JP3256338B2 - Geared steering device for tracked vehicle and its control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a drive device for a tracked vehicle,
In particular, the present invention relates to a geared steering device in which left and right driving devices are selectively operated to efficiently steer a vehicle.

[0002]

2. Description of the Related Art Conventionally, as a geared steering apparatus for a tracked vehicle, there is Japanese Patent Publication No. 55-501139. The vehicle according to the conventional technology has a propulsion device including a right crawler belt 2 and a left crawler belt 3, as indicated generally by 1 in FIG.
The crawler tracks 2 and 3 are driven by a sprocket 6 mounted on a hub 5 of the final reduction gear 4 in FIG. Further, as shown in FIG. 5, the vehicle 1 has a drive device 7 such as an internal combustion engine, and the power of the drive device 7 is transmitted via a geared steering device indicated by 8 in FIGS. Left and right final reducers 4
To the output shaft 10 which is coupled to

FIG. 10 shows the geared steering device 8 as a skeleton. The operation of the geared steering device 8 in the high-speed mode, the low-speed mode, and the braking mode will be described. First, in high-speed mode,
The brake 11 and the low speed clutch 12 are released, and the engagement of the high speed clutch 13 couples the housing 14 to the drive hub 15. Therefore, the input shaft 9 is
, And the output shaft 10 is directly engaged with the brake hub 22, so that the power of the prime mover (not shown) is directly applied to the output shaft 10 by the input shaft 9 via the bevel gears 23 and 24. When driven, the rotation of the input shaft 9 is transmitted to the output shaft 10 at a speed ratio of 1: 1. In the low speed mode, the high speed clutch 13 and the brake 11 are released.
6 is fixed to the housing 17 so that the sun gear 1
When the planetary gear 19 is driven by the ring gear 20 fixed to the input housing 14, the planetary gear 19 moves around the sun gear 18. As a result, the carrier 21 rotates at a reduced speed at a predetermined reduction ratio, but the output shaft 1 is driven via the drive hub 15 directly connected to the carrier 21.
0 also rotates at the same rotation speed as the carrier 21. Next, in the braking mode, since the high-speed clutch 13 and the low-speed clutch 12 are released, transmission of torque from the input shaft 9 to the output shaft 10 is interrupted. At the same time, since the brake 11 is engaged, the brake hub 22 directly connected to the output shaft 10 is connected to the fixed housing 17, whereby the output shaft 10, and also the respective crawler tracks 2, 3 are connected.
Brake.

Further, as a control device for a vehicle having a conventional clutch / brake type steering device, Japanese Patent Application Laid-Open Publication No. Hei.
1054 ", in order to set the turning radius of the vehicle to the command turning radius determined by the operation amount of the steering lever, detect the number of rotations of the left and right crawler drive shafts, and set the clutch or brake so that the command turning radius becomes the command turning radius. A technology for feedback controlling the hydraulic pressure has been disclosed. However, as a control device for a vehicle having a geared steering device, a technology for performing feedback control in order to set the turning radius of the vehicle to a commanded turning radius determined by the operation amount of the steering lever has not yet been developed.
Not published.

[0005]

The above-mentioned prior art has the advantage that the vehicle can be turned with a turning radius of about 10 m without a braking loss at a predetermined gear ratio, and a conventionally known clutch / brake system can be operated by operating the brake 11. It has the function of a turning device. However, in the conventional technique, the left and right high-speed clutch 13, the low-speed clutch 12, and the brake 11
3 packs increments of disc becomes left a total of six required, also for also becomes six pairs required hydraulic control valve for controlling these parts are many devices there is a problem that becomes expensive. However, since the conventional technology has the high-speed clutch 13 and the low-speed clutch 12 on the left and right, respectively, the left and right can be set to the high-speed gear or the low-speed gear. Therefore, if the transmission has three gears, forward and backward shifting can be performed in six gears. However, the quality of the vehicle is excessive when three transmissions are used and three forward and reverse gears are sufficient.

Also, as a control device for a vehicle having the geared steering device 8, if the feedback control is not performed in order to set the turning radius of the vehicle to a commanded turning radius determined by the operation amount of the steering lever, the vehicle operates on a bulldozer or the like. Depending on the magnitude of the load, an operation opposite to the operation of the operator, that is, a danger such as reverse steering may occur. The present invention has been made to solve the problems in the conventional technology.

