JPS6157206B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a traveling device for a crawler vehicle such as a power shovel.

(Prior Art) Conventional crawler-type vehicle traveling devices include those described in Japanese Utility Model Application Publication No. 125442/1982 and Japanese Patent Application Laid-open No. 108470/1983.

(Problems to be Solved by the Invention) In these devices, the hydraulic motor is placed on one side of the sprocket, the reducer is placed on the other side of the sprocket, and the hydraulic motor and the reducer are connected to a relatively long connecting shaft. It was connected by. Since the connecting shaft is thus relatively long, the entire device becomes long in the width direction of the crawler shoe. For this reason, for example,
In the system disclosed in Japanese Utility Model Application Publication No. 125442/1984, the hydraulic motor protrudes outward from the width of the crawler shoe, making it easy for obstacles such as rocks to collide with the hydraulic motor. Also, JP-A-49-108470
In the device described in the publication, a radial piston type hydraulic motor with a short axial length up to the output part is used as the hydraulic motor, and the entire device is arranged within the width of the crawler shoe. The diameter of the hydraulic motor becomes larger, and therefore,
Not only does the overall size of the traveling frame to which the hydraulic motor is attached become large, but the crawler shoe is also used to prevent interference between the crawler shoe links attached to the inner surface of the crawler shoe and the traveling frame, and to improve soil removal performance such as mud. It is necessary to increase the gap between the link and the running frame, that is, the distance from the center of the sprocket to the running frame. As a result, the distance from the center of the sprocket to the end face of the hydraulic motor becomes large, and when the sprocket is engaged at the center of the crawler shoe width or when the sprocket is engaged with a crawler shoe with a narrow crawler shoe width, the distance to the hydraulic motor becomes large. There was a problem in that the external piping and the rotary valve part of the hydraulic motor protruded outside the width of the crawler shoe, and these parts collided with obstacles and were damaged, causing liquid leakage. Additionally, as the overall size of the running frame increases as mentioned above, the distance between the outer periphery of the running frame and the inner periphery of the crawler show becomes shorter, making it easier to remove mud and other soil that passes between the outer periphery of the running frame and the inner periphery of the crawler show. becomes worse. In order to improve this earth removal performance, it was necessary to shorten the length of the rib portion provided extending horizontally on the traveling frame, or to eliminate the rib portion. As a result, the piping etc. to the hydraulic motor cannot be protected by the rib portion, and there is a problem that the piping etc. are damaged by rocks, concrete blocks, etc. caught up by the crawler shoe, causing liquid leakage.

The present invention provides a crawler-type vehicle that maintains good soil removal performance, makes the crawler shoe width as narrow as possible, and arranges accessory parts such as a hydraulic drive mechanism and external piping within the crawler shoe width, making them less prone to damage and liquid leakage. The purpose of the present invention is to provide a traveling device.

(Means for Solving the Problems) A traveling device for a crawler-type vehicle according to the present invention has a lug-like shape in which a through hole penetrating from the outside to the inside is formed and has an arc-shaped outer end in the crawler traveling direction. a traveling frame having a reinforcing rib part integrally attached to the outer edge of the lug and lug part so as to extend inward from the outer edge; an axial piston type hydraulic motor and a speed reducer inserted into the casing; a hydraulic drive mechanism having a rotating wheel driven by a hydraulic motor via a mechanism, the casing being inserted into a through hole so as to be positioned within the width of the crawler shoe, and attached to the traveling frame; A connecting portion in which the casing of the motor is connected to the lug portion, an inner casing portion extending inwardly from the connecting portion, and an outer casing portion extending outwardly from the connecting portion. The output part of the hydraulic motor has a part that is surrounded by liquid leaking inside the hydraulic motor and is housed in an outer casing part, and the rotating ring has a sprocket tooth part with teeth formed on the outer periphery. , an outer cylindrical portion extending outward from the sprocket teeth, and the rotating ring is attached to the outer casing via a bearing so that the sprocket teeth of the rotating ring are located approximately at the center of the width of the crawler shoe. The outer cylindrical part of the rotary ring is connected to the output end of the reduction mechanism, and a pair of external pipes through which the working fluid of the hydraulic motor flows in and out is connected to the ear fittings across the through hole. The outer piping and the inner casing part are protected by the reinforcing rib part by running parallel to the inside of the reinforcing rib part along the inner side surface of the lug part from the side opposite to the outer end of the shaped part in the crawler running direction. The counterbalance valve is integrally attached to the inner casing part so as to be located inside the reinforcing rib part, and has a spool inside that is movable on a plane substantially perpendicular to the axis of the through hole, and the liquid It is characterized by controlling the inflow and outflow of fluid to the pressure motor.

(Example) An example of the present invention will be described below with reference to the drawings.

