JPH1149022A - Turn device for work machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve turning performance. SOLUTION: In a transmission system from an engine 7 to a right/left running device 1R, 1L, a belt type continuously variable transmission 8 and a forward/ reverse switching mechanism 9, in a condition connected in series, are interposed, with a final transmitting shaft 12 of the transmission system, an axle 13R, 13L of the running device 1R, 1L is individually respectively interlocked through a planet gear device 14R, 14L. A right/left turning actuator 15R, 15L is provided, which changes a rotational speed of the axle 13R, 13L by respectively rotating rotary elements R, L without being used in input/output, of the rotary elements constituting these planet gear devices 14R, 14L. An interlocking means is provided, which actuates the turning actuator 15R or 15L corresponding to a turn inside of the running device 1R, 1L in an axle rotational speed decreasing direction interlocked with turn operation of a turn operating appliance 16.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a combine or the like in which a belt type continuously variable transmission and a forward / reverse switching mechanism are interposed in a transmission system from an engine to left and right traveling devices in a state of being connected in series. Related to a turning device for a working machine.

[0002]

2. Description of the Related Art Conventionally, as disclosed in Japanese Patent Application Laid-Open No. 9-99854, a shifter interlocking with each of left and right axles is rotatable on the final transmission shaft of the transmission system, and is connected to the transmission shaft via a clutch. By turning freely, it is possible to shift between the interlocked clutch engagement position, the clutch disengagement position where the interlock with the transmission shaft is released, and the braking position where the brake is operated and the brake is applied by the brake in the clutch disengaged state. Was composed. That is, it is configured to perform gentle turning by cutting off the transmission to the axle inside the turning, and to perform pivot turning by braking the axle inside the turning.

[0003]

However, according to the above-mentioned prior art, although a gentle turn and a pivot turn can be performed,
The gentle turning is performed by cutting off the transmission to the traveling device inside the turning, and the traveling device inside the turning rotates while being dragged. It was difficult to make a turn along.

An object of the present invention is to improve turning performance.

[0005]

The features, functions and effects of the first aspect of the present invention are as follows.

[Features] In a working machine in which a belt-type continuously variable transmission and a forward / reverse switching mechanism are interposed in a transmission system from the engine to the left and right traveling devices in series, the transmission system By linking each of the axles of the traveling device to the final transmission shaft separately via a planetary gear device, by rotating each of the rotating elements that are not used for input / output among the rotating elements constituting these planetary gear devices. Left and right turning actuators for changing the rotation speed of the axle are provided, and the turning actuator corresponding to the inside of the turning device among the traveling devices is operated in the axle rotation speed decreasing direction in conjunction with the turning operation of the turning operation tool. The point is that interlocking means is provided.

According to the first aspect of the present invention, the rotational speed of the rotating element of the planetary gear device is changed by the actuator so that the rotational speed of the axle inside the turn can be adjusted steplessly until it becomes zero. Therefore, the turning radius at the time of gentle turning can be selected in a stepless manner, and the pivot turn can be performed by stopping the traveling device inside the turning.

In addition, by further changing the rotation speed of the rotating element for reducing the rotation speed of the axle to zero, the speed of the axle can be increased in the reverse rotation, so that the traveling device inside the turning is opposite to the traveling device outside the turning. It is possible to make a super-revolution while driving in the direction.

[Effects] Therefore, according to the first aspect of the present invention, the turning performance can be freely selected, and not only the gentle turning and the base turning but also the super turning can be performed. Can be improved.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS As shown in FIG. 1, a combine, which is an example of a working machine, has a planted grain culm in front of a self-propelled body 2 having a pair of left and right traveling devices 1L, 1R of a crawler type. Section 3 that cuts and transports rearwardly is movably connected to the self-propelled body 2 with a threshing device 4 for threshing the harvested culm from the cutting section 3 and a tank 5 for storing thresh grains. An operation unit 6 is mounted.

As shown in FIG. 2, the transmission system from the engine 7 of the self-propelled body 2 to the left and right traveling devices 1L and 1R includes a belt-type continuously variable transmission 8, a forward / reverse switching mechanism 9, The transmission 10 is interposed in a state of being connected in series in the order described.

