JP3175229B2 - Steering control device such as combine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steering control device for a combine or the like. It can be used for traveling transmission devices such as tractors, transport vehicles, and seedling transplanters.

[0002]

2. Description of the Related Art When a vehicle is driven on a soft ground in a field like a combine and the steering is controlled to follow a cutting line or the vehicle is turned, the steering brake must be applied. In this case, slipping is likely to occur, and turning is difficult to be performed in accordance with the steering control operation due to a change in the temperature of oil used for the steering brake and a magnitude of a load during steering.
In addition, when used for a long time, turning performance is deteriorated due to aging of the brake. The present invention prevents a variation in turning load due to such a turning state and a decrease in turning performance due to an aging of a brake and the like, and exerts stable turning performance.

[0003]

SUMMARY OF THE INVENTION The present invention takes the following technical means in order to solve the above-mentioned problems. That is, according to the first aspect of the present invention, the left traveling drive
Steering to transmit power to shaft 2 and right drive shaft 2 respectively
A clutch 8 is provided, and the traveling drive shaft 2 on the left and the traveling
Steering brakes that actuate brakes on each row drive shaft 2
Key 9 close to the lid that can be detached independently of the transmission case 11.
The left traveling drive shaft 2 and the right traveling drive shaft are provided in contact with each other.
Spinter that transmits the power of the spin turn to the driving shaft 2
Clutch 10 independently from the transmission case 11
In the case of a running gear installed close to a possible lid,
The input rotation detecting the rotation of the input side of the left and right steering clutch 8
Rotation sensor 41 and the spin turn clutch 10
A left and right rotation sensor 42 for detecting rotation on the output side is provided.
So that the steering mode entered by the steering operation is
The hydraulic pressure of the steering brake 9 and the spin turn clutch 10
Combine, etc., characterized in that the force is controlled
Steering control device . According to the second aspect of the present invention, the steering
Check the rotation speed of each shaft to confirm the mode
The steering brake 9 is set so that each shaft has an appropriate rotation speed.
Or control of hydraulic pressure for spin turn clutch 10, etc.
The combine, etc. according to claim 1, wherein
Steering control device .

[0004]

In the transmission in the traveling transmission device, the vehicle travels straight with the left and right steering clutches 8 engaged.
Depending on the steering operation, the left or right steering clutch 8
, The left steering or the right steering is performed.
The steering brake 9 operates from the disengaged position of the steering clutch 8 to the steering brake braking position, thereby braking the power transmission system of the traveling device 40 on the steering side and turning. When performing a spin turn, the steering brake 9 on the braked side is released from the braking force by operating in the spin turn mode, and the traveling power transmission system on the turning side and The traveling device 40 is reversely rotated, and turns sharply together with the forward rotation transmission of the outer traveling device 40.

As described above, the steering brake 9 and the spinter
The clutches 10 are provided independently of each other on the left and right sides.
Therefore, if the steering brake 9 or the spin turn
Even if one of the left and right sides of the
Can be turned in a spin or spin turn. In addition,
Direction brake 9 and spin turn clutch 10
Close to a lid that can be removed independently of the
Therefore, if the lid is removed, the steering brake 9 and the speed
The maintenance of the turn clutch 10 can be executed. Also,
In the traveling transmission, the input rotation sensor 41 detects the rotation of the input side on the input side of the steering clutch 8, and the left and right rotation sensors 42 detect the left and right rotation sensors 42 on the output side of the spin turn clutch 10. The rotation of the output side to be output to the motor 40 is detected, and the steering brake 9 and the spin turn clutch 10 are detected by comparing these detected values with the steering operation input value.
The feedback control of the operating pressure such as is performed. That is, it is checked whether the set steering mode is being performed, and the pressure of the brake 9, the spin turn clutch 10 and the like is adjusted or the pressure is controlled so that the rotation speed becomes appropriate, and the steering operation is performed. The turning can be performed promptly, and the turning according to the conditions such as the turning load and the running ground can be executed accurately and stably. The pressure adjustment can be adjusted to an arbitrary turning force by the setting of the operator, so that the operator can turn at an arbitrary turning force desired by the operator.

