JPS63235173A - Hydraulic steering device - Google Patents
Hydraulic steering deviceInfo
- Publication number
- JPS63235173A JPS63235173A JP6585687A JP6585687A JPS63235173A JP S63235173 A JPS63235173 A JP S63235173A JP 6585687 A JP6585687 A JP 6585687A JP 6585687 A JP6585687 A JP 6585687A JP S63235173 A JPS63235173 A JP S63235173A
- Authority
- JP
- Japan
- Prior art keywords
- hydraulic motor
- steering
- solenoids
- hydraulic
- valves
- 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.)
- Pending
Links
- 230000001105 regulatory effect Effects 0.000 abstract 1
- 230000007246 mechanism Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、油圧ポンプと油圧モータを用いた油圧操向装
置に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a hydraulic steering device using a hydraulic pump and a hydraulic motor.
第３図に示すように、エンジンａの出力を機械的パワー
ラインｂを介して左右スプロケットＣに伝動すると共に
、エンジンａで駆動される油圧ポンプｄで油圧モータｅ
を駆動し、この油圧モータｅの出力を前記機械的パワー
ラインｂの遊星歯車機構ｆに伝動して左右スプロケット
Ｃの回転数を異ならせることで左右に旋回する油圧操向
装置が知られている。As shown in Fig. 3, the output of engine a is transmitted to the left and right sprockets C via a mechanical power line b, and a hydraulic pump d driven by engine a drives a hydraulic motor e.
A hydraulic steering device is known that drives a hydraulic motor e and transmits the output of the hydraulic motor e to a planetary gear mechanism f of the mechanical power line b to make left and right sprockets C rotate at different speeds, thereby turning left and right. .
すなわち、直進時には油圧ポンプｄの吐出量をゼロとし
て油圧モータｅを停止させることで左右スプロケットＣ
の回転数を同一とし、左右旋回時には油圧ポンプｄの吐
出圧油で油圧モータｅを正転又は逆転して一方の遊星歯
車機構ｆを増速回転、他方の遊星歯車機構ｆを減速回転
させることで左右のスプロケットＣの回転数を異ならせ
るようにしている。In other words, when traveling straight, by setting the discharge amount of the hydraulic pump d to zero and stopping the hydraulic motor e, the left and right sprockets C
The number of rotations of the two planetary gear mechanisms f is the same, and when turning left and right, the hydraulic motor e is rotated forward or reverse by the pressure oil discharged from the hydraulic pump d, so that one planetary gear mechanism f rotates at an increased speed and the other planetary gear mechanism f rotates at a reduced speed. The rotation speed of the left and right sprockets C is made to be different.
〔発明が解決しようとする問題点ゴ
かかる油圧操向装置であると旋回時に油圧モータは車両
の旋回抵抗の反力を受け、その旋回抵抗は旋回半径が小
さくなるにつれて増大するので、油圧モータの反力も旋
回半径が小さくなるにつれて大きくなる。[Problems to be Solved by the Invention] With such a hydraulic steering system, the hydraulic motor receives a reaction force from the turning resistance of the vehicle when turning, and the turning resistance increases as the turning radius becomes smaller. The reaction force also increases as the turning radius decreases.
このために、小さな旋回半径で旋回する場合には油圧モ
ータに大きな反力が作用し大容量の油圧モータを特徴と
する特に一方のスプロケットを停止しての信地旋回時に
は非常に大きな反力が作用するので著しく大容量の油圧
モータを必要とし、油圧モータが大型となってコストが
高くなると共に、設置スペースも広くなってしまう。For this reason, a large reaction force acts on the hydraulic motor when turning with a small turning radius, and a very large reaction force acts on the hydraulic motor, especially when making a pivot turn with one sprocket stopped. Therefore, a hydraulic motor with a significantly large capacity is required, and the hydraulic motor becomes large and expensive, and requires a large installation space.
そこで、本発明は小容量の油圧モータを用いて小さな旋
回半径の旋回を行なうことができるようにした油圧操向
装置を提供することを目的とする。SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a hydraulic steering device that is capable of turning with a small turning radius using a small-capacity hydraulic motor.
