JPH0818574B2 - Hydrostatic turning control device - Google Patents
Hydrostatic turning control deviceInfo
- Publication number
- JPH0818574B2 JPH0818574B2 JP1134896A JP13489689A JPH0818574B2 JP H0818574 B2 JPH0818574 B2 JP H0818574B2 JP 1134896 A JP1134896 A JP 1134896A JP 13489689 A JP13489689 A JP 13489689A JP H0818574 B2 JPH0818574 B2 JP H0818574B2
- Authority
- JP
- Japan
- Prior art keywords
- turning
- control device
- speed
- engine
- vehicle speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Description
【発明の詳細な説明】 （産業上の利用分野） 本発明は旋回機構に静油圧を用いる履帯式トラクタの
ハイドロスタティック旋回制御装置に関する。Description: TECHNICAL FIELD The present invention relates to a hydrostatic turning control device for a track-type tractor that uses hydrostatic pressure for a turning mechanism.
（従来の技術） 従来は第５図に示すごとくエンジン６の動力はトルク
コンバータ及び変速装置７を通り横軸装置16を経て起動
輪８に伝えられる。一方エンジン６で別途駆動されるHS
Sポンプ10の圧力油は旋回レバー30で制御される旋回弁3
1を通ってHSSモータ12を経て油タンク33に戻る。HSSモ
ータ12は旋回装置15を駆動して左右の起動輪８に回転差
を与えてトラクタを旋回させる。HSSポンプ10の圧力油
の流量は旋回レバー30の操作量に応じて定まり、HSSモ
ータ12の回転数は流量に比例し、左右の起動輪８の回転
差はHSSモータ12の回転数に比例する。即ち起動輪８の
回転差は旋回レバー30の操作量に応じて定まる。(Prior Art) Conventionally, as shown in FIG. 5, the power of the engine 6 is transmitted to a starting wheel 8 through a torque converter and a transmission device 7 and a horizontal shaft device 16. On the other hand, HS driven separately by engine 6
The pressure oil of the S pump 10 is controlled by the swivel lever 30.
Return to the oil tank 33 through the HSS motor 12 through 1. The HSS motor 12 drives the turning device 15 to give a rotation difference to the left and right starting wheels 8 to turn the tractor. The flow rate of the pressure oil of the HSS pump 10 is determined according to the operation amount of the turning lever 30, the rotation speed of the HSS motor 12 is proportional to the flow rate, and the rotation difference between the left and right starter wheels 8 is proportional to the rotation speed of the HSS motor 12. . That is, the rotation difference of the starting wheel 8 is determined according to the operation amount of the turning lever 30.
（発明が解決しようとする課題） しかしながら上記従来の構成においては次のような問
題点がある。旋回レバー30のある操作量におけるトラク
タの旋回半径は第６図に示すごとくトラクタの平均車速
をV,左右の起動輪の回転差により生ずる左右履帯の速度
差を△Ｖとすると旋回半径はＲとなる。この状態で変速
機を操作して速度を変更したり、トラクタにかかる外部
抵抗が変化したりして平均速度がＶ′となった場合も、
HSSポンプはエンジンから直接駆動されているため圧力
油流量は変わらず速度差は△Ｖのままなので旋回半径は
Ｒ′になる。すなわち第７図の旋回レバー操作量と旋回
半径のグラフに示すごとく旋回レバー操作量を一定とし
ても車速により旋回半径は異なり車速V1＜V2＜V3とすれ
ば高速になるに従って旋回半径は大きくなり運転がやり
にくいという問題がある。又、旋回に必要な馬力は大き
いため旋回をすると車速が大巾に低下したり、それを防
止するためにトルクライズの大きなエンジンを必要とす
る問題点がある。本発明は上述した問題点に着目してな
されたもので旋回レバーの操作量に応じて旋回半径を常
に一定にして運転をやり易くし旋回時の必要馬力を減少
する効率の良いハイドロスタティック旋回制御装置を提
供することを目的としている。(Problems to be Solved by the Invention) However, the above conventional configuration has the following problems. As shown in FIG. 6, the turning radius of the tractor at a certain amount of operation of the turning lever 30 is V, where the average vehicle speed of the tractor is V, and ΔV is the speed difference between the left and right crawler belts caused by the difference in rotation between the left and right actuating wheels. Become. In this state, if the transmission is operated to change the speed, or the external resistance applied to the tractor changes, the average speed becomes V ',
Since the HSS pump is driven directly from the engine, the pressure oil flow rate does not change and the speed difference remains ΔV, so the turning radius becomes R '. That is, as shown in the graph of turning lever operation amount and turning radius in FIG. 7, even if the turning lever operation amount is constant, the turning radius differs depending on the vehicle speed. When vehicle speed V1 <V2 <V3, the turning radius increases as the vehicle speed increases. Is difficult to do. Further, since the horsepower required for turning is large, there is a problem that the vehicle speed greatly decreases when turning, and an engine with a large torque rise is required to prevent this. The present invention has been made in view of the above-mentioned problems, and is an efficient hydrostatic swing control in which the turning radius is always kept constant according to the operation amount of the turning lever to facilitate the operation and the horsepower required during turning is reduced. The purpose is to provide a device.