[0006]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An upper input shaft 14 is mounted on a traveling transmission case 11.
The transmission shaft 15, the steering clutch shaft 3, the spin-turn clutch shaft 4, the steering shaft 16, and the like are supported between the drive drive shaft 2 and the lower drive drive shaft 2. 11, a hydraulic continuously variable transmission HST is mounted, and a transmission gear 17, which can be shifted in the direction of the input shaft 14, is selectively meshed with a gear 18 on the transmission shaft 15.
The configuration is such that the sub-shift is performed. The hydraulic continuously variable transmission HS
T is input shaft 14 due to drive rotation from the engine side.
The output shaft 19 connected to the
In addition, a continuously variable transmission is transmitted at a high speed in the reverse direction, and the main transmission is performed. The transmission 1 can perform both the main transmission and the sub transmission.

The gear 18 of the speed change shaft 15 meshes with a gear 20 integral with the steering clutch shaft 3 and a reverse gear 21 on the spin turn clutch shaft 4. On both left and right sides of the gear 20, a steering gear 22, which rotates integrally with the gear 20 via a clutch pack 6 or is rotatably interlocked, is rotatably supported. Body 2
3 and the steering gear 22 are integrally formed, or are rotatable integrally in a rotational direction by axial movement by a pawl clutch. As a result, the clutch pack 6 is fitted and removed in the steering clutch shaft 3 direction,
The driving body 23 can be detached from the steering gear 22 integrally or separately.

The gear 2 at the center of the spin turn clutch shaft 4
Gears 2 meshing between a steering gear 22 on the steering clutch shaft 3 and a gear 24 on the steering shaft 16
When the steering clutch 8 is engaged, power is transmitted from the steering gear 22 to the gears 25 and 24. When the steering clutch 8 is disengaged, the spin-turn clutch 10 on the same side is engaged. The rotation is transmitted from the gear 21 to the gear 24 via the spin-turn clutch shaft 4 and the gear 25, which are integrally rotated, and transmitted in the reverse direction to the gear 24 on the opposite side.
From each steering shaft 16, the drive shaft 2 is connected via gears 26 and 27.
And the sprocket 28 of the traveling device 40 in the form of a crawler can travel in conjunction therewith.

The clutch pack 6 has a boss portion that can be inserted through the steering clutch shaft 3 and an outer peripheral case portion. A partition wall portion is formed at the center in the axial direction to form a donut-shaped hydraulic cylinder. Each hydraulic cylinder has a piston 2
9 and 30, the axial ends of the pistons 29 and 30 are pressed against the steering clutches 8 and 9, and areas A and B formed between the pistons 29 and 30 and the intermediate partition wall. The steering clutch 8 and the steering brake 9 are turned on and off by supplying and discharging hydraulic pressure to the steering wheel. A spring 31 that constantly presses the steering clutch 8 is provided in the area A on the steering clutch 8 side, and the spring 31 is set to an appropriate resilient force that can reduce the hydraulic load in the steering hydraulic circuit. I have.
Further, both the steering clutch 8 and the steering brake 9 are constituted by friction clutches of a wet multi-plate type.

On the outer side of the steering brake 9, a bearing metal 32 for applying the steering brake is provided.
The bearing metal 32 is mounted with spacer cases 33, 34 and lid 12 on the left and right sides interposed therebetween, and an oil path for supplying and discharging hydraulic pressure to areas A and B via the inside of the steering clutch shaft 3 and the like is formed. are doing. This bearing metal 32 is
2 to the spacer case 33 together with the spacer case 33
By removing the clutch pack 6 from the transmission case 11, the clutch pack 6 can also be integrally removed in the axial direction.

The clutch pack 7 of the spin turn clutch 10 has substantially the same configuration as the clutch pack 6 such as the steering clutch 8 but has an area C formed between the piston 35 and the cylinder. The spin-turn clutch 10 can be turned on and off by supplying and discharging the operating oil pressure. The spin-turn clutch shaft 4 and the gear 25 rotate integrally with each other when the spin-turn clutch 10 is brought into pressure contact with the spin-turn clutch 10 to transmit reverse rotation. is there. The clutch pack
By moving the driven body 36 and the gear 25 in the axial direction, the driven body 36 and the gear 25 can be integrated, or the driven body 36 and the gear 25 can be joined or separated so as to rotate integrally by a claw clutch fitted in the axial direction. By detaching the clutch pack 7 from the transmission case 11, the clutch pack 7 can be detached outward together with the gear 25 or alone.

An openable / closable lid 13 is provided at an end of the spacer case 33 in the direction of the spin turn clutch shaft 4.
3 is provided with an oil port for supplying and discharging hydraulic pressure to and from the area C. At one end of the steering clutch shaft 3, a parking brake 38 in the form of a friction plate pressed and fixed by a brake arm 37 is provided.
, The rotation of the driven body 39, the clutch pack 6, the driving body 23, the left and right steering gears 22, and further, the driving body 23, the clutch pack 6, and the like on the opposite side are fixed,
At this time, the parking state is maintained so that the steering shaft 16, the sprocket 28, etc., which mesh with the steering gear 22, are not rotated. The steering clutch 8 is pressed only by the spring 31, and the parking can be effectively performed even when the steering brake 9 does not operate with the hydraulic pressure.