The forward / reverse switching mechanism 9 transmits the output of the continuously variable transmission 8 to the auxiliary transmission 10 as forward power by operating only the forward clutch 9F using a hydraulic clutch against the bias. Similarly, the output of the continuously variable transmission 8 is transmitted to the auxiliary transmission 10 as the reverse power by making only the reverse clutch 9R using the hydraulic clutch be engaged against the urging, and the forward clutch 9F and the reverse clutch 9R are transmitted. By turning off both, a neutral state in which power is not transmitted appears. That is, the forward / reverse switching mechanism 9 also serves as a traveling clutch, and the forward clutch 9F is engaged by operating the shift lever 11 of the continuously variable transmission 8 into the forward movement range, and the neutral position of the shift lever 11 is maintained. The reverse clutch 9 </ b> R is engaged by operating the shift lever 11 in the reverse range, and the reverse lever 9 </ b> R is operated.
The cutting operation is performed by the operation to the neutral position.

The auxiliary transmission 10 is of a gear type in which the power transmitted via the forward / reverse switching mechanism 9 is switched between three levels and transmitted to the final transmission shaft 12.

A turning device for turning the self-propelled body 2 by giving a difference to the running speeds of the left and right traveling devices 1 is provided on the final transmission shaft 12 with the axles 13L and 13L of the left and right traveling devices 1L and 1R.
13R are provided with left and right planetary gear units 14L and 14R for interlocking with each other.
Interlocking means for providing left and right turning actuators 15L and 15R for individually operating the 14R, and actuating the actuators 15L and 15R based on turning operation of a turning lever 16 which is an example of a turning operation tool which can swing right and left. Is provided.

Each of the planetary gear units 14L, 14R is attached to the final transmission shaft 12 so as to rotate integrally with the internal gear 17L, 17R, and is attached to each of the axles 13L, 13R so as to rotate integrally therewith. Planet gears 18L, 1 meshing with internal gears 17L, 17R
Planetary frames 19L, 19R supporting 8R, and axles 13L,
13R is rotatably attached to each of the planetary gears 18L and 18R and meshes with the planetary gears 18L and 18R.
L, 20R. The internal gear 17
L, 17R, planetary frames 19L, 19R, sun gear 20L,
Reference numeral 20R denotes a rotating element constituting the planetary gear units 14L and 14R, of which the sun gears 20L and 20R are rotating elements L and R not used for input and output. Then, by increasing the number of rotations in the same direction as the axles 13L and 13R from the stopped state of the sun gears 20L and 20R, the axles 13L and 1R are increased.
The rotation speed of the axles 13L, 13R is reduced to zero and reduced to zero by increasing the rotation speed of the sun gears 20L, 20R from the stopped state by increasing the rotation speed of the sun gears 20L, 20R. After that, the rotational speed in the reverse direction is increased.

Each of the actuators 15L and 15R is composed of an axial plunger type variable displacement type hydraulic pump PL or PR driven by the engine 7 and an axial plunger type hydraulic motor driven by pressure oil by the pump. The hydraulic motor is a hydrostatic stepless transmission, and is interlocked with a corresponding one of the sun gears 20L and 20R via gear trains 21L and 21R. Gear 20
By holding the L and 20R in the stopped state and performing the forward rotation speed-up operation, the rotation speed of the sun gears 20L and 20R is increased in the forward state, while the sun gears 20L and 20R are moved in the reverse direction in the reverse state. By increasing the rotation speed and performing the reverse rotation speed-up operation, the sun gear 2
The number of rotations of the sun gears 20L and 20R is increased in the reverse state while the number of rotations of the sun gears 20L and 20R in the reverse direction is increased.

The interlocking means is means for operating the hydraulic motor 15L or 15R corresponding to the inner one of the traveling devices 1L and 1R in the direction of decreasing the axle rotation speed in conjunction with the turning operation of the turning lever 16. . Specifically, as shown in FIGS. 3, 4, and 5 (a) and (b), the levers 23L, 23R for rotating the transmission trunnion shafts 22L, 22R of the hydraulic pumps PL, PR are moved in one direction. When the pulling operation is performed, the transmission trunnion shafts 22L and 22R are biased in one direction by rotating the transmission trunnion shafts 22L and 22R in the forward rotation increasing direction against the urging. The swing lever 16 is provided so as to be swingably switchable around the axis P between a second position for rotating the rotation lever 16 in the reverse rotation increasing direction.
The left release wire 24L pulls the left lever 23L in accordance with the turning operation to the "left", and the right release wire 24R pulls the right lever 23R in accordance with the turning operation of the turning lever 16 to the "right". The first operation posture in which the levers 23L and 23R are brought into the first posture by acting on the left and right release wires 24L and 24R and swinging around the axis P, and the second operation posture in which the levers 23L and 23R are brought into the second posture. Operation lever 25L, 2 that can be switched between two operation postures
5R, the operation levers 25L, 25R are switched to the second operation posture in accordance with the operation of the shift lever 11 to the forward movement region, and the operation levers 25L, 25R are moved to the first operation posture in accordance with the operation of the speed change lever 11 to the reverse movement region. Are provided. In addition,
Due to the bending of the right release wire 24R, the operation of the turning lever 16 to the “left” is not transmitted to the right lever 23R, and the bending of the turning lever 16 to the “right” by the bending of the left release wire 24L. Of the lever 23L.