〔問題点を解決するための手段及び作用〕操向レバーの
操作量が中間操作量以上の時には油圧モータの出力をゼ
ロとし、かつ左右どちらか一方のスプロケットを制動す
るようにして、旋回半径の小さな旋回を行なう場合には
油圧モータに反力が作用しないようにしたものである。[Means and actions for solving the problem] When the operating amount of the steering lever is equal to or greater than the intermediate operating amount, the output of the hydraulic motor is set to zero, and either the left or right sprocket is braked, and the turning radius is adjusted. This prevents reaction force from acting on the hydraulic motor when making small turns.
第１図に示すように、エンジン１の出力側を動力取出機
構２、トルクコンバータ３、変速機４の入力側に連結し
、変速機の出力側を傘歯車５を介して横軸６に連結する
と共に、横軸６に左右遊星歯車機構７Ｌ、７Ｒのリング
ギヤ８をそれぞれ連結し、そのキャリヤ９を操向ブレー
キ１０及び終減速機１１を介してスプロケット１２に連
結すると共に、遊星歯車機構７Ｌ、７Ｒのサンギヤ１３
を傘歯車機構１４を介して油圧モータ１５に連結し、前
記トルクコンバータ３の出力側に連結した可変吐出型の
油圧ポンプ１６と前記油圧モータ１５とを連通し、油圧
ポンプ１６の吐出圧油を油圧モータ１５に供給して回転
駆動することで左右の遊星歯車機構７Ｌ、ＩＲのサンギ
ヤ１３の回転を異ならせることで左右スプロケット１２
の回転数を異ならせて左右に旋回すると共に、油圧ポン
プ１６の斜板１６ａの角度を変えて吐出油量を変化して
油圧モータ１５の回転数を増減することで旋回半径を制
御し、斜板１６ａの向きを変更して油圧の吐出方向を変
えることで旋回方向を左右に変化させるようにしである
。As shown in FIG. 1, the output side of the engine 1 is connected to the input side of the power extraction mechanism 2, the torque converter 3, and the transmission 4, and the output side of the transmission is connected to the horizontal shaft 6 via the bevel gear 5. At the same time, the ring gears 8 of the left and right planetary gear mechanisms 7L and 7R are connected to the horizontal shaft 6, and the carrier 9 is connected to the sprocket 12 via the steering brake 10 and the final reduction gear 11. 7R sun gear 13
is connected to a hydraulic motor 15 via a bevel gear mechanism 14, and a variable discharge type hydraulic pump 16 connected to the output side of the torque converter 3 is connected to the hydraulic motor 15, so that the pressure oil discharged from the hydraulic pump 16 is connected to the hydraulic motor 15 through a bevel gear mechanism 14. The left and right planetary gear mechanisms 7L are supplied to the hydraulic motor 15 for rotational driving, and the left and right sprockets 12 are rotated by different rotations of the IR sun gear 13.
The rotation speed of the hydraulic motor 15 is changed to swing left and right, and the rotation radius of the hydraulic motor 15 is controlled by changing the angle of the swash plate 16a of the hydraulic pump 16 to change the amount of oil discharged and increasing or decreasing the rotation speed of the hydraulic motor 15. By changing the orientation of the plate 16a and changing the discharge direction of hydraulic pressure, the turning direction can be changed from side to side.
前記油圧モータ１５の入口圧力を規定する左右リリーフ
弁２０，２↓のソレノイド２０ａ。The solenoid 20a of the left and right relief valves 20, 2↓ defines the inlet pressure of the hydraulic motor 15.
２１ａと左右操向ブレーキ弁２２，２３のソレノイド２
２ａ、２３ａ、２２ｂ、２３ｂと油圧ポンプ１６のサー
ボ１６ｂとにはコントローラ３０より制御信号が入力さ
れて制御され、コントローラ３０には左右操向レバー３
１．３２の操作量がポテンションメータなどの左右セン
サー３３．３４より入力される。21a and the solenoid 2 of the left and right steering brake valves 22 and 23
2a, 23a, 22b, 23b and the servo 16b of the hydraulic pump 16 are controlled by a control signal input from the controller 30, and the controller 30 has a left and right steering lever 3.