In FIGS. 1 and 2, reference numeral 1 denotes a running frame of a crawler-type vehicle, and this running frame 1 has a lug-like shape with a through hole 2 formed from the outside to the inside, and an arc-shaped outer end in the crawler running direction. A reinforcing rib portion 1b is integrally attached to the outer edge of the portion 1a and the lug portion 1a so as to extend inward from the outer edge, and the traveling frame 1 is located within a crawler shoe width to be described later. 3 is a casing, and this casing 3 includes an insertion part 4a having the same diameter as the through hole 2, and a flange part 4b located outward from and continuous with the insertion part 4a and having a larger diameter than the insertion part 4a. It has a connecting part 4 consisting of. Then, the insertion portion 4a of the casing 3 is inserted into the through hole 2 from the outer end opening of the through hole 2 until the inner end surface of the flange portion 4b comes into contact with the outer surface of the traveling frame 1. It is removably attached to the traveling frame 1 by a plurality of bolts 5 screwed into the flange portion 4b from the inside to the outside so as to connect both the flange portions 4b. Furthermore, the casing 3 has an outer casing part 6 that extends outward from the flange part 4b of the connecting part 4 and has a smaller diameter than both the insertion part 4a and the flange part 4b. Outer casing part 6
A first diameter portion 6a continuous to the outer end surface 4c of the flange portion 4b, a second diameter portion 6b located outward from the first diameter portion 6a and having a smaller diameter than the first diameter portion 6a, and a first diameter portion 6a.
and a step 6c that connects the second diameter portion 6b. The aforementioned connecting portion 4 and outer casing portion 6
constitutes the fixed holding member 7 as a whole. Also,
The casing 3 has an inner casing part 8 that extends inward from the connecting part 4, and this inner casing part 8 is detachably attached to the inner end surface of the fixed holding member 7 via bolts 9 and runs. It consists of a control block 10 located inside the frame 1.
A cylindrical hydraulic motor chamber 11 is formed inside the fixed holding member 7 and extends outward from the inner end surface. The bottom surface 11 of this hydraulic motor chamber 11
a is located outward from the outer end surface 4c of the flange portion 4b. Reference numeral 12 designates a cartridge-structured swash plate type hydraulic motor that is inserted from the inner end opening of the hydraulic motor chamber 11 and housed in the fixed holding member 7; bottom surface 1
1a and the pin 13 at its outer end.
is inserted into the hole 14 in the bottom surface 11a of the hydraulic motor chamber 11, thereby being positioned on the fixed holding member 7. Therefore, when removing this hydraulic motor 12, it must be done from the inside. The hydraulic motor 12 has a rotating shaft 15 as an output part, and the outer end of the rotating shaft 15 passes through the fixed holding member 7 and projects outward from the fixed holding member 7. Therefore, the rotating shaft 15 is connected to passages 48, 49, 5, which will be described later.
0, it has a portion that is surrounded by internal leakage fluid that collects in the drain chamber 51 and the like and is housed in the outer casing portion 6. The control block 10 has a fixed holding member 7
It has a flange portion 16 on the side adjacent to the flange portion 16, and this flange portion 16 is secured to the holding member 7 by the bolts 9.
It is removably attached to the inner end surface of the 17
is a timing plate on which a distribution valve for the hydraulic motor 12 is formed, and this timing plate 17
is connected to the flange portion 16 via the pin 18, so the flange portion 16 and the timing plate 17 of the hydraulic motor 12 can be positioned with the bolt 9, and thereby the swash plate 19 of the hydraulic motor 12 can be positioned.
The timing plate 17 can be positioned relative to the timing plate 17. A bearing 20 is provided adjacent to the timing plate 17 inside the flange portion 16, and the fixed holding member 7
The inner end of the rotating shaft 15 protruding from the flange 1
6 and is rotatably supported. 2
Reference numeral 1 denotes a rotating ring, and this rotating ring 21 has a sprocket tooth portion 22 located in the center and having teeth formed on the outer periphery.
, an inner cylindrical portion 23 extending inwardly from the sprocket tooth portion 22 , and an inner cylindrical portion 23 extending inwardly from the sprocket tooth portion 22 .
an outer cylindrical portion 24 extending outward from the inner cylindrical portion 24 and having an outer diameter approximately equal to the outer diameter of the inner cylindrical portion 23;
has. The tooth width center plane M of the sprocket tooth portion 22 is located inward from the outer end of the rotating shaft 15, and is located at the center of the crawler shoe width.
A hollow hole 27 with a smaller diameter than the flange portion 4b and a larger diameter than the outer casing portion 6 is formed inside the rotating ring 21, and the outer casing portion 6 is formed inside the hollow hole 27.
is loosely fitted, and at this time, the inner end of the inner cylindrical portion 23 is located at a slight distance from the outer end surface 4c of the flange portion 4b. The hollow hole 27 of the rotating ring 21 is
A first diameter portion 6a of the outer casing portion 6 located at the inner end
a first inner diameter portion 27a facing the first inner diameter portion 27;
a second inner diameter part 27b located outward from the second inner diameter part 27b and having a slightly smaller diameter than the first inner diameter part 27a and facing the first diameter part 6a of the outer casing part 6; 1. Second inner diameter portion 27a, 27b
The second diameter portion 6 of the outer casing portion 6 has a larger diameter than both.
The third inner diameter portion 27c facing b, and the first inner diameter portion 2
7a and the second inner diameter portion 27b are connected to each other.
7d, and a second step 27e that connects the second inner diameter part 27b and the third inner diameter part 27c.
The step 27e is located substantially on the same plane as the step 6c. The outer end surface 4c of the flange portion 4b and the first diameter portion 6a of the outer casing portion 6 are connected to the hollow hole 2.
A sealing member 28 is housed in the annular chamber formed by the first inner diameter portion 27a of the hollow hole 27 and the first step 27d of the hollow hole 27, and this sealing member 28 closes the gap between the casing 3 and the rotating ring 21. Seal.
Two bearings 29 and 29' are mounted between the outer circumference of the second diameter part 6b of the outer casing part 6 and the inner circumference of the third inner diameter part 27c of the hollow hole 27, and are spaced apart from each other by a predetermined distance in the axial direction. Rotating wheel 2 via bearings 29, 29'