The continuously variable transmission 8 for traveling speed change and the hydraulic motors 15L and 15R are mounted on a transmission case 26 having axles 13L and 13R, and a forward / reverse switching mechanism 9 and planetary gear units 14L and 14R. Are installed in the transmission case 26. Also, 27
This is a mowing unit drive shaft that is linked to the output shaft of the continuously variable transmission 8 for traveling via a gear pair 28 and a clutch 29.

According to the above configuration, if the turning lever 16 is operated to the "straight forward" position in both forward and backward travel, both the left and right hydraulic motors 15L and 15R are in the neutral state and the left and right planets When the sun gears 20L, 20R in the gear devices 14L, 14R are in a stopped state, the left and right axles 13L, 13R are driven at the same speed in the same direction by the final transmission shaft 12 via the planetary gear devices 14L, 14R, so that the left and right are driven. Are driven at the same speed in the same direction, and a straight traveling state appears.

When the turning lever 16 is turned to the left in the forward straight traveling state, the right hydraulic motor 15
R is not operated, so that the sun gear 20R of the right planetary gear unit 14R is maintained in a stopped state, and the right traveling unit 1 is not operated.
R moves forward at that speed, while the left lever 23L is in the second position by operating the shift lever 11 to the forward region, the left shift trunnion shaft 22L is operated in reverse rotation and the left hydraulic pressure is increased. The reverse rotation speed-up operation of the motor 15L increases the number of rotations of the left sun gear 20L in the reverse direction, and causes the left axle 13L, that is, the left traveling device 1L to move forward slowly, resulting in a slow turn. If the turning lever 16 is still turned to the left, the forward movement of the left traveling device 1L stops, and the pivot turn is performed. If the turning lever is further turned to the left, the left When the traveling device 1L moves backward, a pivot turn is performed.

When the turning lever 16 is turned to the right in the forward straight traveling state, the left hydraulic motor 15L
Is not operated, the sun gear 20L of the left planetary gear unit 14L is maintained in a stopped state, and the left traveling unit 1L
Moves forward at that speed, while the right lever 23R is in the second position by the operation of the shift lever 11 to the forward region, and the right shift trunnion shaft 22R is operated in the reverse rotation to increase the speed of the right hydraulic motor. The rotation speed of the right sun gear 20R in the reverse direction increases due to the reverse rotation speed-up operation of the 15R, so that the forward speed of the right axle 13R, that is, the right traveling device 1R is reduced, so that the gentle turning is performed. If the turning lever 16 is still turned to the right, the forward traveling of the right traveling device 1R is stopped, and the pivot turn is performed. If the turning lever is further turned to the right, the right running is performed. When the device 1 </ b> R moves backward, a pivot turn is performed.

On the other hand, when the turning lever 16 is turned to the left in the reverse straight traveling state, the right hydraulic motor 15R
Is not operated, the sun gear 20R of the right planetary gear unit 14R is maintained in a stopped state, and the right traveling unit 1R
Moves backward at that speed, while the left lever 23L is in the first position by the operation of the shift lever 11 in the reverse direction, the left shift trunnion shaft 22L is operated to reversely increase the speed, and the left hydraulic motor The rotation speed of the left sun gear 20L in the reverse direction increases due to the reverse rotation speed-up operation of the 15L, and the left axle 13L, that is, the reverse traveling speed of the left traveling device 1L decreases, so that a gentle turning is performed. If the turning lever 16 is still turned to the left, the reverse movement of the left traveling device 1L is stopped, so that the pivot turn is performed. If the turning lever is further turned to the left, the left running is performed. When the device 1L moves forward, a pivot turn is performed.

Further, when the turning lever 16 is turned to the right in the reverse straight traveling state, the left hydraulic motor 15L
Is not operated, the sun gear 20L of the left planetary gear unit 14L is maintained in a stopped state, and the left traveling unit 1L
Moves backward at that speed, while the right lever 23R is in the first position by operating the shift lever 11 in the reverse region, the right shift trunnion shaft 22R is operated in reverse rotation and speed-up, and the right hydraulic motor The rotation speed of the right sun gear 20R in the reverse direction increases due to the reverse rotation speed-up operation of the 15R, and the reverse speed of the right axle 13R, that is, the right traveling device 1R decreases, so that gentle turning is performed. When the turning lever 16 is still turned to the right, the reverse traveling of the right traveling device 1R is stopped, so that a pivot turn is performed. When the turning lever is further turned to the right, the right running is performed. When the device 1R moves forward, a pivot turn is performed.