The operation amount of 1.32 is inputted from left and right sensors 33 and 34 such as potentiometers.
前記左右リリーフ弁２０．２１はソレノイド２０ａ、２
１ａが励磁している時には設定リリーフ圧となり、消磁
するとリリーフ圧はゼロとなり、左右操向ブレーキ弁２
２，２Ｂはソレノイド２２ａ、２３ａが励磁すると左右
ブレーキシリンダ２４．２５が伸長作動して制動となり
、ソレノイド２２ｂ、２３ｂが励磁している時には左右
ブレーキ弁２４．２５が縮少作動して非制動となると共
に、ソレノイド２２ａ、２３ａは比例ソレノイドとなっ
て供給電流値に比例してブレーキ弁への供給圧油力が漸
増するようにしである。The left and right relief valves 20.21 are solenoid 20a, 2
When 1a is energized, the relief pressure is set, and when it is demagnetized, the relief pressure becomes zero, and the left/right steering brake valve 2
When the solenoids 22a and 23a are energized, the left and right brake cylinders 24.25 extend and apply braking, and when the solenoids 22b and 23b are energized, the left and right brake valves 24.25 are retracted and non-braking is performed. At the same time, the solenoids 22a and 23a become proportional solenoids, so that the pressure and hydraulic power supplied to the brake valve gradually increases in proportion to the supplied current value.
なお、左右ブレーキ弁２２，２３は２位置としてソレノ
イド２２ａ、２３ａか励磁すると制動となり、消磁する
と非制動するようにしても良い。Note that the left and right brake valves 22 and 23 may have two positions, so that when the solenoids 22a and 23a are energized, braking is performed, and when demagnetized, braking is not performed.
次に第２図に示す動作パターン図表に基づいて作動を説
明する。Next, the operation will be explained based on the operation pattern chart shown in FIG.
左操向レバー３１を操作すると左センサー３３より操作
量がコントローラ３０に入力され、中間操作量（中間ス
トローク位置）Ｓｌまでは左リリーフ弁２０のソレノイ
ド２０ａを励磁して設定リリーフ圧Ｐ ｍａｘとすると
共に、油圧ポンプ１６のサーボ１６ｂに操作量に比例し
た信号を出力して斜板１６ａの角度を順次増大して吐出
量をゼロから最大Ｑ ｍａｘまで制御する。When the left steering lever 31 is operated, the operation amount is input from the left sensor 33 to the controller 30, and the solenoid 20a of the left relief valve 20 is energized until the intermediate operation amount (intermediate stroke position) Sl is set to the set relief pressure P max. At the same time, a signal proportional to the operation amount is output to the servo 16b of the hydraulic pump 16 to sequentially increase the angle of the swash plate 16a to control the discharge amount from zero to the maximum Q max.
一方、左右ブレーキ弁２３，２４のソレノイド２３ｂ、
２４ｂを励磁して非制動とする。On the other hand, the solenoids 23b of the left and right brake valves 23, 24,
24b is excited to make it non-braking.
このようであるから、左操向レバー３１を中間操作ＥＩ
Ｓ １まで操作する時には従来と同様に油圧モータ１
５に出力により左スプロケット１２の回転数を右スプロ
ケット１２の回転数よりも少なくして左旋回し、その旋
回半径は操作量に比例して順次小さくなる。Since it is like this, the left steering lever 31 is operated in the intermediate operation EI.
When operating up to S 1, hydraulic motor 1 is used as before.
5, the rotation speed of the left sprocket 12 is made lower than the rotation speed of the right sprocket 12 by the output, and the turning radius becomes smaller in proportion to the amount of operation.
