JPH08156821A - Steering device for working vehicle - Google Patents

Abstract

PURPOSE: To improve steering operation performance by adopting a pair of planetary transmission mechanisms and changing the rotating speed of one of three structural elements in mutually righ-and-left opposite operation so that a turning radius can be freely set. CONSTITUTION: When a steering lever 22 is in a neutral position, right and left planetary transmission mechanisms 9, 9 are at the same speed to drive right and left drive axles 8R, 8L at an equal speed for a machine to run straight. When the steering lever 22 is tilted to the right, a piston rod 20a for an operating cylinder 20 is expanded and moved equivalently to the tilting operation of the steering lever 22. That means, the right and left planetary transmission mechanisms 9, 9 are in mutually opposite operation and a relative speed difference between right and left steering devices 5, 5 occurs for the machine to be turned to the right. As the tilting of the steering lever 22 is increased, pressure in an oil passage 25 is higher and a turning radius is smaller. This applies also to left turning.

Description

【発明の詳細な説明】Detailed Description of the Invention

【０００１】[0001]

【産業上の利用分野】本発明は、コンバインや運搬車と
いった作業車の操向装置に係り、詳しくは、旋回半径を
無段階に設定できるようにする技術に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steering device for a working vehicle such as a combine or a carrier, and more particularly to a technique for enabling a turning radius to be set continuously.

【０００２】[0002]

【従来の技術】例えば、実開昭６１‐１５２５２７号公
報に示された運搬車や、特開平６‐９９８４２号公報に
示されたコンバイン等がある。これらの作業車では、左
右一対のサイドクラッチと左右一対のサイドブレーキ、
及び正逆転機構を備えることにより、一方の走行装置を
自由回転状態にする緩旋回、一方の走行装置を停止させ
るブレーキ旋回（信地旋回）、及び、一方の走行装置を
他方の走行装置とは反対方向に駆動させる急旋回（超信
地旋回）の各旋回形態が現出できるように構成されてい
た。2. Description of the Related Art For example, there are a carrier shown in Japanese Utility Model Laid-Open No. 61-152527 and a combine shown in Japanese Patent Laid-Open No. 6-99842. In these work vehicles, a pair of left and right side clutches and a pair of left and right side brakes,
By providing the forward and reverse rotation mechanism, one of the traveling devices can freely rotate, a slow turn that stops one of the traveling devices (a pivotal turn), and one of the traveling devices can be different from the other traveling device. It was configured so that each turning form of a sudden turn (super-spinning turn) driven in the opposite direction could appear.

【０００３】[0003]

【発明が解決しようとする課題】例えば、前記後者の公
報に示された技術では、サイドクラッチやサイドブレー
キ等の機構を連係作動させる工夫により、１本の操作レ
バーによって上記の各旋回形態を順序良く現出できるよ
う構成されてはいるが、旋回半径については上述した３
種の旋回形態による３通りしかできないものであり、旋
回半径の設定が限られている点において改善の余地があ
った。本発明の目的は、旋回半径を自由に設定できるよ
うにして、操向操作性能を向上させる点にある。SUMMARY OF THE INVENTION For example, in the technique disclosed in the latter publication, one turning lever is used to sequence the above-mentioned turning forms by devising a mechanism such as a side clutch and a side brake to operate in a linked manner. Although it is constructed so that it can appear well, the turning radius is 3
There are only three types of turning modes, and there is room for improvement in that the setting of the turning radius is limited. An object of the present invention is to improve the steering operation performance by allowing the turning radius to be freely set.

【０００４】[0004]

【課題を解決するための手段】上記目的の達成のために
本発明は、太陽歯車と、遊星歯車と、該遊星歯車に内接
咬合する環状歯車とから成る遊星変速機構を、左右の駆
動車軸毎に作用するように一対備え、太陽歯車、遊星歯
車、環状歯車のうちの２個を、駆動車軸への出力取出し
用歯車と、伝動上手側からの入力受入れ用歯車とに振分
けて設定し、残り１個の歯車を独立して可変回転駆動可
能な操向変速機構を設けるとともに、操向変速機構は、
左右の残り１個の歯車を、これらの回転方向が互いに反
対となる状態での同時駆動、及び同時停止が可能に構成
されていることを特徴とするものである。In order to achieve the above object, the present invention provides a planetary speed change mechanism including a sun gear, a planetary gear, and an annular gear that is inscribed in the planetary gear. Two pairs of sun gears, planetary gears, and annular gears are provided so as to act on each of them, and two of the sun gears, the planetary gears, and the annular gears are set to be divided into an output take-out gear to the drive axle and an input receiving gear from the transmission side, In addition to providing a steering speed change mechanism capable of independently variably rotating the remaining one gear, the steering speed change mechanism is
It is characterized in that the remaining left and right gears can be simultaneously driven and simultaneously stopped in a state where their rotation directions are opposite to each other.

