JP4501425B2 - Tractor crawler device - Google Patents

Description

  The present invention relates to a crawler device for a tractor that can reduce the size and weight of a tractor frame.

Conventionally, a stopper for restricting the swinging range of the crawler frame, a technique of providing over between the crawler frame and the body frame is known (for example, see Patent Document 1).
JP 2001-48065 A (3rd page, FIG. 6)

In a configuration in which a stopper for direct swing control is mounted between a vehicle body frame attached along the tractor vehicle body side portion and a crawler frame along the outside, the constituent members are increased in size and weight. Since the tractor of the crawler traveling form is often a soil surface where the traveling condition is soft, it is necessary to reduce the weight of the crawler traveling device as well as the vehicle body.
In addition, it is necessary to improve the maintainability of the drive sprocket part and adjust the control sensitivity of the front / rear tilt control of the vehicle body to perform an accurate control.

According to the first aspect of the present invention, a crawler frame (2) around which a rubber crawler (1) having no core metal is wound is rotatably mounted around a drive sprocket shaft (3), and a rubber crawler (1) is provided. A drive lug (52) formed on the inner peripheral surface of the sprocket shaft (3) along the central portion in the width direction is engaged with the sprocket shaft (3) by the teeth (51) of the sprocket shaft (3), and the sprocket shaft (3) is mounted on the shaft. A swinging arm (6) that can freely rotate back and forth, and a stopper (7, 8) that locks the swinging arm (6) back and forth. ) And the swing arm (6) is a tractor crawler device that is interlocked with the rotation of the crawler frame (2), on the left and right sides of the sprocket (20) of the rubber crawler (1), or on either one side. , Crawler ( ) Of the stopper plate (49) for preventing from coming off is divided into an appropriate number of plates over the entire circumference and attached to the side surfaces of the sprockets (20), and the cross section of the round bar along the outer peripheral surface of the stopper plate (49). A guide link (53) having a cross-sectional diameter larger than the thickness of the stopper plate 49 is fixed, an automatic control switch (56) and a sensitivity changeover switch (57) are provided on the dashboard (15), and the vehicle body is provided on the seat floor (58). A horizontal sensor (59) for detecting the tilt angle in the front-rear direction of (13) is provided, and the expansion and contraction operation is performed between the vehicle body (13) side fixing bracket (5) and the crawler frame (2) by the hydraulic pressure of the hydraulic circuit. A cylinder (55) is provided, and the forward / backward inclination of the crawler frame (2) with respect to the vehicle body (13) is controlled by the telescopic cylinder (55), and the sensitivity changeover switch (57) Adjust the control sensitivity by switching operation with, and shift the current speed position of the detection based tractor crawler device having a configuration to switch the telescoping speed of the telescopic cylinder by switching the hydraulic pressure in the hydraulic circuit of the level (55) of the device And
The traveling is performed by the rubber crawler (1) being driven and rotated around the crawler frame (2) by the rotation of the drive sprocket shaft 3. When the crawler frame (2) is rotated around the sprocket shaft (3) due to the soil tiller or the unevenness of the ground, the frame (2) rotates the swing arm (6). The swinging arm (6) is pivoted forward and backward by contacting the front and rear stoppers (7, 8) and locked to the crawler frame (2) and the transmission case (4) on the fixed bracket (5) side. As a unit, the crawler (1) is rocked to be in a running state. When the crawler (1) travels on the horizontal ground, the swing arm (6) is returned to a state separated from the front and rear stoppers (7, 8) by returning the crawler frame 2 to the horizontal posture. .

The dashboard (15) is provided with an automatic control switch (56) and a sensitivity changeover switch (57), and the seat floor (58) is provided with a horizontal sensor (59) for detecting the inclination angle of the vehicle body (13) in the front-rear direction. A telescopic cylinder (55) is provided between the vehicle body (13) side fixing bracket (5) and the crawler frame (2) to be expanded and contracted by the hydraulic pressure of the hydraulic circuit, and the crawler frame (2) with respect to the vehicle body (13). The forward / backward tilt is controlled by the telescopic cylinder (55), the control sensitivity is adjusted by the switching operation by the sensitivity changeover switch (57), and the hydraulic pressure of the hydraulic circuit is adjusted based on the detection of the current vehicle speed position of the transmission. It is configured to switch the expansion / contraction speed of the expansion / contraction cylinder (55) by switching between high and low.

