually changing the pressure applied to the slow swing operation cylinder (62) and the super-spindle swing operation cylinder (72) from high pressure to low pressure and from low pressure to high pressure. apparatus.