1 is rotatably supported by the outer casing part 6. The bearings 29, 29' have an outer diameter equal to the inner diameter of the outer cylindrical portion 24 of the rotary ring 21. The bearings 29, 29' are arranged such that the face width center plane M of the sprocket tooth portion 22 is located between the axial center planes L, L', and the outer side of the bearings 29, 29' The hydraulic motor chamber 11 is arranged so that the bottom surface 11a of the hydraulic motor chamber 11 is located outward from the inner end 29'a of the bearing 29'. Further, the inner surface N of the sprocket tooth portion 22 is located within the axial width of the inner bearing 29 of the bearings 29, 29'. 3
Reference numeral 0 designates a cylindrical collar that is interposed between the bearings 29, 29' and has an inner end abutting the bearing 29 and an outer end abutting the bearing 29'.
to prevent it from moving in the axial direction. Reference numeral 31 denotes a gear reduction mechanism provided on the outer side of the casing 3, and an input end of this gear reduction mechanism 31 is engaged with the outer end of the rotating shaft 15. The output end of the gear reduction mechanism 31 is connected to the outer end of the rotating wheel 21 via a bolt 32, and decelerates the rotation of the rotating shaft 15 of the hydraulic motor 12 while simultaneously increasing the output torque and transmitting it to the rotating wheel 21. It's been like that. The aforementioned hydraulic motor 12, deceleration mechanism 31, and rotary wheel 21 constitute a hydraulic drive mechanism in the present invention, and this hydraulic drive mechanism is located within the crawler shoe width.
33 is a crawler shoe, and a bracket 34 is provided at the center inside the crawler shoe 33, and a shaft 35 is fixedly attached to the bracket 34. The teeth of the sprocket teeth 22 of the rotary wheel 21 are engaged with the shaft 35, and when the rotary wheel 21 rotates, the crawler shoe 33 runs via the bracket 34 and the shaft 35. The aforementioned fixed holding member 7, hydraulic motor 12, rotary wheel 21, and gear reduction mechanism 31 are provided as a whole on the outer side of the traveling frame 1, and form a drive assembly 3 for driving and traveling the crawler shoe 33.
6. In FIGS. 4 and 6, inside the flange portion 16, there is a passage 37 for flowing pressurized fluid into and out of a parking brake, which will be described later, a radiation passage 38 communicating with the passage 37, and a passage 37 and a radiation passage 38. Shuttle valve 39 interposed between
, and this shuttle valve 39 is connected to the spring 4.
0 to restrict fluid in one direction. In Figures 2, 4, 5, and 6, the flange portion 1
6 has a pair of inflow and outflow passages 41 and 4 through which fluid for driving and rotating the hydraulic motor 12 flows in and out.
1' is formed, one end of these inflow and outflow passages 41, 41' opens on the outer peripheral surface of the flange portion 16 near the radial outer end of the radiation passage 38, and the other end opens into holes 17a, 17 formed in the timing plate 17. 'a. The holes 17a, 17'a communicate with piston chambers 43, 43' formed in the cylinder block 42 of the hydraulic motor 12, which rotates together with the rotary shaft 15. A parking brake 44 is housed within the flange portion 16 on the side remote from the hydraulic motor 11 and is detachably attached by bolts 45 so as to be located within the width of the crawler shoe. This parking brake 44 has a substantially cylindrical cylinder member 46 , and a passage 48 that communicates with a passage 47 connected to the shuttle valve 39 is provided between the outer periphery of the outer end of the cylinder member 46 and the inner periphery of the flange portion 16 .
is formed. This passage 48 is connected to the flange portion 16
The hydraulic motor chamber 11 is connected in series through a passage 49 formed between the rotary shaft 15 and the passage 50 formed between the flange portion 16 and the outer peripheral wall of the bearing 20.
It communicates with the drain chamber 51 of the parking brake 4.
Drain generated in the drain chamber 4 is guided to a drain chamber 51. Further, the drain chamber 51 also collects drain leaked internally from the hydraulic motor 12. This drain chamber 51 is connected to the flange portion 16 as shown in FIG.
The drain passage 52 communicates with a drain passage 52 formed inside, and this drain passage 52 has a joint 5 on the outer peripheral surface of the flange portion 16.
3 and 54 to a discharge pipe 55 which is detachably attached, and discharges the drain accumulated in the drain chamber 51 to the outside. The cylinder member 46 has a large diameter portion 46a located on the inner side, a small diameter portion 46b located on the outer side, and a stepped portion 4 that connects the large diameter portion 46a and the small diameter portion 46b.
6c. Reference numeral 56 denotes a closing member fixedly attached to the inner end of the cylinder member 46 with bolts 57 so as to close the inner end opening of the large diameter portion 46a. Parking brake chamber 5
8 is formed. This brake chamber 58 is located inward from the hydraulic motor chamber 11. Reference numeral 59 denotes a moving member, and this moving member 59 has a first diameter portion 59a located on the inner end side and having the same diameter as the large diameter portion 46a on its outer periphery.
, a second diameter part 59b located on the outer end side and having the same diameter as the small diameter part 46b, a first diameter part 59a and a second diameter part 59.
It has a stepped portion 59c that is continuous with b. The moving member 59 has its first diameter section 59a connected to the large diameter section 46a, and its second diameter section 59b connected to the small diameter section 46a.
6b, and is slidably housed within the parking brake chamber 58, thereby partitioning the parking brake chamber 58 into an inner spring chamber 60 and an outer brake element chamber 61. 62
is a spring housed in a spring chamber 60, the inner end of this spring 62 is held in a spring hole 63 formed in the closing member 56, and the outer end is held in a spring hole 64 formed in the moving member 59.
, and presses the moving member 59 to constantly move it outward. A spring chamber 60 and a brake element chamber 6 are provided in the center of the moving member 59.
1 is formed, and the brake element chamber 61 communicates with the passage 48. Therefore, fluid can flow into the spring chamber 60 from the passage 48 through the brake element chamber 61 and the through hole 65, and drain can flow out from the spring chamber 60 through the brake element chamber 61 and the through hole 65 into the passage 48. can. The aforementioned passages 48, 49, 5
0 and the through hole 65 as a whole form the spring chamber 6.
A passage 66 is configured to guide drain generated in the brake element chamber 61 and the brake element chamber 61 to the drain chamber 51 of the hydraulic motor chamber 11. 67 is a hydraulic pressure chamber, and this hydraulic pressure chamber 67