[0007]

A first aspect of the present invention is an engagement or an engagement.
The released brake, high-speed clutch and low-speed clutch
And a geared steering input having a planetary gear train
The shaft receives the power of the prime mover via a bevel gear, and then
Left and right left and right output shaft rotating at high speed and low speed and braking
Geared steering system for tracked vehicles that controls the crawler track
Oite, input unit 33 for inputting the power of the prime mover
A first housing 35 connected to one of the output shaft 32 and the steering brake hub 34; one direct coupling clutch 36 for engaging and disengaging the first housing 35 and the input portion 33; One steering brake 38 for engaging and disengaging one steering brake hub 34 and the fixed housing 37, a central shaft 39 disposed on the same axis as the one output shaft 32, the sun gear to one of the 39 and the entering-force unit 33 before <br/> Symbol first housing 35 and the key Yariya
And the first planetary train 40 provided one of Li ring gear, the second housing 41 coupled to the input unit 33, and the other output shaft 32 and the steering drive hub 42 coupled to the brake hub 34, a second planetary train 43 provided one of the sun gear and the key Yariya and re ring gear to one of the drive hub 42 before and Symbol central axis 39, the other direct-coupled clutch coupled to the carrier of the second planetary train 43 A hub 45, the other directly-coupled clutch 44 for engaging and disengaging the directly-coupled clutch hub 45 and the second housing 41, a variable displacement hydraulic pump 87, and a discharge oil from the variable displacement hydraulic pump 87 By
Swing hydraulic motor 83 driven by
3, a turning clutch hub 47 driven by the output shaft 83a via the turning clutch 46;
7 and the third planetary train 48 provided one of the sun gear and the key <br/> Yariya and re ring gear to any one of the second housing 41
Provided with a, among the elements of the second planetary train 43, the elements other than those provided in the central shaft 39 and the drive hub 42,
Of the elements of the third planetary row 48, the turning clutch hub 4
7 that combines the elements other than those provided in the second housing 41.

The second planetary gear train 40 includes a sun gear on the central shaft 39 and a carrier on the input unit 3.
3, set <br/> only each ring gear to the first housing 35, among the elements of the second planetary train 43, the central axis 39 of the sun gear, respectively of the carrier to the drive hub 42,
Among the elements of the third planetary row 48, the sun gear is connected to the revolving clutch hub 47, and the ring gear is connected to the second housing 41.
Each provided Rutotomoni bound to the carrier of the ring gear and the third planetary row 48 of the second planetary train 43.

According to a third aspect of the present invention, there is provided a control device for controlling the geared steering devices 30 , 49 , 50 of the tracked vehicle according to the first aspect.
Outputs a signal of zero discharge amount to the discharge amount control device 85 of the variable displacement hydraulic pump 87 in order to stop the turning hydraulic motor 83 when the vehicle is traveling straight, and the turning clutch 46 and the steering in both directions are output. Brake 38, 38
Are completely released, and the direct coupling clutches 36, 44
The control signal for completely engaging the control solenoid valve 60
You output to to 64.

According to a fourth aspect of the present invention, there is provided a control device for controlling the geared steering devices 30 , 49 , 50 of the tracked vehicle according to the first aspect.
When the greater gentle swirling than the geared steering ratio determined by the gear train and the number of teeth of the geared steering device 30,49,50, the swivel clutch 4 6 Contact and steering direction opposite the direction of the direct-coupled clutch 36 or, 44 fully engaged,
And the direct coupling clutch 44 or 36 in the steering direction and both
A control signal for completely releasing the directional steering brakes 38 , 38 is output to the control solenoid valves 60 to 64, and
Enter the rotational speed and the command steering ratio which is output from the rotational speed Contact and operating device 57 for turning the clutch hub 47 of the input section 33 of the geared steering device 30,49,50 is calculated by these rotational speed Compare the actual steering ratio with the commanded steering ratio,
You output a correction signal as close to the actual steering ratio to the command steering ratio to the discharge amount control device 85 of the variable displacement hydraulic pump 87.

According to a fifth aspect of the present invention, there is provided a control device for controlling the geared steering devices 30 , 49 , 50 of the tracked vehicle according to the first aspect.
Are the gear trays of the geared steering devices 30, 49, 50.
At the time of geared steering with a geared steering ratio determined by the gear ratio and the number of teeth , the turning clutch 46 and the direct coupling clutch 36 or 44 in the direction opposite to the steering direction are completely engaged,
And the direct coupling clutch 44 or 36 in the steering direction and both
A control signal for completely releasing the directional steering brakes 38 , 38 is output to the control solenoid valves 60 to 64, and
The variable displacement motor 83 is used to stop the turning hydraulic motor 83.
You output a signal of ejection amount zero discharge amount control device 85 of the hydraulic pump 87.

According to a sixth aspect of the present invention, there is provided a control device for controlling the geared steering devices 30 , 49 , 50 of the tracked vehicle according to the first aspect.
Are the gear trays of the geared steering devices 30, 49, 50.
When the emissions and determined by the number of teeth geared steering ratio smaller slow-handed <br/> times, in order to stop the turning hydraulic motor 83, the discharge amount control device of the variable displacement hydraulic pump 87 8
5, a signal of zero discharge amount is output, the turning clutch 46, a steering brake 38 in a direction opposite to the steering direction,
The direct coupling clutch 36 or 44 in the steering direction is completely released, and the direct coupling clutch 44 or 44 in the direction opposite to the steering direction is released.
36 is completely engaged, and the geared steering devices 30, 4
The number of rotations of the input unit 33 and the turning clutch hub 47
Enter the command steering ratio which is output from the rotational speed Contact and operating device 57 compares the actual steering ratio and the command steering ratio calculated by these speed steering direction of the steering brakes 38 ,
Alternatively steering direction of the direct-coupled clutch 36 or 44 and is at half-engaged state, closer to the actual steering ratio to the command steering ratio
Such a correction signal is output to each control solenoid valve 60 to 64
You.