左操向レバー３１を中間操作量Ｓ４以上最大操作量（最
大ストローク位置）Ｓ２まで操作すると、左リリーフ弁
２０のソレノイド２０ａが消磁してセット圧がゼロとな
ると共に、左ブレーキ弁２２のソレノイド２２Ｈに電流
を供給して左操向ブレーキ１０を制動とし、かつ制動力
は操作量に比例して大きくなる。When the left steering lever 31 is operated from the intermediate operation amount S4 to the maximum operation amount (maximum stroke position) S2, the solenoid 20a of the left relief valve 20 is demagnetized and the set pressure becomes zero, and the solenoid 22H of the left brake valve 22 is demagnetized. The left steering brake 10 is braked by supplying current to the left steering brake 10, and the braking force increases in proportion to the amount of operation.
このようであるから、油圧モータ１５は出力がゼロとな
り左操向ブレーキ１０の制動力によって左右スプロケッ
ト１２．１２の回転数を異ならせて左操向し、その旋回
半径は左操向ブレーキ１０の制動力に比例して小さくな
り、かつ最大制動力で信地旋回となる。Therefore, the output of the hydraulic motor 15 becomes zero, and the left and right sprockets 12 and 12 are steered to the left by varying the rotational speed of the left and right sprockets 12 and 12 depending on the braking force of the left steering brake 10, and the turning radius is the same as that of the left steering brake 10. It decreases in proportion to the braking force, and turns at maximum braking force.
また、右操向レバー３２を操作した場合も同様となる。Further, the same applies when the right steering lever 32 is operated.
以上の実施例では油圧モータ１５への供給圧油力をリリ
ーフ弁でゼロとするようにしたが、油圧ポンプ１６の斜
板角をゼロとして吐出量をゼロとするようにしても良い
。In the above embodiment, the hydraulic pressure supplied to the hydraulic motor 15 is set to zero by the relief valve, but the swash plate angle of the hydraulic pump 16 may be set to zero to set the discharge amount to zero.
また、油圧モータと油圧ポンプとを左右一対ずつ設けて
も良いし、油圧モータを左右一対設けても良い。Furthermore, a pair of left and right hydraulic motors and a hydraulic pump may be provided, or a pair of left and right hydraulic motors may be provided.
操向レバーの操作量が中間操作量までは油圧モータ１５
の出力によって左右旋回すると共に、中間操作量以上の
操作量となると左右スプロケット１２．１２のどちらか
一方を制動して左右旋回するので、旋回半径が小さくな
ると油圧モータ１５に反力が作用しない。When the amount of operation of the steering lever is up to the intermediate amount of operation, the hydraulic motor 15
When the operating amount exceeds the intermediate operating amount, one of the left and right sprockets 12, 12 is braked and the hydraulic motor 15 turns left and right, so when the turning radius becomes small, no reaction force acts on the hydraulic motor 15.
したがって、小容量の油圧モータ１５を用いて小さな旋
回半径の旋回、特に信地旋回を行なうことができ、油圧
モータ１５を小型にすることができるので、コストを安
価にできると共に、設置スペースを狭くできる。Therefore, it is possible to perform turns with a small turning radius, especially pivot turns, using the small-capacity hydraulic motor 15, and the hydraulic motor 15 can be downsized, which reduces costs and reduces the installation space. can.
図面は本発明の実施例を示し、第１図は全体構成説明図
、第２図は動作パターン図表、第３図は従来例の説明図
である。
１２はスプロケット、１５は油圧モータ。The drawings show an embodiment of the present invention; FIG. 1 is an explanatory diagram of the overall configuration, FIG. 2 is an operation pattern diagram, and FIG. 3 is an explanatory diagram of a conventional example. 12 is a sprocket, and 15 is a hydraulic motor.
Claims (1)
２の回転数を異ならせて左右に旋回する油圧操向装置に
おいて、操向レバーの操作量が中間操作量以上であると
油圧モータ１５の出力をゼロとし、かつ左右スプロケッ
ト１２、１２のどちらか一方を制動するようにしたこと
を特徴とする油圧操向装置。The left and right sprockets 12 and 1 are driven by the output of the hydraulic motor 15.