（課題を解決するための手段） 上記目的を達成するために、本発明に係るハイドロス
タティック旋回制御装置は、（１）車体に搭載されたエ
ンジン６の動力を変速機７を介して受けて、左右の起動
輪8,8に動力を伝達する左右の遊星差動式操向装置と、
エンジン６により駆動される可変容量型油圧ポンプ10
と、この可変容量型油圧ポンプ10からの可変の吐出油量
を受けて出力軸回転数を変化させる油圧モータ12と、前
記左右の遊星差動式操向装置および油圧モータ12と連結
し、かつ、油圧モータ12からの回転を受け遊星差動式操
向装置を介して左右の起動輪8,8に回転数差を与えて車
体に旋回を与える旋回装置15と、からなるハイドロスタ
ティック旋回制御装置において、操作量に応じて旋回半
径を指令する旋回レバー１と、この旋回レバー１に配設
される旋回レバーの操作角度を検出する検出手段２と、
エンジン回転数を検出するエンジン回転数検出手段３
と、車速を検出する車速検出手段４と、前記旋回レバー
からの信号、エンジン回転数信号、および車速信号を受
けて車速の増減があっても旋回レバー１の操作量に応じ
て、車体が一定の旋回半径を保持するために、前記可変
容量型油圧ポンプ10の吐出容量を制御する容量制御装置
11に指令を出力する制御装置５とからなる構成としたも
のである。(Means for Solving the Problems) In order to achieve the above object, the hydrostatic turning control device according to the present invention is (1) receiving the power of an engine 6 mounted on a vehicle body via a transmission 7, Left and right planetary differential steering devices that transmit power to the left and right start wheels 8,8,
Variable displacement hydraulic pump 10 driven by the engine 6
A hydraulic motor 12 that changes the output shaft speed by receiving a variable discharge oil amount from the variable displacement hydraulic pump 10, and is connected to the left and right planetary differential steering devices and the hydraulic motor 12, and A hydrostatic turning control device including a turning device 15 which receives rotation from the hydraulic motor 12 and gives a turning speed difference to the left and right starting wheels 8 and 8 via a planetary differential steering device to turn the vehicle body. In, a turning lever 1 for instructing a turning radius according to an operation amount, and a detection means 2 for detecting an operation angle of a turning lever arranged on the turning lever 1,
Engine speed detecting means 3 for detecting engine speed
The vehicle speed detecting means 4 for detecting the vehicle speed, and the vehicle body being constant according to the operation amount of the turning lever 1 even if the vehicle speed increases or decreases in response to the signal from the turning lever, the engine speed signal, and the vehicle speed signal. Capacity control device for controlling the discharge capacity of the variable displacement hydraulic pump 10 in order to maintain the turning radius of the
The control device 5 outputs a command to 11.