is formed by the large diameter portion 46a and the stepped portion 46c of the cylinder member 46, and the second diameter portion 59b and the stepped portion 59c of the moving member 59. Reference numeral 68 denotes a passage formed within the cylinder member 46 , one end of which communicates with the passage 37 and the other end communicates with the hydraulic chamber 67 . When high pressure fluid flows into the hydraulic chamber 67 through this passage 68,
The moving member 59 is moved inwardly against the spring 62. 69 is a brake element housed in the brake element chamber 61, and this brake element 69 includes a fixed brake plate 70 whose radial inner end is spline-coupled to the inner end of the rotating shaft 15;
Its radial outer end is the small diameter portion 46b of the cylinder member 46.
a movable brake plate 71 that is spline-coupled to the fixed brake plate 70 and faces the fixed brake plate 70; are engaged with each other to apply braking to the rotating shaft 15 of the hydraulic motor 12. The aforementioned cylinder member 46, closing member 56,
The movable member 59, the spring 62, the hydraulic chamber 67, and the brake element 69 collectively constitute the parking brake 44, and when no fluid is flowing into the hydraulic chamber 67 of the parking brake 44, the spring 62 moves. The rotating shaft 1 of the hydraulic motor 12 is moved by pressing the member 59 outward.
When the hydraulic motor 5 is braked and high-pressure fluid flows into the hydraulic chamber 67, the movable member 59 is pushed inward against the spring 62, and the hydraulic motor 1
The rotary shaft 15 of No. 2 is released from braking. A control valve 72 is detachably attached to the outer peripheral surface of the flange portion 16 near the parking brake 44 with bolts 73. The aforementioned flange portion 16 and the control valve 72 constitute the control block 10 as a whole, and the control block 10 and the parking brake 44 as a whole are provided on the inner side of the traveling frame 1 to operate the drive assembly 36. A control assembly 74 is configured to control the. As shown in FIGS. 3, 4, 5, and 6, the control valve 72 has an inflow and outflow passage that communicates with the inflow and outflow passages 41 and 41', respectively, and allows fluid to flow in and out of the inflow and outflow passages 41 and 41'. 75, 75', a first switching valve 76 as a counterbalance valve, and a pair of passages 77, 7 in the first switching valve 76.
7' as a relief valve connected via
It has a switching valve 78. The first switching valve 76 is integrally attached to the inner casing part 8 so as to be located inside the reinforcing rib part 1b in the width direction of the crawler shoe. The inflow and outflow passages 75, 75' are passages 79, 79', 80, 8 that directly communicate with the first switching valve 76.
0', the first switching valve 76, and the inflow and outflow passages 41, 4
1' and passages 81, 81'.
As shown in FIGS. 3 and 5 in detail, the first switching valve 76 has a spool 82 that is movably held and opens and closes the inflow and outflow passages 75 and 75' by the movement of the spool 82. is perpendicular to the crawler running surface. Further, the first switching valve 76 is
Springs 83, 83' are provided inside the spool 82.
Check valves 84, 8 pushed in one direction by
4', the check valves 84, 84', and the passage 79,
79' and between the check valves 84, 84' and the passages 81, 81'.
Holes 85, 85' formed inside, ball valves 87, 87' provided inside both ends of the spool 82 and pressed in one direction by springs 86, 86', and this ball valve 8.
Holes 88, 88' formed in spool 82 to communicate between 7, 87' and passages 80, 80'.
and holes 89, 89' formed in the spool 82 to communicate between the ball valves 87, 87' and the outside of both ends of the spool 82, and holes 89, 89' formed in the spool 82 at both ends of the spool 82 so that the spool 82 always returns to the neutral position. Spring 90, 90' provided, and damper valves 91, 9 provided opposite to both end faces of spool 82 to regulate the sliding distance and speed of spool 82.
1', and chambers 92, 92' surrounded by the damper valves 91, 91' and the spool 82. Reference numeral 93 denotes a selection path that communicates with the first switching valve 76 at one end and the radiation passage 38 at the other end.
is selectively communicated with the high-pressure side inflow and outflow passages 75 and 75' by movement of the spool 82 to guide high-pressure fluid to the radiation passage 38. Further, the second switching valve 78 is connected to the passage 7 as shown in detail in FIG.
A slidable shuttle valve 96 having a hollow hole 94 between 7 and 77' and a flange 95 formed at the middle part of the outer periphery, and the sliding of this shuttle valve 96 is regulated by abutting against the flange 95 on the outer periphery. Guides 98, 98' are provided which have stopper portions 97, 97', and inner circumferential surfaces on which the aforementioned shuttle valve 96 and the later-described relief valve can slide. Inside these guides 98, 98', springs 99, 99' return the shuttle valve 96 to the neutral position, and there is a small hole 100 at the tip.
Relief valves 101, 101' having 100' are slidably provided. This relief valve 10
Guides 98, 98' are screwed and fixed behind the holes 1, 101', and the small holes 1 are fixed by springs 102, 102'.
03, 103' body 105, 1 that incorporates a pilot relief valve 104, 104' that is crimped onto the body 105, 1
05' and an adjustment screw 10 screwed into the bodies 105, 105' to enable adjustment of the springs 102, 102'.
6, 106', and nuts 107, 107', 108, which fix and hold the adjustment screws 106, 106'.
108' and pilot relief valves 104, 10
Passages 109, 109' are provided for allowing the bypass fluid of 4' to flow out into the passages 77, 77'.
Further, in front of the guides 98, 98', a passage 7 is provided.
Passages 110, 110' are provided in communication with the ports 7, 77' for applying fluid pressure to the shuttle valve 96. In Figures 1, 4, 5 and 6, the control valve 72
Outflow and inflow pipes 111 and 112 as external pipes that communicate with the outflow and inflow passages 75 and 75', respectively, are detachably attached to the end portion of the side remote from the parking brake 44 via a joint 113 with a bolt 114. . These inflow and outflow pipes 111, 11
In 2, pressurized fluid is flowing in or out,
Fluid is allowed to flow in and out of the passages 79, 79', 80 and 80' of the control valve 72. The lug-shaped part 1 extends the inflow and outflow pipes 111 and 112 across the through hole 2.
The reinforcing ribs 1b run vertically parallel to the inside of the reinforcing rib part 1b along the inner side surface of the lug part 1a from the side opposite to the outer end in the crawler running direction of a, and the inlet/outlet pipes 111, 112 and the inner side are connected by the reinforcing rib 1b. It protects the casing part 8. The parking brake 44, the inflow/outflow pipes 111, 112, and the hydraulic motor distribution valve described above are located from the center of the width of the crawler shoe to its inner end, and the reduction mechanism 31 is located from the center of the width of the crawler shoe to its outer end. There is.