An input rotation sensor 41 is provided at one end of the transmission shaft 15 on the upper side of the transmission to the steering clutch 8, and a left and right rotation sensor 42 is provided between the spin turn clutch 10 and the steering brake 9. At one end of the lower steering shaft 16, each is provided in the form of a photocoupler, and the detected value is input to a steering control device CPU having a microcomputer.

The steering clutch 8, of the steering clutch 8, the steering brake 9, and the spin-turn clutch 10, which are operated by the hydraulic pressure, is switched on and off under a constant hydraulic pressure by a steering clutch control valve. For this reason, the hydraulic circuit 43 of the steering brake 9 and the spin turn clutch 10 will be described with reference to FIG. P is a hydraulic pump, T is a tank port, 44 is a relief valve, 45
Is an unload valve. The hydraulic circuit of the left and right steering brakes 9 includes a brake proportional pressure reducing valve 46 for adjusting the steering brake pressure, a pressure sensor 47 for detecting the hydraulic pressure, and a brake switching control for switching the left and right steering brakes 9 to the cylinder area B. A valve 48, a low pressure relief valve 49, and the like are provided.

The hydraulic circuit of the spin turn clutch 10 includes a spin turn switching valve 50, a spin proportional pressure reducing valve 51 for adjusting the spin turn clutch pressure, a pressure sensor 52 for detecting the oil pressure, and the left and right spin turn clutches 1.
Spin switching control valve 53 for switching to cylinder area C of 0
And so on. The unload valve 45, the brake proportional pressure reducing valve 46, the spin switching valve 50, the spin proportional pressure reducing valve 51, the brake switching control valve 48, and the spin switching control valve 53 of the hydraulic circuit 43 are controlled by a steering control having a microcomputer. It is operated and controlled in the form of a solenoid valve by an output from the device CPU.

The input section of the steering control device CPU includes input and output power steering lever switches 54 that are switched by a power steering lever that is operated to tilt in the steering direction, a spin clutch 55 that operates a spin turn clutch, and a front and rear direction of the vehicle body. An inclination sensor 56 for detecting an inclination angle, a position sensor 57 for detecting an operation inclination angle of the power steering lever,
The brake pressure sensor 47 and the spin pressure sensor 5
2 etc. are provided. Further, the rotation sensors 41 and 42 for feedback control are provided.

The power-steering lever switch 54 is turned on when the power-steering lever is tilted to the left or right, so that the unload valve 48 and the brake switching control valve 48 are turned to the left and right.
Switch to the right. The power steering lever outputs the clutch switching control valves of the left and right steering clutches 8 by this tilting operation to be turned off, and then further tilts by turning on the power steering lever switch 54, thereby turning the steering clutch off. The steering brake 9 is braked to perform a pivot turn (turn). Further, by tilting the power steering lever in the same direction, the braking of the steering brake 9 is released, the spin turn clutch 10 is engaged, and the traveling device 40 on the turning side is transmitted in the reverse rotation to thereby perform the spin rotation. (Sudden turning).

The operation angle of the power steering lever is detected by a position sensor 57, and the output of the brake proportional pressure reducing valve 46, the spin proportional pressure reducing valve 51, and the like is controlled in accordance with the detected angle. The spin switch 55 can set the control mode of the steering control device CPU to a spin turn control mode.
By turning on the spin switch 55, when the power steering lever is operated to a certain angle or more, the spin turn clutch 10 as described above is output, and spin turn control can be performed.

FIG. 3 is a graph showing the relationship between the rotation of the steering shaft 16 and the angle of the position sensor 57 by the power steering lever, and the graph showing the relationship between the brake proportional pressure reducing valve 46 and the spin proportional pressure reducing valve 51. Are set in advance in the steering control device CPU, and the steering proportional operation is performed by the power steering lever, whereby the brake proportional pressure reducing valve 46 and the spin proportional pressure reducing valve 51 are output to obtain a predetermined rotation. The value detected by 42 is
Is out of the line of the setting graph, the brake proportional control valve 46 or the spin proportional control valve 51 is feedback-controlled by the detected values of the rotation sensors 41 and 42, and according to the operation angle of the power steering lever as shown in the setting graph. Rotation speed (turning speed) is obtained.