This invention is formed integrally fixing bracket 5 and a transmission case 4 side to dispose the stopper 7, 8 or the like for locking the swing arm 6 and the rotation for regulating the swing position of the crawler frame 2 Therefore, these stopper mechanisms can be arranged between the side part of the mission case 4 and the sprocket part of the crawler 1 to reduce the size and weight.
Further, a stop plate 49 for preventing the crawler 1 from coming off is disposed on the left and right sides of the sprocket 20 of the rubber crawler 1 that does not have a core metal, or on either one side thereof. This outer stop plate 49 is divided into an appropriate number of parts over the entire circumference, and is attached to the side surface of the sprocket 20 with bolts 50 to facilitate maintenance.
Furthermore, the cross-sectional diameter of the guide ring 53 is formed to be larger than the thickness of the outer plate 49 so that local damage is prevented even if the inner peripheral surface of the crawler 1 is in sliding contact.

In addition, the horizontal sensor 59 controls the left and right crawler frames 2 to change the front and rear inclination angles according to the traveling ground and return to the horizontal posture according to the inclination of the traveling ground and the uneven surface. This can be done by detecting.
The sensitivity changeover switch 57 switches the sensitivity by changing the duty ratio, for example, as a mode operated by the pulse output of the changeover control valve 60. When the vehicle speed is high, the sensitivity is increased. It can be switched to lower the sensitivity when the delay becomes slower.
Further, by detecting the current vehicle speed position, the hydraulic pressure (oil amount) control valve 61 of the hydraulic circuit is switched between high and low, thereby switching the expansion / contraction speed of the expansion / contraction cylinder 55. When the vehicle speed is high, the expansion / contraction operation speed of the cylinder 55 can be increased, and when the vehicle speed is low, switching control can be performed so that the cylinder 55 is operated slowly.

  Hereinafter, an embodiment in which the present invention is mounted on a semi-crawler tractor including a wheel-type front wheel and a crawler-type rear traveling device will be described with reference to the drawings.

  The tractor has the transmission case 4 as the main body of the vehicle body 13. The engine is mounted in the hood 14 at the front of the vehicle body. The dashboard 15, the steering handle 16, and the driver's seat 17 on the rear side are connected to the rear of the hood 14. The upper part of the part or the like is covered with a cabin 18. A pair of left and right front wheels 19 are provided below the engine portion so as to be steerable by the handle 16, and a sprocket shaft 3 is mounted as a rear axle on the rear axle housing 23 portions on the left and right sides at the rear portion of the transmission case 4. The sprocket 20 is provided in the part. The sprocket 20 and the front and rear driven wheels 21 and 22 that are mounted on the front and rear of the lower crawler frame 2 are used as triangular points, and the crawler 1 mainly made of rubber is wound around the outer peripheral part in a triangular shape. Multiply. By driving the sprocket shaft 3, the left and right crawlers 1 can rotate and travel.

  The crawler frame 2 around which the crawler 1 is wound is provided around the sprocket shaft 3 so as to be swingable back and forth. The crawler frame 2 has a front driven wheel 21 and a rear driven wheel 22 rotatably arranged, and an intermediate roller 24... Is arranged at an intermediate portion between them so that the lower side portion of the crawler 1 is grounded and driven. Configure to rotate. The front driven wheel 21 is pivotally supported 27 at a front end portion of an arm 26 made of a square tube material, and is provided so as to be movable back and forth with an adjusting bolt 28 with respect to the crawler frame 2, and the tension pressure of the crawler 1 can be adjusted. A frame bracket 29 formed in a cross beam shape is integrally formed on the track frame 2, and a support metal 30 is fastened to the horizontal portion of the upper end of the frame bracket 29 by a bolt 31. The outer end of the sprocket shaft 3 is supported by the support metal 30, and the crawler frame 2 can be rotated around the sprocket shaft 3.