Next, the operation of one embodiment of the present invention will be explained.

First, pressurized fluid flows in from the inflow and outflow pipe 111,
The case where fluid flows out from the inflow/outflow pipe 112 will be explained. In this case, the fluid that has flowed into the passage 79 out of the fluid that has flowed into the inflow and outflow passage 75 from the inflow and outflow pipe 111 enters the hole 85 in the spool 82 of the first switching valve 76 and pushes the check valve 84 against the spring. It flows into the open passage 81. The fluid that has flowed into this passage 81 flows through the inflow and outflow passages 41 within the flange portion 16.
through the piston chamber 43 of the hydraulic motor 12 and acts to push the swash plate 19, causing the hydraulic motor 1
It works to rotate the rotating shaft 15 of No. 2. On the other hand, the fluid that has flowed into the passage 80 out of the liquid that has flowed into the inflow and outflow passage 75 is passed through the hole 88 in the spool 82 through the gap between the spring 90 that returns the spool 82 of the first switching valve 76.
The liquid enters the chamber 92 by pushing open the ball valve 87 in the spool 82 against the spring 86 and flowing into the chamber 92 through the hole 89. As the fluid flowing into this chamber 92 increases, it acts to push the end face of the spool 82, causing the spool 82 to slide against the spring 90'. This sliding continues until the tip of the spool 82 hits the damper valve 91', and each passage is switched by this movement of the spool 82.
By this switching operation of the spool 82, the passage 7
9 and the selection passage 93 is the hole 8 in the spool 82.
5, and the inflow and outflow passages 41'
and the passage 79' communicate through the hole 85 in the spool 82, and the flow of fluid from the passage 80 into the chamber 92 is stopped. As a result of the selection passage 93 selectively communicating with the passage 79 through which high-pressure fluid flows, the high-pressure fluid in the passage 79 is diverted to the selection passage 93. The fluid flowing into the selection passage 93 is guided to the radial passage 38 of the flange portion 16 and flows into the shuttle valve 39, and pushes the shuttle valve 39 open against the spring 40 to connect the radial passage 38 and the passage 37. On the other hand, communication between the passage 37 and the passage 47 is cut off to stop discharging fluid from the parking brake 44. The fluid that has flowed into the radiation passage 38 flows into the hydraulic pressure chamber 67 of the parking brake 44 via the passages 37 and 68. The fluid flowing into the hydraulic chamber 67 acts to move the moving member 59 inwardly against the spring 62. This movement of the movable member 59 separates the movable brake plate 71 from the fixed brake plate 70, and the rotary shaft 15 becomes rotatable. At this time, the hydraulic motor 12 is rotated for the first time, and the fluid that flows out after driving and rotating the hydraulic motor 12 flows out from the piston chamber 43' of the hydraulic motor 12 through the inflow and outflow passages 41' and 75'. It flows out from the inlet pipe 112. That is, the high-pressure pressurized fluid that has flowed into the inflow/outflow pipe 111 automatically operates the first switching valve 76, then releases the parking brake 44 from braking the rotating shaft 15 of the hydraulic motor 12, and at the same time, the fluid flows out. It acts to drive and rotate the rotary shaft 15 of the pressure motor 12.