[Another Embodiment] In the above embodiment,
The left and right actuators 15L, 15R for operating the planetary gear units 14L, 14R and the interlocking means are modified as follows. That is, as shown in FIG. 6, a hydraulic motor driven by one hydraulic pump PU is provided as the left and right actuators 15L and 15R, and the turning operation of the turning operation tool 16 and the shifting lever 11 Based on the forward / reverse switching operation, when the turning operation tool 16 is in the “straight” position, the two hydraulic motors 15L and 15R are stopped, and the “left” of the turning operation tool 16 in a state where the shift lever 11 is in the forward movement range. With the increase in the amount of turning operation to the left, the left hydraulic motor 15L is rotated so that the left sun gear 20L operates in the reverse rotation while the right hydraulic motor 15R is stopped and maintained, and the shift lever 11 is moved forward. With the increase in the amount of turning operation of the turning operation tool 16 to the “right” in the state above, the right hydraulic motor 15R is moved to the right sun gear 2 while the left hydraulic motor 15L is stopped and maintained. R is rotated so that the reverse rotation speed-up operation is performed, and the right hydraulic motor 15R is stopped and maintained as the turning operation amount of the turning operation tool 16 to the left increases when the shift lever 11 is in the reverse range. In this state, the left hydraulic motor 15L is rotated so that the left sun gear 20L operates in the reverse rotation speed-up operation, and the turning operation amount of the turning operation tool 16 to the “right” in the state where the shift lever 11 is in the reverse range is determined. With the increase, the hydraulic control valve 30 for rotating the right hydraulic motor 15R so that the right sun gear 20R rotates in the reverse rotation while the left hydraulic motor 15L is stopped and maintained, increases the hydraulic pump P and the hydraulic motor 15L, It is interposed in the hydraulic circuit with 15R.

In the above embodiment, the planetary gear device 14
Although the sun gears 20L and 20R are the rotating elements L and R not used for input and output as L and 14R, the planetary gear devices 14L and 14R are internal gears 17L and 17R.
The rotary elements L and R that do not use the 17R and the planetary frames 19L and 19R for input and output may be used.

In the above embodiment, the hydraulic motors of the hydrostatic stepless transmission are shown as the left and right actuators 15L and 15R. However, the actuators 15L and 15R may be electric motors.

In the above embodiment, the left and right traveling devices 1
Although the crawler type is shown as L and 1R, the traveling device 1L and 1R may be a multi-wheel type having three or more wheels.

The structure of the forward / reverse switching mechanism 9 can be changed as appropriate.

In the above-described embodiment, the traveling device 1L or 1R on the inner side of the turn is configured to turn in various types of turning by decelerating, stopping, and reversely increasing the speed of the traveling device 1L or 1R on the inner side of the turn. While decelerating, stopping, and increasing the speed of the reverse rotation, the traveling device 1R or 1L on the outer side of the turning may be accelerated to turn in various turning modes.

In the above embodiment, an example of application to a combine has been described, but any work machine may be used.

[Brief description of the drawings]

FIG. 1 is a side view of a combine.

FIG. 2 is a schematic diagram showing a transmission system.

FIG. 3 is a cutaway front view showing movement of a lever.

FIG. 4 is a side view showing movement of a lever.

FIG. 5 is a schematic diagram showing a turning operation system when moving forward, and a schematic diagram showing a turning operation system when moving backward.

FIG. 6 is a schematic configuration diagram showing another embodiment.

[Explanation of symbols]

 1L, 1R Traveling device 7 Engine 8 Continuously variable transmission 9 Forward / reverse switching mechanism 12 Final transmission shaft 13L, 13R Axle 14L, 14R Planetary gear device 15L, 15R Actuator 16 Turning operation tool L, R Rotating element

Claims (1)

[Claims] 1. A working machine in which a belt-type continuously variable transmission and a forward / reverse switching mechanism are interposed in a transmission system from an engine to left and right traveling devices in a state of being connected in series. Each of the axles of the traveling device is individually linked to the final transmission shaft via a planetary gear device, and among the rotating elements constituting the planetary gear device, the rotating elements that are not used for input / output are rotated. The left and right turning actuators that change the rotation speed of the vehicle are provided, and the turning actuator corresponding to the inside of the traveling device is turned in conjunction with the turning operation of the turning operation tool in the direction of decreasing the axle rotation speed. A turning device of a working machine provided with a means.