According to a seventh aspect of the present invention, there is provided a control device for controlling the geared steering devices 30 , 49 , 50 of the tracked vehicle according to the first aspect.
, When the pivot turn, in order to stop the hydraulic swing motor 83, and outputs a signal of the discharge amount zero discharge amount control device 85 of the variable displacement hydraulic pump 87, and the swing clutch 46, steering The direct coupling clutch 36 or 44 and the steering brake 38 in the direction opposite to the steering direction are completely released, and the steering brake 38 in the steering direction and the direct coupling clutch 44 in the direction opposite to the steering direction are released. Or the control signal for completely engaging the control valve 36 is transmitted to each of the control electromagnetic valves 60 to 64.
You output to.

[0014]

In the straight running state, both steering brakes 38.38,
Since both the turning clutch 46 and the turning clutch 46 are released and both the direct coupling clutches 36 and 44 are engaged, both the output shafts 32 and 32 rotate at the same rotation speed.

Next, when the operation device 57 commands a gentle turning larger than the geared steering ratio determined by the gear train and the number of teeth of the geared steering devices 30, 49, 50,
The controller 56 outputs control signals to the control solenoid valves 60 to 64 to completely engage the turning clutch 46 and the direct connection clutch 36 or 44 in the direction opposite to the steering direction and to release other clutches and brakes. And the input unit 3 of the geared steering device 30, 49, 50
3 and the rotational speed of the turning clutch hub 47, and the command steering ratio output from the operating device 57, and compares the actual steering ratio calculated from these rotational speeds with the command steering ratio. In order to bring the actual steering ratio closer to the command steering ratio, a correction signal for controlling the discharge amount of the variable displacement hydraulic pump 87 is output to the discharge amount control device 85 so that the rotation motor 83 has a predetermined rotation speed. .

Further, when the geared steering of the geared steering ratio is commanded by the operating device 57, the turning clutch 46 and the direct coupling clutch 36 or 44 in the direction opposite to the steering direction are engaged by the controller 56, and The control signals for releasing the clutches and brakes are transmitted to the control electromagnetic valves 6.
In addition to outputting the signals to 0 to 64 and stopping the turning hydraulic motor 83, a signal for setting the discharge amount of the variable displacement hydraulic pump 87 to zero is output to the discharge amount control device 85.

When a gentle turning smaller than the geared steering ratio is commanded by the operating device 57, the turning hydraulic motor 83 is stopped by the controller 56, so that a signal for making the discharge amount of the variable displacement hydraulic pump 87 zero is discharged. Output to the quantity control device 85, the swing clutch 46, the steering brake 38 in the direction opposite to the steering direction, the direct connection clutch 36 or 44 in the steering direction are completely released, and the direction opposite to the steering direction is released. direct-coupled clutch 44 or 36 fully engaged, the input unit 3 of the geared steering device 30,49,50
3 and the rotational speed of the turning clutch hub 47, and the command steering ratio output from the operating device 57, and compares the actual steering ratio calculated from these rotational speeds with the command steering ratio. When the steering brake 38 in the steering direction or the direct-coupled clutch 36 or 44 in the steering direction is in a half-engaged state, a correction signal for bringing the actual steering ratio closer to the commanded steering ratio is output. Output to control electromagnetic valves 60 to 64.

When a pivot turn is commanded by the operating device 57, the turning hydraulic motor 83 is controlled by the controller 56.
In order to stop the operation, a signal for setting the discharge amount of the variable displacement hydraulic pump 87 to zero is output to the discharge amount control device 85, and the turning clutch 46 and the direct connection clutch 3 in the steering direction are output.
6, or 44 and the steering brake 3 in the direction opposite to the steering direction
8 is completely released and the steering brake 38 in the steering direction is used.
And the direct coupling clutch 44 or 36 in the direction opposite to the steering direction.
The control signal for completely engaging the control solenoid valve 60
To 64.

[0019]

Next, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a diagram showing a gear skeleton of a geared steering device 30 of a tracked vehicle according to a first embodiment of the present invention.
The geared steering device 30 takes in the power of the prime mover from the input shaft 31, takes it out of the output shafts 32, 32, takes out the power of the output shaft 32 from the sprocket 6 of the final reduction gear 4, as shown in FIG. 5 to drive the left and right crawler tracks 2 and 3 of the tracked vehicle.

In FIG. 1, the power of the prime mover is
An input unit 33 for inputting through a bevel gear;
A first housing 35 coupled to the right output shaft 32 and the right steering brake hub 34; a right direct coupling clutch 36 for engaging and disengaging the first housing 35 and the input portion 33; Right steering brake 3 for engaging / disengaging the directional brake hub 34 and the fixed housing 37
8, a central shaft 39 arranged on the same axis as the right output shaft 32, a sun gear coupled to the central shaft 39, a carrier coupled to the input portion 33, and coupled to the first housing 35. The first planetary gear train 4
0.