  A fixed bracket 5 is connected between the front ends of a pair of front and rear bracket arms 32 and 33 projecting from the lower part of the transmission case 4 to the left and right lateral sides, and a stopper 7 is attached to the outer front end of the fixed bracket 5, and the rear end Attach stopper 8 to. Further, between the front and rear stoppers 7 and 8, a corner portion of the swing arm 6 in the form of a bifurcated boomerang is attached to the lower part in front of the sprocket shaft 3 so as to be rotatable around a lateral arm shaft 34. The swing arm 6 is formed with a long hole 35 in the lower part of the front end, and an arm pin 36 that protrudes inward from the front part of the crawler frame 2 is fitted into the long hole 35, and the crawler frame 2 is connected to the sprocket shaft 3. By swinging back and forth around the swing arm 6, the swing arm 6 can swing around the arm shaft 34 via the arm pin 36, the elongated hole 35, and the like. On the front and rear sides of the swing arm 6, stoppers 9 and 10 facing the stoppers 7 and 8 on the fixed bracket 5 side are formed on a plate-like surface. Comes into contact with the stopper 7, and in the rear side swing, the stopper surface 10 comes into contact with the stopper 8 to restrict further swing. The angle A between the front and rear stopper surfaces 9 and 10 around the arm shaft 34 is formed in a substantially right angle, but it can also be formed in an acute angle or an obtuse angle. Further, in order to adjust the rotation angle of the swing arm 6, the front / rear stopper 7 or 8 may be moved and adjusted with respect to the fixed bracket 5.

  As the drive sprocket shaft 3 rotates, the sprocket 20 rotates the crawler 1 in mesh. When the sprocket 20 is rotated to the forward side F, the vehicle body 13 is advanced by the rotation of the crawler 1, and when the sprocket 20 is rotated to the reverse side R, the vehicle body 13 is moved backward. The left and right crawlers 1 are grounded at the lower side to support the weight of the vehicle body 13 (FIG. 1). However, if the grounding surface is inclined or has an uneven surface, the crawler frame 2 is attached to the sprocket shaft 3 and the rear axle housing 23. It is tilted around. At this time, as the crawler frame 2 is rotated, the swing arm 6 is rotated around the arm shaft 34 to the front side or the rear side through the elongated hole 35 engaged with the arm pin 36. When the forward and downward rotation angles B and C of the crawler frame 2 with respect to the horizontal plane D are increased, the rotation of the swing arm 6 is also increased, and the front side (FIG. 2) or the rear side (FIG. 3). The stopper surfaces 9 and 10 come into contact with the stoppers 7 and 8 of the fixed bracket 5 and the rotation is stopped.

  Next, the difference from the above example mainly based on FIGS. 6 and 7 is that springs 39 and 40 are provided at the stoppers 7 and 8 of the fixed bracket 5, and the crawler frame 2 is in the vicinity of the maximum tilting position of the crawler. The frame 2 is configured to be pushed back to the horizontal state. When the stopper surfaces 9 and 10 of the swing arm 6 approach the stoppers 7 and 8, the crawler frame 2 is pushed back by the springs 39 and 40, and the driving force of the crawler 1 by the sprocket 20 is restored. Driving performance is improved. In addition, since the springs 39 and 40 serve as a buffer mechanism, wear, damage, and the like of the crawler frame 2 and the front and rear swinging portion are reduced. The stoppers 7 and 8 are attached to the stopper bases 41 and 42 fixed to the fixing bracket 5 with a pair of set bolts 43 and 44. The stoppers 7 and 8 are ejected from the stopper bases 41 and 42 by springs 39 and 40, guided by set bolts 43 and 44, and pressed against the springs 39 and 40.

  Further, the springs 39 and 40 of the stoppers 7 and 8 can be configured so that the pressure can be adjusted by rotating the handle 45 provided on the stopper bases 41 and 42. The seat 46 of the set bolts 43 and 44 can be moved back and forth with respect to the stopper bases 41 and 42 by rotating the screw 46 integrated with the handle 45. Accordingly, the stoppers 43 and 44 are moved against the springs 39 and 40, and the elasticity of the springs 39 and 40 can be adjusted. In the wet field, the springs 39 and 40 are strengthened to increase the push-back force to the neutral position of the crawler frame 2 and to increase the grounding force. On the uneven road surface running on the road, the elasticity of the springs 39 and 40 can be weakened to improve the followability.