【０００５】[0005]

【作用】前記構成によると、詳しくは実施例で説明する
が、操向変速機構の機能により、左右の残り１個の歯車
を同時停止させると、左右の遊星変速機構が同一の回転
状態に揃い、左右の駆動車軸が互いに同速度で駆動され
て直進走行状態が現出される。そして、左右の残り１個
の歯車を、これらの回転方向が互いに反対となる状態で
同時駆動すると、上記同時駆動状態に比べて一方の遊星
変速機構の出力回転は速くなり、かつ、他方の遊星変速
機構の出力回転は遅くなるように作用する。従って、回
転方向が互いに反対となる状態での同時駆動速度を調節
すれば、左右の走行装置の速度差の大小を無段階に設定
することができる。つまり、コンバインを例にすれば、
左右の走行装置を正反対に駆動させる超信地旋回、片側
の走行装置が停止する信地旋回、片側の走行装置が他方
の走行装置と同じ方向で遅く駆動される緩旋回といった
各旋回形態が可能になるとともに、それら各旋回形態の
間の旋回半径となる状態を無段階に現出可能になる。According to the above-mentioned structure, as will be described in detail in the embodiment, when the remaining left and right gears are simultaneously stopped by the function of the steering transmission mechanism, the left and right planetary transmission mechanisms are aligned in the same rotation state. , The left and right drive axles are driven at the same speed, so that a straight traveling state appears. When the remaining left and right gears are simultaneously driven in a state in which their rotation directions are opposite to each other, the output rotation of one planetary speed change mechanism becomes faster than that in the simultaneous drive state, and the other planetary gear shifts. The output rotation of the speed change mechanism acts so as to be slow. Therefore, by adjusting the simultaneous driving speeds in a state where the rotation directions are opposite to each other, the magnitude of the speed difference between the left and right traveling devices can be set steplessly. In other words, taking a combine as an example,
Various turning modes are possible, such as super-turning turning that drives the left and right running devices in opposite directions, turning turning in which the running device on one side stops, and gentle turning in which the running device on one side is driven slowly in the same direction as the other running device. As a result, the state of the turning radius between each of the turning forms can be exhibited steplessly.

【０００６】[0006]

【発明の効果】その結果、一対の遊星変速機構の採用と
それを構成する３要素の歯車の１つの回転を左右のもの
で背反的に変速させる工夫によって、左右の走行装置の
速度差を任意に調節できるようになり、旋回半径を無段
階に調節して設定できる操向操作性に優れた操向装置を
提供できた。As a result, the speed difference between the left and right traveling devices can be arbitrarily set by adopting a pair of planetary speed change mechanisms and contrariwise shifting one rotation of one of the three constituent gears of the left and right gears. Thus, it is possible to provide a steering device with excellent steering operability that allows the turning radius to be adjusted and set steplessly.

【０００７】[0007]

【実施例】以下に、本発明の実施例を、作業車の一例で
あるコンバインについて図面に基づいて説明する。図２
にコンバインが示され、１は刈取部、２は操縦部、３は
脱穀装置、４はフィードチェーン、５はクローラ走行装
置、Ｍは走行ミッションである。図１に走行ミッション
Ｍの線図が示され、６はエンジン動力を受けるＨＳＴ、
７は高低２段の副変速機構、８Ｌ，８Ｒは駆動車軸、９
は遊星変速機構、１０は操向変速機構である。Embodiments of the present invention will be described below with reference to the drawings of a combine, which is an example of a work vehicle. Figure 2
A combine is shown in FIG. 1, 1 is a mowing unit, 2 is a control unit, 3 is a threshing device, 4 is a feed chain, 5 is a crawler traveling device, and M is a traveling mission. A diagram of the traveling mission M is shown in FIG. 1, and 6 is an HST that receives engine power,
7 is a sub-transmission mechanism with two high and low stages, 8L and 8R are drive axles, and 9
Is a planetary speed change mechanism, and 10 is a steering speed change mechanism.