Also, a second housing 41 connected to the input portion 33, a drive hub 42 connected to the left output shaft 32 and the left steering brake hub 34, a carrier connected to the drive hub 42, and the center shaft The second planetary gear train 43 has a sun gear coupled to the sun gear 39 as two elements.

Further, a left direct coupling clutch hub 45 connected to the carrier of the second planetary row 43 and connected to the second housing 41 via a left direct coupling clutch 44.
Driven by oil discharged from the variable displacement hydraulic pump 87
A hydraulic swing motor 83 to a turning clutch hub 47 which is driven through the output shaft 83a by turning the clutch 46 of the revolving hydraulic motor 83, a sun gear coupled to said pivot clutch hub 47, coupled to the second housing 41 The geared steering device 30 is constituted by forming a third planetary gear train 48 having two ring gears, and connecting the ring gear of the second planetary gear train 43 and the carrier of the third planetary gear train 48. .

Tables 1 and 2 show the relationship between the engagement (ON) and release (OFF) of the clutches 36, 44, 46 and the brake 38 and the operating state of the vehicle. In the straight running state, the turning hydraulic motor 83 is fixed, the left and right steering brakes 38, 38 and the turning clutch 46 are both released, and both the direct coupling clutches 36, 44 are engaged. The output shafts 32 rotate at the same rotation speed. And in the larger left loose turning condition than the geared steering ratio determined by the geared steering apparatus 3 Giyatore <br/> over emissions and the number of teeth of 0, steering brakes 38, 38 and left direct-coupled clutch 44 of the right and left is opened, Since the turning clutch 46 and the right direct coupling clutch 36 are engaged, the turning hydraulic motor 8
The rotation of 3 is taken into the geared steering device 30.

In the left geared steering state based on the geared steering ratio, the swing hydraulic motor 83 is stopped, and the swing clutch 46 and the right directly-coupled clutch 36 are engaged, and the other clutches and brakes are released. In the gentle left turning state smaller than the geared steering ratio, the turning hydraulic motor 83
Stops, the turning clutch 46 and the right steering brake 38 are completely released, the right direct coupling clutch 36 is completely engaged, and the left steering brake 38 or the left direct coupling clutch 44 is half-engaged. I do. In the left pivot turning state, the turning hydraulic motor 83 is stopped, the turning clutch 46, the left directly-coupled clutch 44, and the right steering brake 38 are released, and the left steering brake 38 and the right directly-coupled clutch 36 are engaged. , The left crawler belt 2 stops, the right crawler belt 3 rotates at the same rotation speed as the input rotation speed, and makes a left turn. Table 2 showing the right turning states is the same as the left turning state, and a description thereof will be omitted.

The geared steering device 30 shown in FIG. 2 shows a structure corresponding to the skeleton of the geared steering device 30 shown in FIG. 1. Elements corresponding to those in FIG. Is omitted.

FIG. 3 is a diagram showing a gear skeleton of a geared steering device 49 of a tracked vehicle according to a second embodiment of the present invention. Elements similar to the skeleton of the geared steering device 30 shown in FIG. The same reference numerals are given and the description of the configuration is omitted. FIG. 3 differs from FIG. 1 in that the carrier of the third planetary row 48 is coupled to the second housing 41 and the second planetary row 43
And the ring gears of the third planetary gear train 48 are connected to each other. The operation of FIG. 3 is the same as that of FIG.

FIG. 4 is a view showing a gear skeleton of a geared steering device 50 of a tracked vehicle according to a third embodiment of the present invention. Elements similar to the skeleton of the geared steering device 30 shown in FIG. The same reference numerals are given and the description of the configuration is omitted. 4 differs from FIG. 1 in that the ring gear of the second planetary train 43 is connected to the center shaft 39, and the sun gear of the second planetary train 43 and the carrier of the third planetary train 48 are connected.
The operation of FIG. 4 is the same as that of FIG.