In a hydraulic steering device that turns left and right at different rotation speeds, if the operating amount of the steering lever is equal to or greater than the intermediate operating amount, the output of the hydraulic motor 15 is set to zero, and either the left or right sprocket 12, 12 A hydraulic steering device characterized in that one side is braked.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6585687A JPS63235173A (en) | 1987-03-23 | 1987-03-23 | Hydraulic steering device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6585687A JPS63235173A (en) | 1987-03-23 | 1987-03-23 | Hydraulic steering device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS63235173A true JPS63235173A (en) | 1988-09-30 |
Family
ID=13299074
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP6585687A Pending JPS63235173A (en) | 1987-03-23 | 1987-03-23 | Hydraulic steering device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS63235173A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4998593A (en) * | 1989-03-31 | 1991-03-12 | Aisin Seiki Kabushiki Kaisha | Steering and brake controlling system |
| JP2002293261A (en) * | 2001-03-29 | 2002-10-09 | Komatsu Ltd | Steering device of crawler vehicle |
| US6474426B2 (en) | 2000-03-24 | 2002-11-05 | Komatsu Ltd. | Steering method and steering system for tracklaying vehicle |
| CN114194159A (en) * | 2021-11-23 | 2022-03-18 | 中联重科股份有限公司 | Control method and device for tire crane, controller and tire crane |
-
1987
- 1987-03-23 JP JP6585687A patent/JPS63235173A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4998593A (en) * | 1989-03-31 | 1991-03-12 | Aisin Seiki Kabushiki Kaisha | Steering and brake controlling system |
| US6474426B2 (en) | 2000-03-24 | 2002-11-05 | Komatsu Ltd. | Steering method and steering system for tracklaying vehicle |
| JP2002293261A (en) * | 2001-03-29 | 2002-10-09 | Komatsu Ltd | Steering device of crawler vehicle |
| US6654676B2 (en) | 2001-03-29 | 2003-11-25 | Komatsu Ltd. | Steering system for tracklaying vehicle |
| JP4497741B2 (en) * | 2001-03-29 | 2010-07-07 | 株式会社小松製作所 | Steering device for tracked vehicle |
| CN114194159A (en) * | 2021-11-23 | 2022-03-18 | 中联重科股份有限公司 | Control method and device for tire crane, controller and tire crane |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US5147010A (en) | Method and apparatus for controlling a supplemental vehicle drive in response to slip in a main vehicle drive | |
| US3938604A (en) | System for steering and driving a full-track vehicle | |
| US4457390A (en) | Power steering device | |
| US5553683A (en) | Variable assist power steering system with electro-hydraulic working pressure and directional pressure control | |
| GB2395469A (en) | Controlled planetary steering transmission with hydraulic rack assistance | |
| US4557343A (en) | Power steering control apparatus and method | |
| US3876030A (en) | Power steering system | |
| JPS63235173A (en) | Hydraulic steering device | |
| GB2301568A (en) | Hydraulic power-assisted steering system | |
| US5259470A (en) | Steering control for a hydraulically driven crawler vehicle | |
| JPS63291772A (en) | Hydrauric steering device | |
| US5558590A (en) | Geared steering device for crawler vehicle and control unit therefor | |
| JPH075026Y2 (en) | Steering device for tracked vehicle | |
| JPS58128503A (en) | Feedback device combining control of hydraulic valve | |
| US3056479A (en) | Speed ratio controlling steering system for track-laying vehicles | |
| JP2555654B2 (en) | Vehicle speed control device for mobile agricultural machinery | |
| JP2537039B2 (en) | Electric power steering device | |
| JPS6350212Y2 (en) | ||
| JPH0516687A (en) | Device for operating off-road dump truck | |
| JPS6250277A (en) | Steering-force controller for power steering device | |
| SU1311954A1 (en) | Vehicle control system | |
| JPH0321333Y2 (en) | ||
| JP3275203B2 (en) | Method and apparatus for starting rotation transmission device for transmitting rotations of a plurality of hydraulic motors to a rotating body via a gear device | |
| JPS63235172A (en) | Controller for hydraulic steering device | |
| JPS57200756A (en) | Controller for hydraulic pressure type transmission |