（作 用） 上記構成によれば制御装置は操作角度の信号によって
所望の旋回半径を判断し、車速とエンジン回転数から所
望の旋回半径を得るに必要な旋回用ポンプの作動油流量
を算出し制御することが出来るので常に操作角度に応じ
た旋回半径で旋回することができ、又車速が低下すれば
作動油流量も減少させるのでエンジントルクライズを下
げることができる。(Operation) According to the above configuration, the control device determines the desired turning radius from the signal of the operation angle, and calculates the hydraulic oil flow rate of the turning pump necessary to obtain the desired turning radius from the vehicle speed and the engine speed. Since it can be controlled, the vehicle can always turn with a turning radius according to the operation angle, and if the vehicle speed decreases, the hydraulic oil flow rate also decreases, so the engine torque rise can be reduced.
（実施例） 以下に本発明に係るハイドロスタティック旋回制御装
置の実施例について図面を参照して詳述する。第１図は
第１実施例の全体の系統図を示しエンジン６の動力はト
ルクコンバータ・変速機７から横軸装置16を経て左右の
起動輪８ち伝えられる。エンジン６で直接駆動される可
変の旋回用のHSSポンプ10とHSSモータ12は回路13、14に
よりクローズド回路を構成している。HSSモータ12は旋
回装置15を駆動して左右の起動輪８に回転差を与える。
旋回レバー１の下部には操作角検出器２が設けられ制御
装置５と接続している。エンジンの出口には回転センサ
３が設けられ、変速機７の出口には回転センサ４が設け
られてそれぞれ制御装置５と接続している。HSSポンプ1
0には１回転当たりの吐出量、すなわち容量を制御する
容量制御装置11が付設されており制御装置５と接続して
いる。次に作動について説明する。旋回半径Ｒは第６図
で説明したごとく平均車速Ｖに比例し左右履帯の速度差
△Ｖに反比例するから次式がなりたつ。(Embodiment) An embodiment of the hydrostatic turning control device according to the present invention will be described in detail below with reference to the drawings. FIG. 1 shows an overall system diagram of the first embodiment, and the power of the engine 6 is transmitted from the torque converter / transmission 7 through the horizontal shaft device 16 to the left and right starting wheels 8. The variable turning HSS pump 10 and HSS motor 12 directly driven by the engine 6 constitute a closed circuit by the circuits 13 and 14. The HSS motor 12 drives the turning device 15 to give a rotation difference to the left and right starting wheels 8.
An operation angle detector 2 is provided below the turning lever 1 and is connected to the control device 5. A rotation sensor 3 is provided at the outlet of the engine, and a rotation sensor 4 is provided at the outlet of the transmission 7 and is connected to the control device 5, respectively. HSS pump 1
At 0, a capacity control device 11 for controlling the discharge amount per rotation, that is, the capacity is attached and is connected to the control device 5. Next, the operation will be described. Since the turning radius R is proportional to the average vehicle speed V and inversely proportional to the speed difference ΔV between the left and right crawler belts as described in FIG. 6, the following equation is established.
左右履帯の速度差△ＶはHSSモータの回転数、すなわ
ちHSSポンプの吐出量により定まり、HSSポンプの吐出量
は容量と回転数の積であるから、容量をqp,エンジン回
転数をNEとすれば △Ｖ＝k2×qp×NE ……（２） 車速は変速機出口回転数NTに比例するから Ｖ＝k3×NT ……（３） となる。（１）（２）（３）式から が求まる。k,k1,k2,k3は常数である。すなわちHSSポン
プの容量qpは旋回半径Ｒが与えられ、変速機出口回転数
NT,エンジン回転数NEがわかれば求めることができる。 The speed difference ΔV between the left and right tracks is determined by the rotation speed of the HSS motor, that is, the discharge amount of the HSS pump. Since the discharge amount of the HSS pump is the product of the capacity and the rotation speed, the capacity is qp and the engine speed is NE. For example, ΔV = k2 × qp × NE (2) Since the vehicle speed is proportional to the transmission outlet speed NT, V = k3 × NT (3). From equations (1), (2) and (3) Is found. k, k1, k2, k3 are constants. That is, the capacity qp of the HSS pump is given the turning radius R, and the transmission outlet rotation speed
It can be calculated by knowing NT and engine speed NE.