【０００８】遊星変速機構９は各駆動車軸８Ｌ，８Ｒ毎
に備えられ、副変速機構７の動力を受ける中継軸１１に
取付けられる太陽歯車１２と、駆動車軸８Ｌ，８Ｒにギ
ヤ咬合する筒軸１３に取付けられる遊星歯車１４と、遊
星歯車に内接咬合する環状歯車１５とから構成されてい
る。The planetary speed change mechanism 9 is provided for each of the drive axles 8L and 8R, and has a sun gear 12 attached to a relay shaft 11 that receives the power of the auxiliary speed change mechanism 7 and a cylindrical shaft 13 that meshes with the drive axles 8L and 8R. And a ring gear 15 that is inscribed in the planet gear.

【０００９】操向変速機構１０は、ＨＳＴ６の入力軸６
ａで駆動される可変ポンプ１６と、その可変ポンプ１６
で駆動される油圧モータ１７とで成り、油圧モータ１７
の出力軸１７ａに夫々ギヤ咬合する第１軸１８と第２軸
１９とを備えてある。そして、第１軸１８を左側の遊星
変速機構９における環状歯車１５に外接咬合させるとと
もに、第２軸１９を右側の遊星変速機構９における環状
歯車１５に内接咬合させてあり、油圧モータ１７が回転
すると、左右の環状歯車１５，１５は互いに逆方向に回
転駆動されるようにしてある。The steering transmission mechanism 10 includes an input shaft 6 of the HST 6.
variable pump 16 driven by a, and the variable pump 16
And a hydraulic motor 17 driven by
The output shaft 17a is provided with a first shaft 18 and a second shaft 19 that mesh with each other. The first shaft 18 is externally meshed with the annular gear 15 of the left planetary transmission mechanism 9, and the second shaft 19 is internally meshed with the annular gear 15 of the right planetary transmission mechanism 9. When rotated, the left and right annular gears 15, 15 are rotationally driven in opposite directions.

【００１０】又、可変ポンプ１６の斜板角を変更操作す
ることにより、機体の旋回半径を無段階に変更調節可能
なステアリング装置Ａを設けてある。つまり、斜板１６
ａを揺動操作する操作シリンダ２０と、３位置切換式の
電磁制御弁２１と、この制御弁２１を切換操作する操向
レバー２２と、この操向レバー２２の傾倒操作に連動し
て操作される可変絞り２３等からステアリング装置Ａが
構成されている。Further, there is provided a steering device A capable of continuously changing and adjusting the turning radius of the machine body by changing the swash plate angle of the variable pump 16. That is, the swash plate 16
An operating cylinder 20 for swinging a, a three-position switching type electromagnetic control valve 21, a steering lever 22 for switching the control valve 21, and a tilting operation of the steering lever 22 are operated. The steering device A is composed of the variable diaphragm 23 and the like.

【００１１】操作シリンダ２０は、２個の戻しバネ２
４，２４で中立復帰される複動型に構成され、制御弁２
１との一対の油路２５，２５に亘って可変絞り２３が接
続されれいる。操向レバー２２は、垂直に起立した中立
位置に復帰付勢されており、その状態では制御弁２１も
中立位置に在るとともに、可変絞り２３の絞りが最も緩
くなるように連係される。The operating cylinder 20 includes two return springs 2.
It is a double-acting type that returns to neutral with 4, 24, and the control valve 2
The variable throttle 23 is connected across the pair of oil passages 25 and 25. The steering lever 22 is urged to return to a vertically erected neutral position. In this state, the control valve 21 is also in the neutral position, and the throttle of the variable throttle 23 is linked so as to be the loosest.

【００１２】そして、操向レバー２２を右又は左に傾倒
すると、直ちに制御弁２１は右操向位置又は左操向位置
に切換るとともに、可変絞り２３はレバーの傾倒量に比
例してその絞りがきつくなるよう、レール支持によって
スライド移動のみ可能なスライダ２６ａ、及びワイヤー
やロッド等による連動手段２６で連係され、操向レバー
２２を中立位置から左右何方に傾倒しても可変絞り２３
の絞りがきつくなるように操作される構造である。又、
後述するポテンショメータ２７で操向レバー２２の位置
検出を行い、その検出情報に基づいて駆動されるサーボ
モータで可変絞り２３を調節設定する構造でも良い。When the steering lever 22 is tilted right or left, the control valve 21 is immediately switched to the right steering position or the left steering position, and the variable throttle 23 is throttled in proportion to the lever tilt amount. The slider 26a, which is slidable only by rail support, and the interlocking means 26, such as a wire or a rod, are linked to each other so that the steering lever 22 can be tilted to the left or right from the neutral position.
It is a structure that is operated so that the diaphragm of the lens is tight. or,
A structure in which the position of the steering lever 22 is detected by a potentiometer 27, which will be described later, and the variable diaphragm 23 is adjusted and set by a servomotor driven based on the detected information may be used.