  Next, the configuration will be described mainly based on FIGS. In this figure, a stop plate 49 for preventing the crawler 1 from coming off is arranged on both the left and right sides of the sprocket 20 of the rubber crawler 1 that does not have a mandrel or on either side. This outer stop plate 49 is divided into an appropriate number of parts over the entire circumference, and is attached to the side surface of the sprocket 20 with bolts 50 to facilitate maintenance. Each outer stop plate 49 is formed in a small diameter with the outer peripheral edge inside the sprocket 20 tooth 50 tip rotation diameter. A drive lug 52 is formed on the inner peripheral surface of the crawler 1 along the central portion in the width direction, and is engaged with the teeth 51 of the sprocket 20.

  Next, a difference from the above example mainly based on FIGS. 10 and 11 is that a guide ring 53 having a round bar cross section is fixed along the outer peripheral edge of the outer plate 49. The guide ring 53 has a cross-sectional diameter larger than the thickness of the outer plate 49 to prevent local damage even if the inner peripheral surface of the crawler 1 is in sliding contact.

  Next, the difference from the above example mainly based on FIGS. 12 and 13 is that the crawler posture is controlled by the telescopic cylinder 55 with respect to the front and rear inclination of the crawler frame 2 with respect to the vehicle body 13. The sensitivity is switched manually or automatically depending on the vehicle speed or the like. For this crawler attitude control, the dashboard 15 is provided with an automatic control switch 56 and a sensitivity changeover switch 57, and a horizontal sensor 59 for detecting the front and rear inclination angle of the vehicle body 13 on the seat floor 58 under the driver's seat 17. Is provided. The telescopic cylinder 55 is expanded and contracted by the hydraulic pressure of the hydraulic circuit, and the side of the mission case 4 in front of the sprocket shaft 3 or the fixed bracket 5 integrated therewith, and the crawler frame 2. The vertical swing angle of the crawler frame 2 with respect to the transmission case 4 around the sprocket shaft 3 can be enlarged or reduced. The hydraulic circuit of the expansion / contraction cylinder 55 is provided with a switching control valve 60 for performing the expansion / contraction, an oil pressure control valve 61 for switching the oil amount to some extent, and the like, and is operated by an output from the controller 62. The telescopic cylinder 55 is provided with a stroke sensor 63 for detecting the amount of expansion / contraction. The transmission section of the transmission case 4 is provided with a main transmission sensor 64, a sub transmission sensor 65, and the like that detect the main transmission position and the sub transmission position. Reference numeral 66 denotes a fender, 67 denotes a lift arm, 68 denotes a lower link, and 69 denotes a lift rod.

  These switches 56, 57, sensors 59, 63, 64, 65, and control valves 60, 61 are provided so as to enter and output on the input side and output side of the controller 62. The crawler frame 2 is substantially parallel to the grounding side portion of the crawler 1, and is substantially parallel to the front-rear direction of the vehicle body 13 in a horizontal ground traveling posture. However, the left and right crawler frames 2 change the tilt angle of the front and rear according to the traveling ground or the like or return to the horizontal posture according to the inclination of the traveling ground or the uneven surface. This is performed by detection. The stroke sensor 63 performs the feedback control.

  Here, in such horizontal control of the crawler frame 2 with respect to the vehicle body 13, the control sensitivity is adjusted according to the traveling vehicle speed of the vehicle body 13 to perform accurate control. The sensitivity changeover switch 57 switches the sensitivity by changing the duty ratio, for example, as a mode operated by the pulse output of the changeover control valve 60. When the vehicle speed is high, the sensitivity is increased, and conversely, the vehicle speed is slow. Then, the sensitivity is switched to be lowered.

  Further, by detecting the current vehicle speed position by the main transmission sensor 64 and the auxiliary transmission sensor 65, the hydraulic pressure (oil amount) control valve 61 of the hydraulic circuit is switched between high and low, so Change the contraction speed. When the vehicle speed is high, the expansion / contraction operation speed of the cylinder 55 is increased, and when the vehicle speed is low, switching control is performed so that the cylinder 55 is operated at a low speed.