今、旋回レバー１を希望する旋回半径にあわせて一定
角度傾けると第２図のブロック図に示すごとく操作角検
出器２は操作角度すなわち旋回半径Ｒの信号を制御装置
５に送る。制御装置５は変速機出口の回転センサ４とエ
ンジン回転センサ３からそれぞれ回転数NT,NEの信号を
受け式（４）に従って必要なHSSポンプ容量qpを算出しH
SSポンプ10の容量制御装置11に信号を送ってHSSポンプ1
0の容量がqpとなるように制御させる。Now, when the turning lever 1 is tilted by a certain angle according to the desired turning radius, the operation angle detector 2 sends a signal of the operation angle, that is, the turning radius R to the control device 5, as shown in the block diagram of FIG. The controller 5 receives the signals of the rotation speeds NT and NE from the rotation sensor 4 at the transmission outlet and the engine rotation sensor 3, respectively, and calculates the required HSS pump capacity qp according to the equation (4).
HSS pump 1 by sending a signal to the capacity controller 11 of the SS pump 10
It is controlled so that the capacity of 0 becomes qp.
その結果、第３図に示すように平均車速Ｖのときの左
右履帯の速度差は△Ｖで旋回半径Ｒであったものが、平
均車速Vaのときは速度差は△Vaとなり旋回半径Ｒは変わ
らず、第４図のグラフのように車速に関係なく旋回レバ
ーの操作角に比例して旋回半径は定まる。As a result, as shown in FIG. 3, the speed difference between the right and left crawler tracks at the average vehicle speed V was ΔV and the turning radius R, but at the average vehicle speed Va, the speed difference was ΔVa and the turning radius R was The turning radius remains unchanged in proportion to the operation angle of the turning lever regardless of the vehicle speed as shown in the graph of FIG.
（発明の効果） 以上説明したように、本発明に係るハイドロスタティ
ック旋回制御装置によれば、旋回レバーの操作量により
決定された旋回半径が、車速の増減があっても一定の旋
回半径を保持することができるので操縦性が向上する。(Effect of the invention) As described above, according to the hydrostatic turning control device of the present invention, the turning radius determined by the operation amount of the turning lever maintains a constant turning radius even if the vehicle speed increases or decreases. As a result, the maneuverability is improved.
第１図は本発明の第１実施例を示す全体系統図、第２図
はHSSポンプ容量制御回路のブロック図、第３図は車速
と速度差と旋回半径の関係を示す図、第４図は旋回レバ
ー操作角と旋回半径の関係を示すグラフ、第５図は従来
の全体系統図、第６図は車速と速度差と旋回半径の関係
を示す図、第７図は旋回レバー操作量と旋回半径の車速
の関係を示すグラフである。 １……旋回レバー、２……操作角検出器 ３……エンジン回転センサ ４……変速機回転センサ ５……制御装置、６……エンジン ７……トルクコンバータ・変速機 ８……起動輪、10……HSSポンプ 11……容量制御装置 12……HSSモータ 15……旋回装置FIG. 1 is an overall system diagram showing a first embodiment of the present invention, FIG. 2 is a block diagram of an HSS pump displacement control circuit, FIG. 3 is a diagram showing the relationship between vehicle speed, speed difference and turning radius, FIG. Is a graph showing the relationship between the turning lever operation angle and the turning radius, FIG. 5 is a conventional overall system diagram, FIG. 6 is a view showing the relationship between vehicle speed, speed difference and turning radius, and FIG. 7 is the turning lever operation amount. It is a graph which shows the relationship of the vehicle speed of a turning radius. 1 ... Swivel lever, 2 ... operation angle detector 3 ... engine rotation sensor 4 ... transmission rotation sensor 5 ... control device, 6 ... engine 7 ... torque converter / transmission 8 ... starting wheel, 10 …… HSS pump 11 …… Capacity control device 12 …… HSS motor 15 …… Swing device
Claims (1)
変速機（７）を介して受けて、左右の起動輪（8,8）に
動力を伝達する左右の遊星差動式操向装置と、エンジン
（６）により駆動される可変容量型油圧ポンプ（10）
と、この可変容量型油圧ポンプ（10）からの可変の吐出
油量を受けて出力軸回転数を変化させる油圧モータ（1
2）と、前記左右の遊星差動式操向装置および油圧モー
タと連結し、かつ、油圧モータ（12）からの回転を受け
遊星差動式操向装置を介して左右の起動輪（8,8）に回
転数差を与えて車体に旋回を与える旋回装置（15）と、
からなるハイドロスタティック旋回制御装置において、
操作量に応じて旋回半径を指令する旋回レバー（１）
と、この旋回レバー（１）に配設される旋回レバーの操
作角度を検出する検出手段（２）と、エンジン回転数を
検出するエンジン回転数検出手段（３）と、車速を検出