【００１３】ステアリング装置Ａの作用を説明すると、
先ず、操向レバー２２が中立位置に在ると、斜板１６ａ
の角度が零となって油圧モータ１７は回転せずに停止状
態が維持されるようになり、左右の遊星変速機構９，９
は全く同じ変速状態となって左右の駆動車軸８Ｌ，８Ｒ
が等速駆動され、機体は直進走行する。尚、操向レバー
２２と制御弁２１とはポテンショメータ２７、及び制御
装置２８を介して接続されており、操向レバー２２の傾
倒に伴って制御弁２１は切換操作される。The operation of the steering device A will be described below.
First, when the steering lever 22 is in the neutral position, the swash plate 16a
Angle becomes zero, the hydraulic motor 17 does not rotate and the stopped state is maintained, and the left and right planetary transmission mechanisms 9, 9
Are in the same gear shifting state, and the left and right drive axles 8L, 8R
Is driven at a constant speed, and the aircraft runs straight. The steering lever 22 and the control valve 21 are connected via a potentiometer 27 and a control device 28, and the control valve 21 is switched as the steering lever 22 tilts.

【００１４】次に、操向レバー２２を右側に傾倒操作す
ると、制御弁２１が右操向位置に切換り、一方の油路２
５を介して右油圧室２０Ｒに圧油が供給され、かつ、左
油圧室２０Ｌは他方の油路２５を介してドレンされるの
であるが、そのときに可変絞り２３がレバー傾倒量に比
例して絞られているので、操作シリンダ２０のピストン
ロッド２０ａは操作レバー２２の傾倒操作量に見合った
分だけ伸縮移動するようになる。つまり、斜板１６ａに
角度が付いて油圧モータ１７が回転すれば、左右の遊星
変速機構９，９の作用が逆になり、左右の操向装置５，
５に相対速度差が生じて機体は右方向に旋回するように
なる。Next, when the steering lever 22 is tilted to the right, the control valve 21 is switched to the right steering position, and the one oil passage 2 is moved.
The pressure oil is supplied to the right hydraulic chamber 20R via 5 and the left hydraulic chamber 20L is drained via the other oil passage 25. At that time, the variable throttle 23 is proportional to the lever tilt amount. Since the piston rod 20a of the operation cylinder 20 is expanded and contracted, the piston rod 20a of the operation cylinder 20 expands and contracts by an amount corresponding to the tilting operation amount of the operation lever 22. That is, when the hydraulic motor 17 rotates with an angle on the swash plate 16a, the actions of the left and right planetary transmission mechanisms 9, 9 are reversed, and the left and right steering devices 5, 5 are operated.
Due to the relative speed difference at 5, the aircraft turns right.

【００１５】そして、その操向レバー２２の傾倒量が増
すに連れて、左右の操向装置５，５の相対速度差も大き
くなって旋回半径が小さくなり、右クローラ操向装置５
が停止しての信地旋回や、遊星変速機構９のギヤ比の設
定如何によっては超信地旋回まで現出させることも可能
である。つまり、操向レバー２２の傾倒量に比例して油
路２５の圧が高くなることにより、操向レバー２２の傾
倒量に比例して旋回半径を小さくすることが行えるよう
になるのであり、左旋回の場合も全く同様である。As the tilting amount of the steering lever 22 increases, the relative speed difference between the left and right steering devices 5 and 5 also increases and the turning radius decreases, and the right crawler steering device 5 increases.
It is also possible to make the super turning turn appear when the turning turn is stopped or depending on how the gear ratio of the planetary speed change mechanism 9 is set. That is, since the pressure in the oil passage 25 increases in proportion to the tilt amount of the steering lever 22, it becomes possible to reduce the turning radius in proportion to the tilt amount of the steering lever 22. The same is true for the case of times.