Next, a case will be described in which the inflow of pressurized fluid from the inflow/outflow pipe 111 is stopped and the operation of the hydraulic motor 12 is stopped. When the fluid that has been flowing into the passages 79 and 80 of the control valve 72 from the inflow/outflow pipe 11 stops flowing, the spool 82 of the first switching valve 76 is moved by the spring 9
0' returns it to the neutral position. At this time, the fluid in the chamber 92 flows between the spool 82 and the damper valve 9.
1, passes through the passage 80, and is discharged from the inflow/outflow pipe 111. Further, when the spool 82 is returned, the passage 79 and the selection passage 93 are disconnected. For this reason, the shuttle valve 39 is
0, the radiation passage 38 and the passage 37 are disconnected, and the passage 37 and the passage 47 are brought into communication. At this time, the moving member 59 is pressed by the spring 62 and moves outward, and the fluid in the hydraulic chamber 67 is discharged into the passage 48 via the passage 68, passage 37, and passage 47. The fluid discharged into this passage 48 is
It flows into the drain chamber 51 of the hydraulic motor chamber 11 through the passages 49 and 50, collects together with the internal drain of the hydraulic motor 12 itself, and then flows into the drain passage 5.
2. It is discharged to the outside through the discharge pipe 55. Due to the movement of the movable member 59, the movable brake plate 71 engages with the fixed brake plate 70, and the rotation shaft 1 of the hydraulic motor 12
5 to give a brake. In this case, the kinetic energy of the driven vehicle causes the hydraulic motor 12 to
In order to continue rotating in the direction in which pressurized fluid is flowing from the inflow/outflow pipe 111, the hydraulic motor 12 is a pump that sucks fluid from the inflow/outflow passage 41 and discharges the fluid to the inflow/outflow passage 41'. has the effect of In this way, when the hydraulic motor 12 acts as a pump, the hydraulic pressure in the passage 81' within the control valve 72 increases. This high pressure fluid enters the passage 77' and moves the shuttle valve 96 in the direction of the guide 98 against the spring 99 until the shuttle valve 96 is moved until the flange 95 on the outer periphery of the shuttle valve 96 hits the stopper part 97 at the front of the guide 98. It acts to move. When the flange 95 on the outer periphery of the shuttle valve 96 hits the stopper portion 97, the passage 1
10' and the hollow hole 94 communicate with each other, and the fluid flows into the hollow hole 94 of the shuttle valve 96.
The pilot relief valves 104, 104' are inserted into the relief valves 101, 101' through the small holes 100, 100' at the tips of the springs 102, 101'.
102' and tries to push it open. At this time, high pressure fluid acts as back pressure on one pilot relief valve 104' side, and the hydraulic motor 12 acts on the other pilot relief valve 104 side.
Since the fluid in the inflow/outflow passageway 41 is being sucked by the action of the pump, the low pressure fluid acts as a back pressure through the passageway 77, so the pilot relief valve 104 opens and the high pressure fluid flows into the passageway 77. At this time, due to the throttling action of the small hole 100 of the relief valve 101, out of the force of the spring 99 that presses the relief valve 101 toward the shuttle valve 96 and the force of the back pressure, the force due to the back pressure is reduced by the pilot. Since the pressure decreases rapidly when the relief valve 104 opens, the high pressure fluid in the hollow hole 94 acts against the spring 99 to push the relief valve 101 open.
The relief valve 101 opens and the hollow hole 94 and passage 11
0 communicates, fluid flows through passage 77 and passage 65.
The liquid flows into the hydraulic motor 12 through the inflow/outflow passage 41 in the flange portion 16 . That is, when the inflow of pressurized fluid from the inflow/outflow pipe 111 is stopped, the parking brake 44 is switched to the hydraulic motor 12 by the action of the first switching valve 76 and the shuttle valve 39.
acts to apply braking to the rotating shaft 15 of, and
The first switching valve 76 and the second switching valve 78 function to circulate the fluid in the hydraulic motor 12 so that the fluid does not run out. In addition, in the above-mentioned action, due to the delay in operation and compression of the fluid,
If the fluid sucked into the hydraulic motor 12 from the inflow/outflow passage 41 becomes insufficient, the check valve 84 is opened by this negative pressure to prevent the fluid from running out from the inflow/outflow pipe 111 since the inflow/outflow passage 41 becomes negative pressure. It is designed to suck in fluid according to its capacity.