The control device of the geared steering devices 30, 49, 50 will be described with reference to FIGS. As shown in FIG. 7, assuming that the outer speed is v0 and the inner speed is vi, the steering ratio is ε = v0 / vi, so that {(ε + 1) / (ε−1)} · (B / 2) = R... (1) Here, R: turning radius B: gauge width Also, for example, let the left-handed steering ratio be εLO, and for the subscript of the number of teeth Z of the planetary gear, R is a ring gear, S is a sun gear, 1 is the first planetary row, 2 Where ε represents the second planetary train, 1 / ε = {ZR2 / (ZR2 + ZS2)}｝ {ZS1 / (ZS1 + ZR1)}｝ ρB · ( NSC / NMO ) + (1 / εLO) ... (2) Here, 1 / εLO = {ZR2 / (ZR2 + ZS2)}. [{ZR1 / (ZR1 + ZS1)} + (ZS2 / ZR2)] (3) ρB: Reduction ratio from transmission output shaft to input unit 33 NSC: Swing clutch speed NMO: Transmission output speed That is, the swing clutch speed NSC is detected, and will be described later.
Speed stage k Toka et transmission output rotation of sea urchin torque converter output speed NTO and transmitters <br/> cushion
By calculating the number NMO, it is possible to always detect the current vehicle turning radius R from the equations (1), (2), and (3).
Therefore, by operating the steering lever, εa is calculated by the above equation (1) so that the turning radius Ra desired by the operator is obtained.
Using the εa, ( NSC / NMO ) is calculated by equation (2), and the turning clutch rotational speed NSC / transmission output rotational speed NMO is set as a target value, and the left and right direct-coupled clutches 36, 44 are set to the target value. The turning radius desired by the operator is controlled by controlling the hydraulic pressure of the turning clutch 46, the steering brakes 38, 38, and the discharge amount control device 85 of the variable displacement hydraulic pump 87 so that the turning hydraulic motor 83 has a predetermined rotation speed. Ra will be obtained. Although the above description is for a left turn, the same applies to a right turn, and a description thereof will be omitted.

Here, although a detailed description is omitted, one of the features of the present invention is that, as is apparent from the gear train of FIGS. Rotational speed NSC and transmission output rotational speed N
It is expressed in the form of a first-order linear form of the MO, and the vo is proportional to the transmission output speed NMO. That is, even if any of the steering brakes 38, 38 and the clutches 36, 44 are half-engaged and the swing hydraulic motor 83 is operated, the change is always the swing clutch speed NSC and the transmission output speed NMO. If the steering ratio ε is calculated by the above equation (2) by detecting the turning clutch rotation speed NSC and the transmission output rotation speed NMO, the following equation (1) is obtained. The turning radius R can be determined.

FIG. 8 is a diagram showing a control device according to an embodiment of the geared steering device of the present invention.
Is a torque converter (hereinafter referred to as a torque converter) driven by the engine 51; 53 is a mission driven by the torque converter 52; 30 is a geared steering device driven by the transmission 53; , 6 are sprockets fixed to each of the final reduction gears 4. 54 is a speed stage switching valve, 55 is a hydraulic pressure detector of the speed stage switching valve 54, 56 is a controller, 57
Steering lever as the operating device, 58 torque converter output shaft rotation sensor, 59 rotation sensor of the turning clutch Chihabu 47 constituting the geared steering device 30, 60 is an electromagnetic valve of HidariMisaoMukai brake 38, 61 is pivot A solenoid valve of the clutch 46 , 62 is a solenoid valve of the left direct-coupled clutch 44 , 63 is a solenoid valve of the right direct-coupled clutch 36 , 64 is a solenoid valve of the right steering brake 38 , 65 is a hydraulic valve of the left steering brake 38 , 66
Is a hydraulic valve of the turning clutch 46 , 67 is a hydraulic valve of the left direct coupling clutch 44 , 68 is a hydraulic valve of the right direct coupling clutch 36 , 69 is a hydraulic valve of the right steering brake 38 , 85
Is a discharge amount control device of the variable displacement hydraulic pump 87 for controlling the rotation of the turning hydraulic motor 83.

Next, the detailed configuration of the controller 56 in FIG. 8 will be described with reference to FIG. The controller 56 inputs both signals of the torque converter output rotation speed NTO detected by the rotation sensor 58 and the transmission speed stage k detected by the hydraulic pressure detector 55 to the transmission output rotation speed calculator 70, thereby transmitting the transmission output. The rotational speed NMO is calculated. Further, by inputting the two signals of the transmission output rotational speed NMO and turning the clutch hub rotational speed NSC in steering ratio calculator 71 calculates the JitsumisaoMuko ratio epsilon, the epsilon signal is outputted to the comparator 72 You.
On the other hand, when the steering direction discriminator 73 inputs the command turning radius Ra signal from the steering operation lever 57 shown in FIG. 8, the steering direction signal from the steering direction discriminator 73 generates the reverse steering direction direct coupling clutch ON signal. When it is output to the gear 74, the reverse steering direct coupling clutch ON signal generator 74 outputs an engagement signal ic to the solenoid valve 75 of the reverse steering direct coupling clutch.