【００１６】〔別実施例〕油圧ポンプ１７に代え電動モ
ータを採用し、操向レバー２２の傾倒に比例して電動モ
ータの回転数を速めるようにする構造によってステアリ
ング装置Ａを構成しても良い。上述した実施例では、太
陽歯車１２と遊星歯車１４とが駆動車軸８Ｒ，８Ｌへの
出力取出し用歯車と、副変速機構（伝動上手側に相当）
７からの入力受入れ用歯車とに振分けて設定され、環状
歯車１５を独立して可変回転駆動可能な操向変速機構１
０に構成されているが、例えば、遊星歯車１４と環状歯
車１５との２個を駆動車軸８Ｒ，８Ｌへの出力取出し用
歯車と、副変速機構７からの入力受入れ用歯車とに振分
けて設定し、太陽歯車１２を油圧モータ１７によって独
立して可変回転駆動可能に構成するものでも良い。[Other Embodiments] The steering device A may be constructed by adopting an electric motor instead of the hydraulic pump 17 and increasing the rotational speed of the electric motor in proportion to the tilt of the steering lever 22. . In the embodiment described above, the sun gear 12 and the planetary gear 14 are gears for taking out the output to the drive axles 8R, 8L, and the auxiliary transmission mechanism (corresponding to the transmission side).
A steering transmission mechanism 1 which is set to be distributed to an input receiving gear from 7 and is capable of independently rotating the annular gear 15 in a variable rotation manner.
Although it is configured as 0, for example, two sets of the planetary gear 14 and the annular gear 15 are set by dividing them into a gear for taking out an output to the drive axles 8R and 8L and a gear for receiving an input from the auxiliary transmission mechanism 7. However, the sun gear 12 may be configured to be independently variable-driving by the hydraulic motor 17.

【００１７】尚、特許請求の範囲の項に図面との対照を
便利にするために符号を記すが、該記入により本発明は
添付図面の構成に限定されるものではない。In the claims, reference numerals are provided for convenience of comparison with the drawings, but the present invention is not limited to the configuration shown in the attached drawings.

【図面の簡単な説明】[Brief description of drawings]

【図１】コンバインの伝動系、及び操向構造を示す系統
図FIG. 1 is a system diagram showing a combine transmission system and a steering structure.

【図２】コンバインの側面図FIG. 2 is a side view of the combine.

【符号の説明】[Explanation of symbols]

８Ｌ，８Ｒ 駆動車軸 ９ 遊星変速機構 １０ 操向変速機構 １２ 太陽歯車 １４ 遊星歯車 １５ 環状歯車 8L, 8R drive axle 9 planetary speed change mechanism 10 steering speed change mechanism 12 sun gear 14 planetary gear 15 annular gear

Claims (1)

【特許請求の範囲】[Claims] 【請求項１】 太陽歯車（１２）と、遊星歯車（１４）
と、該遊星歯車（１４）に内接咬合する環状歯車（１
５）とから成る遊星変速機構（９）を、左右の駆動車軸
（８Ｌ），（８Ｒ）毎に作用するように一対備え、前記
太陽歯車（１２）、前記遊星歯車（１４）、前記環状歯
車（１５）のうちの２個の歯車（１４），（１２）を、
前記駆動車軸（８Ｌ），（８Ｒ）への出力取出し用歯車
と、伝動上手側からの入力受入れ用歯車とに振分けて設
定し、残り１個の歯車（１５）を独立して可変回転駆動
可能な操向変速機構（１０）を設けるとともに、該操向
変速機構（１０）は、左右の前記残り１個の歯車（１
５），（１５）を、これらの回転方向が互いに反対とな
る状態での同時駆動、及び同時停止が可能に構成されて
いる作業車の操向装置。1. A sun gear (12) and a planetary gear (14).
And an annular gear (1) that is inscribed in the planetary gear (14).
5) and a pair of planetary speed change mechanisms (9) each of which acts on each of the left and right drive axles (8L), (8R), and the sun gear (12), the planetary gear (14), and the annular gear. Two gears (14) and (12) of (15)
The output gears for the drive axles (8L) and (8R) and the gears for receiving the input from the transmission side are set separately, and the remaining one gear (15) can be independently rotatably driven. A steering gear mechanism (10) is provided, and the steering gear mechanism (10) includes the remaining left and right gears (1).
A steering apparatus for a work vehicle configured such that 5) and (15) can be simultaneously driven and simultaneously stopped in a state where these rotation directions are opposite to each other.