The case where pressurized fluid flows in from the inflow/outflow pipe 111 and fluid flows out from the inflow/outflow pipe 112 has been described above, but the operation is similar to that described above when pressurized fluid flows in from the inflow/outflow pipe 112 and fluid flows out from the inflow/outflow pipe 111. perform operations. Note that, in this case, the hydraulic motor 12 will be rotated in the opposite direction.

(Effects of the Invention) In the present invention, an axial piston type hydraulic motor is inserted into a casing that rotatably supports a rotary ring, and the output part of the hydraulic motor is surrounded by liquid leaking inside the hydraulic motor. Since it has a part housed in the outer casing part,
It is possible to place the hydraulic motor adjacent to the speed reduction mechanism and eliminate the connecting shaft that transmits power between them.
Therefore, the distance from the end face of the hydraulic motor to the end face of the reduction mechanism can be shortened, and even if the crawler shoe width is made as narrow as possible, accessories such as the hydraulic drive mechanism and external piping can be arranged within the crawler shoe width. I can do it. Further, in the present invention, since the hydraulic motor is of an axial piston type, its diameter can be made smaller than that of a conventional radial piston type hydraulic motor. Therefore, it is possible to reduce the overall size of the running frame to which the hydraulic motor is attached, to avoid interference between the crawler shoe link and the running frame, and to move the running frame closer to the center of the sprocket teeth. . By placing the running frame close to the center of the sprocket teeth in this manner, the crawler shoe width can be made as narrow as possible. In addition, by placing the running frame close to the center of the sprocket teeth, a space is secured between the inner surface of the running frame and the inner end of the crawler shoe, and the reinforcing rib portion is extended from the lug portion to the inner side in the width direction of the crawler shoe. The pair of external pipes are made to run parallel to each other inside the reinforcing rib part along the inner surface of the lug-shaped part, and the outer pipe and the inner casing part are connected by the reinforcing rib part to each other by the rotation of the crawler shoe. It can be protected from entangled rocks, etc. Furthermore, if necessary, it is also possible to attach a lid or the like to the reinforcing rib portion to completely seal and protect the external piping and the inner casing portion. Further, the reinforcing rib portion can also increase the bending rigidity and torsional rigidity of the lug portion. Further, as described above, since the overall size of the traveling frame can be reduced, the space between the traveling frame and the crawler shoe can be increased, and soil removal performance can be improved. Therefore, there is no need to increase the pitch circle of the sprocket teeth, and the propulsion force does not decrease. Further, in the present invention, by securing a space between the inner surface of the traveling frame and the inner end of the crawler shoe, the counterbalance valve is integrally attached to the inner casing part so as to be located inside the reinforcing rib part. Therefore, compared to when the counterbalance valve is installed on a crawler vehicle separated from the hydraulic motor, it is possible to reduce the cost of the entire device by removing the piping between the hydraulic motor and the counterbalance valve. can. Furthermore, since the counterbalance valve has a spool inside thereof that is movable on a plane substantially perpendicular to the axis of the through hole, the counterbalance valve does not protrude outward from the width of the crawler shoe. Therefore, the counterbalance valve can be protected from rocks, etc.