する車速検出手段（４）と、前記旋回レバーからの信
号、エンジン回転数信号、および車速信号を受けて車速
の増減があっても旋回レバー（１）の操作量に応じて、
車体が一定の旋回半径を保持するために、前記可変容量
型油圧ポンプ（10）の吐出容量を制御する容量制御装置
（11）に指令を出力する制御装置（５）とからなること
を特徴とするハイドロスタティック旋回制御装置。1. Left and right planetary differential steering in which power of an engine (6) mounted on a vehicle body is received via a transmission (7) and is transmitted to left and right starting wheels (8, 8). Device and variable displacement hydraulic pump (10) driven by engine (6)
And a hydraulic motor (1 that changes the output shaft speed by receiving a variable discharge oil amount from the variable displacement hydraulic pump (10).
2) is connected to the left and right planetary differential steering devices and the hydraulic motor, and receives rotation from the hydraulic motor (12), and the left and right starter wheels (8, A turning device (15) that gives a turning speed difference to 8) and turns the vehicle body,
In a hydrostatic turning control device consisting of
A turning lever (1) that commands the turning radius according to the operation amount
A detection means (2) for detecting an operation angle of a turning lever arranged on the turning lever (1), an engine speed detecting means (3) for detecting an engine speed, and a vehicle speed detection for detecting a vehicle speed. According to the operation amount of the turning lever (1), even if the vehicle speed increases or decreases in response to the signal from the means (4), the turning lever, the engine speed signal, and the vehicle speed signal,
A control device (5) for outputting a command to a displacement control device (11) for controlling the displacement of the variable displacement hydraulic pump (10) so that the vehicle body maintains a constant turning radius. Hydrostatic turning control device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1134896A JPH0818574B2 (en) | 1989-05-29 | 1989-05-29 | Hydrostatic turning control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1134896A JPH0818574B2 (en) | 1989-05-29 | 1989-05-29 | Hydrostatic turning control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH03574A JPH03574A (en) | 1991-01-07 |
| JPH0818574B2 true JPH0818574B2 (en) | 1996-02-28 |
Family
ID=15139058
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1134896A Expired - Fee Related JPH0818574B2 (en) | 1989-05-29 | 1989-05-29 | Hydrostatic turning control device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0818574B2 (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4957689A (en) * | 1988-10-24 | 1990-09-18 | Mitsubishi Denki Kabushiki Kaisha | Scanning and printing apparatus |
| JP2600061B2 (en) * | 1993-07-14 | 1997-04-16 | 株式会社小松製作所 | Tracked vehicle steering system |
| JP4570119B2 (en) * | 2001-09-21 | 2010-10-27 | ヤンマー株式会社 | Tractor |
| JP4500131B2 (en) * | 2004-08-18 | 2010-07-14 | ヤンマー株式会社 | Power transmission mechanism |
| US8844665B2 (en) * | 2007-12-27 | 2014-09-30 | Swissauto Powersport Llc | Skid steered all terrain vehicle |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60107448U (en) * | 1983-12-23 | 1985-07-22 | 株式会社小松製作所 | Control device for hydromechanical transmission and steering gear |
| JPS61135867A (en) * | 1984-12-05 | 1986-06-23 | Mitsubishi Heavy Ind Ltd | Moving control method of traveling bogie |
-
1989
- 1989-05-29 JP JP1134896A patent/JPH0818574B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH03574A (en) | 1991-01-07 |
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