  Next, mainly described with reference to FIG. 14, the difference from the above example is that an oil damper 70 is provided to relieve the forward / backward tilting operation of the crawler frame 2. The oil damper 70 is provided with a manual or solenoid operated switching valve 75 in an oil passage 74 between the front and rear cylinder chambers 72, 73 partitioned by a piston 71. The switching valve 75 can freely control the amount of oil. A free port X to flow, a throttle port Y having a throttle, and a lock port Z that does not flow any oil are formed. The upper end of the oil damper 70 is connected to the connecting pin 76 of the rear axle housing 23 to which the lower link 68 or the check chain is connected, and the lower end is connected to the shaft 77 of the rear driven wheel 22 at the rear end of the crawler frame 2. is doing.

  It is possible to restrain the crawler's inclination due to the vibration and impact generated from the crawler 1 and the ground and the reaction force of the ground during the tractor traveling. And the vibration, impact, etc. which generate | occur | produce on the ground and 1 part of crawler at the time of driving | running | working are relieved. In the pulling operation, the crawler 1 can be prevented from swinging, so that the formation of a concave portion on the ground can be reduced and the ground pressure of the crawler 1 can be lowered.

  Further, the switching valve 75 of the oil damper 70 is interlocked by, for example, an operation of a four-WD switching switch or the like, and switches the switching valve 75 to the throttle port Y in the state of the travel position switched to the two-WD. Also, when the work position is switched to 4WD or the braking force is increased, the operation is switched to the lock port Z. Further, when traveling on a steeply inclined surface such as when the tractor body 13 is loaded onto a truck or the like, the vehicle is switched to the free port X. In this way, stable traveling is performed by controlling the tilting movement of the crawler frame 2 according to conditions such as the traveling position and posture.

The side view of a crawler frame part. The side view which shows the operation | movement. The side view which shows the operation | movement. A partial plan view and a plan sectional view thereof. The side view of the tractor. The side view of the stopper part which shows the example according to the part. The side view of the stopper part which shows the example according to the part. The side view of the sprocket part which shows the example according to the part. The front sectional view. The side view of the sprocket part which shows the example according to the part. The front sectional view. The side view of the crawler part which shows the example according to the part. The block diagram of the crawler control. The side view of the crawler damper part which shows the example according to the part, and its hydraulic circuit diagram.

1 Crawler 2 Crawler Frame 3 Sprocket Shaft 4 Mission Case 5 Fixed Bracket 6 Swing Arm 7 Stopper 8 Stopper 9 Stopper Surface 10 Stopper Surface

Claims (1)

A crawler frame (2) around which a rubber crawler (1) without a mandrel is wound is rotatably mounted around the drive sprocket shaft (3), and a central portion in the width direction is formed on the inner peripheral surface of the rubber crawler (1). The drive lug (52) formed along the sprocket shaft (3) is meshed and driven by the sprocket shaft (3) teeth (51) and is integrated with the transmission case (4) side of the sprocket shaft (3). The fixed bracket (5) is provided with a swinging arm (6) that can rotate back and forth and a stopper (7, 8) that locks the swinging arm (6) back and forth. 6) is a crawler device for a tractor that is interlocked with the rotation of the crawler frame (2). The outer stopper The gate (49) is divided into an appropriate number over the entire circumference and attached to the side surfaces of the sprocket (20), respectively, and the cross-sectional diameter of the round bar along the outer peripheral surface of the outer plate (49) is the outer plate 49. A guide link (53) larger than the thickness of the vehicle is fixed, an automatic control switch (56) and a sensitivity changeover switch (57) are provided on the dashboard (15), and the vehicle body (13) in the front-rear direction is provided on the seat floor (58). A horizontal sensor (59) for detecting an inclination angle is provided, and an expansion / contraction cylinder (55) is provided between the vehicle body (13) side fixing bracket (5) and the crawler frame (2) to be expanded and contracted by the hydraulic pressure of the hydraulic circuit, The forward / backward inclination of the crawler frame (2) with respect to the vehicle body (13) is controlled by the telescopic cylinder (55), and is controlled by the switching operation by the sensitivity changeover switch (57). Adjust the sensitivity and speed current detection based tractor crawler device having a configuration to switch the telescoping speed of the telescopic cylinder by switching the hydraulic pressure in the hydraulic circuit of the level (55) and the vehicle speed position of the device.

Images