[Brief explanation of the drawing]

The drawings show an embodiment of the traveling device for a crawler vehicle according to the present invention, and FIG. 1 is a side view thereof, FIG. 2 is a sectional view taken along the line A--A in FIG. 1, and FIG. Figure 1 is a cross-sectional view taken along line B-B in Figure 1, Figure 4 is a cross-sectional view taken along line CC in Figure 1, Figure 5 is a cross-sectional view taken along line D-D in Figure 4, and Figure 6 is a JIS symbol. FIG. DESCRIPTION OF SYMBOLS 1... Traveling frame, 1a... Lug-like part, 1b... Reinforcement rib, 2... Through hole, 3... Casing, 4... Connecting part, 6... Outer casing part, 8... Inner casing part, 12... Hydraulic motor , 15... Rotating shaft, 21... Rotating ring, 22... Sprocket teeth, 23... Inner cylindrical part, 24... Outer cylindrical part, 29, 29'... Bearing, 3
1...Gear reduction mechanism, 33...Crawler shoe, 44
...Parking brake, 76...Counter balance valve, 78...Relief valve, 111, 112...Inflow/outflow pipe.

Claims (1)

[Claims] 1 A through hole penetrating from the outside to the inside is formed,
A running frame having a lug portion having an arc-shaped outer end in the crawler running direction and a reinforcing rib portion integrally attached to the outer edge of the lug portion so as to extend inward from the outer edge; The casing is inserted into the through-hole and installed in the running frame so that it is positioned within the width of the crawler shoe. a hydraulic drive mechanism, a connecting portion in which the casing of the hydraulic motor is connected to a lug-like portion, an inner casing portion extending inward from the connecting portion;
and an outer casing part extending outward from the coupling part, the output part of the hydraulic motor being surrounded by liquid leaking inside the hydraulic motor and a part housed in the outer casing part. The rotary ring has a sprocket tooth portion having teeth formed on its outer periphery, and an outer cylindrical portion extending outward from the sprocket tooth portion, and the sprocket tooth portion of the rotary ring has a crawler shaft. A rotary ring is rotatably supported by the outer casing part via a bearing so as to be located approximately at the center of the width, and an outer cylindrical part of the rotary ring is connected to the output end of the reduction mechanism to operate the hydraulic motor. A pair of external piping through which fluid flows in and out is run parallel to the inner side of the reinforcing rib portion from the side opposite to the outer end of the lug portion in the crawler running direction across the through hole and along the inner side surface of the lug portion. The outer piping and the inner casing part are protected by the reinforcing rib part, and the counterbalance valve is integrally attached to the inner casing part so as to be located inside the reinforcing rib part, and the axis of the through hole is 1. A traveling device for a crawler-type vehicle, comprising a spool that is movable on a plane substantially perpendicular to the vehicle, and is configured to control the inflow and outflow of fluid to a hydraulic motor.