In such a steering control device CPU,
After the steering clutch 8 is disengaged and the brake pressure of the steering brake 9 is gradually increased by the brake proportional pressure reducing valve 46 to fix the rotation of the steering device 40 on the steering side, the brake pressure (and clutch pressure) is reduced. Lower to below the tension of the spring 31,
The steering clutch is disengaged, and the spin clutch pressure by the spin proportional pressure reducing valve 51 is gradually increased. By such control, the impact force due to the increase in the spin clutch pressure is absorbed.

When the spin switching valve 50 is switched to the spin-turn control, the low-pressure relief valve 49 operates in the hydraulic circuit on the steering brake 8 side. A mechanical lock due to simultaneous operation of the clutch 8 or the steering brake 9 and the spin turn clutch 10 is prevented. Further, even if there is a trouble in the operation timing or the like of each of the proportional pressure reducing valves 46 and 51, mechanical lock by hydraulic pressure can be prevented.

7 and 8 are different from the above example in that
When the vehicle body pitches back and forth during the steering turn, the vehicle speed is slowed down by detecting this by the inclination sensor 56, or the fixation by the steering brake 9 on the turning side is loosened to perform a gentle turn. As a configuration in which the control mode is changed so as to cause the turning, stability of turning is achieved. If the vehicle speed is high, if the vehicle speed is high, the vehicle will be in a severe pitching state, and the pilot will be likely to be shaken down, which may cause danger. When this is done, the pitching is reduced, and the safety and durability of each part of the body are improved.

In FIG. 7, a hydraulic continuously variable transmission HS for main transmission is shown.
By outputting a vehicle speed control motor M relay 58 that controls the speed of T, the hydraulic continuously variable transmission HST is operated so as to be decelerated by detecting the pitching operation by the inclination sensor 56. In FIG. 8, when the tilt sensor 56 detects the pitching of the vehicle body when the brake pressure of the brake proportional pressure reducing valve 46 increases when the turning operation is started, the brake pressure by the brake proportional pressure reducing valve 46 is decreased, and The rotation speed of the steering shaft 16 on the opposite side is increased. Therefore, not only the spin turn is not performed, but also the braking of the steering brake 9 is relaxed, and the pivot turn is eased.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 shows an embodiment of the present invention.

FIG. 1 is a partial hydraulic circuit diagram of a steering control device.

FIG. 2 is a partial control block diagram of a steering control device.

FIG. 3 is a pressure diagram of a steering control hydraulic circuit.

FIG. 4 is a front sectional view of the traveling transmission.

FIG. 5 is an enlarged sectional view of a part thereof.

FIG. 6 is a side view thereof.

FIG. 7 is a partial control block diagram of a steering control device according to another embodiment.

FIG. 8 is a pressure diagram of a steering control hydraulic circuit showing a partially different embodiment.

[Explanation of symbols]

8 Steering clutch, 9 Steering brake, 10 Spin turn clutch, 40 Running device, 41 Input rotation sensor, 42 Left and right rotation sensor, 43 Hydraulic circuit, 46
Brake proportional control valve, 51 ... Spin proportional pressure reducing valve, 52 ...
Pressure sensor, 53: Spin switching control valve, 57: Position sensor, CPU: Steering control device

Claims (2)

(57) [Claims] 1. A left traveling drive shaft 2 and a right traveling drive shaft.
2 is provided with a steering clutch 8 for transmitting power.
The left driving drive shaft 2 and the right driving drive shaft 2
Move the steering brake 9 that activates the rake to the transmission case 11
From the lid that can be detached independently from the
Spin on the driving drive shaft 2 on the right and the driving drive shaft 2 on the right
Transmission of spin turn clutch 10 for power transmission of turn
Installed close to the lid that can be removed independently of case 11.
In the gear transmission, the left and right steering clutch 8
An input rotation sensor 41 for detecting rotation on the input side;
Detects rotation on the output side of pin turn clutch 10
Left and right rotation sensors 42 are provided and input by steering operation.
In order to enter the steering mode, the steering brake 9 and the
The hydraulic pressure of the turn clutch 10 is controlled.
And a steering control device such as a combine. 2. Checking the rotation speed of each shaft for confirming execution of the steering mode, and setting the rotation speed of each shaft to an appropriate rotation speed.
The hydraulic pressure of the steering brake 9 and the spin turn clutch 10 is adjusted or controlled.
A steering control device such as the combine described above.