When the steering direction discriminator 73 outputs a command turning radius Ra signal to the command steering ratio calculator 76,
And it calculates a command steering ratio epsilon a in finger-old steering ratio calculator 76, and outputs the finger RyomisaoMuko ratio epsilon a signal to the comparator 72. Then, JitsumisaoMuko ratio in the comparator 72 epsilon and the command steering ratio epsilon a are compared, although MisaoMukohi deviation signal Δε is output to the hydraulic valve control signal generator 77, and the steering direction of the lockup clutch The hydraulic signal of each hydraulic valve of the steering brake and each of the solenoid valves 78, 79, 80 of the turning clutch is converted into an electric signal in a hydraulic / electric signal converter 81 and output to a control valve judging device 82, whereby Steering ratio deviation signal Δε output from hydraulic valve control signal generator 77
The hydraulic valve control signal iCB which should make 0 be zero is transmitted to the solenoid valves 78, 79, 80 designated by the control valve judgment unit 82.
Output to the solenoid. In FIG. 9, a control signal for completely engaging the turning clutch 46 is output from the controller 56 to the control electromagnetic valve 61 of the turning clutch 46 during geared steering and gentle turning larger than the geared steering. Then, the control for completely engaging the turning clutch 46 is omitted. When the steering ratio deviation signal Δε from the comparator 72 is input to the hydraulic pump control signal generator 86, the steering ratio deviation signal Δε is set to 0 from the hydraulic pump control signal generator 86. The control signal which approaches is output to the discharge amount control device 85 of the variable displacement hydraulic pump 87.

Next, the operation of the geared steering device 30 shown in FIG. 1 will be described. In the straight running state, both the steering brakes 38.38 and the turning clutch 46 are both released, and both the directly connected clutches 36, 44 are engaged, so that both the output shafts 32, 32 rotate at the same speed. .

[0034] Then the steering lever 57 in FIG. 8,
When commanding a gentle left turn larger than the geared steering ratio determined by the gear train and the number of teeth of the geared steering device 30, the controller 56 completely engages the turning clutch 46 and the right direct coupling clutch 36, and the other clutches 44 And a control signal for completely releasing the brakes 38, 38 is output to each of the control electromagnetic valves 60 to 64.
The rotation speed of the input unit 33 of the geared steering device 30, the rotation speed of the turning clutch hub 47, and the command steering ratio output from the steering lever 57 are input, and the actual steering ratio calculated based on these rotation speeds is input. Is compared with the command steering ratio, and a correction signal for making the actual steering ratio close to the command steering ratio is output to the discharge amount control device 85. Then, the turning radius based on the command steering ratio designated by the steering lever 57 is output. Turn left at. The rotation speed of the input unit 33 of the geared steering device 30 is measured by a torque converter output shaft rotation sensor 58, and the rotation speed of the turning clutch hub 47 is measured by a rotation sensor 59, and output to the controller 56.

Further, when a left geared steering is commanded by the steering lever 57 by the geared steering ratio, the controller 56 controls the turning clutch 46 and the right direct coupling clutch 36.
Fully engaged, and outputs a control signal to fully open the other clutches 44 and brakes 38, 38 to the respective control solenoid valves 60 to 64, the hydraulic swing motor 83
When a signal indicating that the discharge amount is zero is output to the discharge amount control device 85 in order to stop the rotation, the vehicle turns left at a turning radius determined by the command steering ratio designated by the steering lever 57.

When a gentle left turn smaller than the geared steering ratio is commanded by the steering lever 57, the controller 56
As a result, in order to stop the turning hydraulic motor 83, a signal of zero discharge amount is output to the discharge amount control device 85, and the turning clutch 46 and the right steering brake 38 are completely released.
In addition, the right direct coupling clutch 36 is completely engaged, and the rotation speed of the input unit 33 of the geared steering device 30, the rotation speed of the turning clutch hub 47, and the command steering ratio output from the steering lever 57 are input. The actual steering ratio calculated from these rotational speeds is compared with the commanded steering ratio, and when the left steering brake 38 or the left directly-coupled clutch 44 in the steering direction is half-engaged, the actual steering ratio is determined. Is output to each of the control electromagnetic valves 60 to 64 so as to approximate the command steering ratio to the command steering ratio.
The vehicle turns left at a turning radius determined by the command steering ratio designated by the steering lever 57.

When a left turn is commanded by the steering lever 57, the controller 56 stops the turning hydraulic motor 83, so that a signal of zero discharge amount is output to the discharge amount control device 85 and the turning clutch 46 and The control signals for completely releasing the left direct coupling clutch 44 and the right steering brake 38 and fully engaging the left steering brake 38 and the right direct coupling clutch 36 are transmitted to the control solenoid valves 60 to 64.
, The left crawler belt 2 stops, and the vehicle can turn left.

[0038]

According to the present invention, as described in detail above, the following effects can be obtained. (1) Since the number of clutches and brake packs can be reduced from six in the conventional technology to five,
The geared steering device can be made compact. (2) Since there is only one turning clutch that corresponds to the two low-speed clutches required in the prior art and performs the control with the highest braking frequency, the hydraulic control valve for that is inexpensive and the turning control is reduced. Can be performed smoothly without variation between left and right. (3) This geared steering device enables smooth turning control by the turning hydraulic motor in the control region where the turning is largely slow, and no turning braking loss of the steering brake occurs during turning. (4) The operability of the steering control is improved by performing automatic control in a control area other than the geared steering as in the case of a relatively small turn or a pivot turn. (5) Due to the configuration of the gear train, the control device of the geared steering device can detect the steering ratio only by the input shaft speed and the turning clutch speed, so that the control device is simplified. Therefore, the control device is inexpensive and high-precision control can be performed. (6) Although the mechanism is relatively complicated, the variable displacement hydraulic pump and the swing hydraulic motor require only about half the capacity of the conventional hydraulic steering system, so that the cost is low, and the cost reduction of the drive control device is extremely large. Therefore, the overall cost is greatly reduced.

[Brief description of the drawings]

FIG. 1 is a diagram showing a gear skeleton of a geared steering device according to a first embodiment of the present invention.

FIG. 2 is a diagram showing a configuration of a geared steering device corresponding to the gear skeleton of FIG. 1;

FIG. 3 is a diagram showing a gear skeleton of a geared steering apparatus according to a second embodiment of the present invention.

FIG. 4 is a diagram showing a gear skeleton of a geared steering apparatus according to a third embodiment of the present invention.

FIG. 5 is an external side view of a general tracked vehicle.

FIG. 6 is a sectional view showing an example of a final reduction gear connected to the geared steering device of the tracked vehicle of the present invention.

FIG. 7 is a diagram showing a turning state of the tracked vehicle.

FIG. 8 is a diagram showing a control device relating to a geared steering device of a tracked vehicle.

FIG. 9 is a detailed view of the controller in FIG. 8;

FIG. 10 is a diagram showing a prior art gear skeleton relating to a geared steering apparatus for a tracked vehicle.

[Explanation of symbols]

30,49,50 ... geared steering device 31 ... Input shaft 32 ... Output shaft 33 ... input unit 34 ··· steering brake hub 35 ... first housing 36 ... right direct clutch 37 ... fixed housing 38 ··· steering brake 39 ... central axis 40 ... first planetary train 41 ... second housing 42 ... drive hub 43 ... second planetary train 44 ... left side directly connected clutch 45 ... left side directly connected clutch hub 46 ... turning clutch 47 ... turning clutch hub 48 ... third planetary gear train 51 ... engine 52 ... torque converter 53 ...・ Mission 54 ・ ・ ・ Speed stage switching valve 55 ・ ・ ・ Hydraulic detector 56 ・ ・ ・ Controller 57 ・ ・ ・ Steering lever 58 ・ ・ ・ Torque converter output shaft rotation sensor 59 ・ ・ ・ Rotation sensor 60-6 4 ... Solenoid valve 65-69 ... Hydraulic valve 70 ... Mission output speed calculator 71 ... Steering ratio calculator 72 ... Comparator 73 ... Steering direction discriminator 74 ..Reverse steering direction direct connection clutch ON signal generator 75... Solenoid valve 76... Command steering ratio calculator 77... Hydraulic valve control signal generator 78, 79, 80. ·· Hydraulic / electric signal converter 82 ··· control valve judgment device 83 ··· swing hydraulic motor 83a ··· output shaft 84 ··· drive device 85 ··· hydraulic pump discharge amount control device 86 ··· hydraulic pressure Pump control signal generator 87 ・ ・ ・ Variable displacement hydraulic pump

Claims (7)

(57) [Claims] Claims: 1. Brake and high speed to be engaged or released
Has clutch and low speed clutch, and planetary gear train
The power of the prime mover is beveled to the input shaft of the geared steering system.
And then rotate the left and right output shafts at high speed and low speed.
Tracked vehicle that rotates and brakes to steer the left and right crawler tracks
In the geared steering device for a dual, an input unit 33 for inputting the power of the prime mover, and one of the output shaft 32 and the steering first housing 35 coupled to the brake hub 34, the first housing 35 One direct coupling clutch 36 for engaging and disengaging the input unit 33; the one steering brake hub 34 and the fixed housing 37;
And one of the steering brakes 38 for engaging and opening the door, with the central axis 39 that is disposed on the same axis as one of the output shaft 32, the pre-SL with the central axis 39 and the entering force 33 1 housing 3
To any one of 5 and the first planetary train 40 provided one of the sun gear and the key Yariya and re ring gear, the second housing 41 coupled to the input unit 33, and the other output shaft 32 and the steering brake hub 34 a drive hub 42 which is coupled to the sun gear to one of the drive hub 42 before and Symbol central axis 39
The second planetary train 4 provided with any key Yariya and Li ring gear and
3, the other direct-coupled clutch hub 45 coupled to the carrier of the second planetary row 43, the other direct-coupled clutch 44 for engaging and disengaging the direct-coupled clutch hub 45 and the second housing 41; It is driven by a variable displacement hydraulic pump 87 and oil discharged from the variable displacement hydraulic pump 87 .
A turning hydraulic motor 83, a turning clutch hub 47 driven by an output shaft 83 a of the turning hydraulic motor 83 via a turning clutch 46, and a sun gear and a key mounted on one of the turning clutch hub 47 and the second housing 41. together and a third planetary train 48 provided one of Yariya and re ring gear, among the elements of the second planetary train 43, the elements other than those provided in the central shaft 39 and the drive hub 42, the second 3 planetary rows 4
Of 8 elements geared steering system of crawler type vehicle, characterized in that coupled to the turning clutch hub 47 and the elements other than those provided in the second housing 41 30,49,5
0. 2. Among the elements of the first planetary row 40, a sun gear is provided on the central shaft 39, a carrier is provided on the input section 33, and a ring gear is provided on the first housing 35, respectively. of, the center axis 39 of the sun gear, respectively of the carrier to the drive hub 42, of each element of the third planetary row 48, the sun gear to pivot the clutch hub 47, a ring gear on the second housing 41
Each provided Rutotomoni, the ring gear and the third planetary row of the second planetary train 43 48
Geared steering system of crawler type vehicle according to claim 1, wherein <br/> to the carrier, characterized in that combine 30, 5 0. 3. A control device for controlling the geared steering devices 30 , 49 , 50 of a tracked vehicle according to claim 1 , wherein the variable displacement type motor 83 is stopped to stop the turning hydraulic motor 83 when traveling straight. A signal of zero discharge amount is output to the discharge amount control device 85 of the hydraulic pump 87, and the turning clutch 46 and the steering brake 3 in both directions are output.
8 and 38 are completely released, and the two-way direct coupling clutch 3
Controller of the geared steering device 30,49,50 of crawler type vehicle, wherein the benzalkonium to output the control signal to fully engaged the 6,44 to each control solenoid valve 60-64. 4. A control device for controlling a geared steering device 30 , 49 , 50 of a tracked vehicle according to claim 1 , wherein the geared steering device is determined by the gear train and the number of teeth of the geared steering device 30, 49, 50. when the larger gentle swirling Mukohi fully engage the swivel clutch 4 6 Contact and steering direction opposite the direction of the direct-coupled clutch 36 or 44, and steering direction
A control signal for completely opening the direct coupling clutch 44 or 36 and the steering brakes 38, 38 in both directions is output to each of the control electromagnetic valves 60 to 64, and the geared steering devices 30, 49 are provided. , type the rotational speed and the command steering ratio which is output from the rotational speed Contact and operating device 57 for turning the clutch hub 47 of the input unit 33 of the 50, the command steering and the actual steering ratio calculated by these rotational speed Compare with the ratio
The actual steering correction signal as close to the command steering ratio ratio the variable displacement hydraulic pump 87 discharge amount control apparatus output to Turkey and geared steering system of crawler type vehicle you wherein the 85 30, 49, 50 control devices. 5. A control device for controlling a geared steering device 30 , 49 , 50 of a tracked vehicle according to claim 1 , comprising: a gear train of the geared steering device 30, 49, 50;
During geared steering with a geared steering ratio determined by the number of teeth , the turning clutch 46 and the direct coupling clutch 36 or 44 in the direction opposite to the steering direction are completely engaged, and the steering direction is changed.
The control signal for completely opening the direct coupling clutch 44 or 36 and the steering brakes 38 and 38 in both directions is output to each of the control solenoid valves 60 to 64 and the turning hydraulic motor 83 is stopped. , The variable capacity type
Geared steering system 30,49,50 controller of crawler type vehicle, wherein the benzalkonium to output the signal of the discharge amount zero discharge amount control device 85 of the hydraulic pump 87. 6. A control device for controlling a geared steering device 30 , 49 , 50 of a tracked vehicle according to claim 1 , comprising a gear train of the geared steering device 30, 49, 50.
When the geared steering ratio smaller than gentle swirling determined by the number of teeth in order to stop the turning hydraulic motor 83, the variable capacitance
A signal of zero discharge amount is output to the discharge amount control device 85 of the hydraulic pump 87, and the swing clutch 46, the steering brake 38 in the direction opposite to the steering direction, and the direct connection clutch 36 or 44 in the steering direction are output.
Completely disengaged and a direct coupling clutch in the direction opposite to the steering direction
44, or 36 fully engaged, the command steering Mukohi output from the rotational speed Contact and operating device 57 of the rotational speed and the turning clutch hub 47 of the input section 33 of the geared steering device 30,49,50 type compares the actual steering ratio and the command steering ratio calculated by these speed steering direction of the steering brakes 38 or steering direction of the direct-coupled clutch 36, or 44 and is half-engaged, in the state, the electromagnetic valve 60 for the control of the correction signal as close to the actual steering ratio to the command steering ratio
Controller of the geared steering device 30,49,50 of crawler type vehicle, wherein the Turkey be output to 64. 7. A control device for controlling the geared steering devices 30 , 49 , 50 of a tracked vehicle according to claim 1 , wherein the turning hydraulic motor 83 is stopped during a pivot turn, so that the variable displacement is controlled.
And outputs a signal indicating that the discharge amount is zero to the discharge amount control device 85 of the hydraulic pump 87.
6, or 44 and the steering brake 3 in the direction opposite to the steering direction
8 is completely released and the steering brake 38 in the steering direction is used.
And the direct coupling clutch 44 or 36 in the direction opposite to the steering direction.
The control signal for completely engaging the control solenoid valve 60
Controller of the geared steering device 30,49,50 of crawler type vehicle, wherein the Turkey be output to to 64.