JP3198692B2 - Combine traveling equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a combine traveling device.

[0002]

[Prior art, and the object of the invention is to be Solved shake
-When steering key is selected, the steering brake is locked.
Select the spin turn for the tilt position of the power steering lever.
Same position where the steering brake is locked at the time
Position. That is, when the brake turn is selected,
Steering blur occurs at a tilt position closer to the front than the maximum tilt position of the lever.
The lock was in a locked state. Therefore, the break
When the kitan is selected, the power steering lever is not tilted much
The steering brake was locked in the
Was significantly worse.

[0003]

SUMMARY OF THE INVENTION The present invention is directed to a vehicle in a turning direction.
Spin turn to reverse the crawler 8 on the side
Brake on the crawler 8 inside the turning direction
Left in the combine where you can apply a brake turn
Power to turn the aircraft left and right by tilting to the right
Provide a steerer lever.
In the tilt position before the maximum tilt position of the
The rake 30 is locked and goes beyond its locked position
Then, a spin turn is performed at a predetermined turning radius.
Control, and when selecting the brake turn,
The steering brake 30 is locked in the large tilt position.
The configuration of the traveling device of the combine is characterized in that it is configured as described above.

[0004]

[Operation and Effect of the Invention] The combine is running while it is running.
Power steering lever to the left or right when turning
Tilt to the side or right. Hey when turning like this
When the spin turn is selected, the maximum tilt of the power steering lever
The steering brake 30 is locked at the tilting position before the position
State, and at the maximum tilt position, the turning radius
The spin turn is executed. And brake turn
When selected, the steering brake is set at the maximum tilt position of the power steering lever.
The key 30 is locked. This allows the spinter
Power during both turning and braking turns.
All straws from the straight position of the lever to the maximum tilt position
During braking, it is necessary to obtain the braking force according to the tilt angle of the power steering lever.
The power steering lever tilt angle can be used effectively
Wear. In particular, the operability during brake turns is extremely high.
To improve.

[0005]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A synchro transmission case 7 is located above the traveling transmission case 3 and is integrally formed. The synchro transmission case 7 is in the form of a split right and left transmission case. The outer case of the hydraulic continuously variable transmission HST is mounted on one side. Further, a sprocket shaft 10 of a sprocket 9 for driving a pair of right and left crawler traveling devices 8 is provided on both left and right sides at a lower end portion of the transmission case.

The traveling transmission case 3 has an input shaft 12 connected to an input HST input shaft 11 of the hydraulic continuously variable transmission HST, and an output shaft 1 connected to an HST output shaft 13 on the output side.
4, the input shaft 12 is interlocked from the engine side, and the output shaft 14 is moved from the neutral position stop state to the forward rotation side high speed position and the reverse rotation side high speed position by the shift operation of the hydraulic continuously variable transmission HST. The transmission can be continuously changed.

Further, the traveling transmission case portion 3 includes an intermediate shaft 15, a cutting output shaft 4 transmitted to a cutting device, a subtransmission shaft 20 coaxial with the intermediate output shaft 15, a traveling clutch 16, a spin turn shaft 17, and a steering brake shaft. 18, a left and right running shaft 19, and the like, and a gear transmission and a clutch transmission are performed therebetween. On the sub-transmission shaft 20, there are a sub-transmission clutch 21 and high-speed and low-speed sub-transmission gears, which can transmit the gear transmission from the output shaft 14 between high-speed and low-speed. The auxiliary transmission shaft 20 meshes with the center gear 22 of the steering clutch shaft 16. The mowing output shaft 4 meshes with an intermediate gear 23 rotatable around the intermediate shaft 15 and is transmitted from the transmission mechanism on the side of the synchro transmission case 7 to the pulley 2 at the outer shaft end.
4, the cutting device for threshing while conveying the harvested grain culm to the threshing device with a cutting blade device, a grain culm moving device, a scraping device, a transport device and the like is transmitted. In addition, a feed chain for conveying grain culm, which is a part of the threshing device, is also linked from the pulley 24.

On the steering clutch shaft 16, a pair of left and right multi-plate steering clutches 2 which are turned on and off by hydraulic pressure are provided, and through the steering clutch 2, the left and right sides of the center gear 16 are provided. The steering clutch gear 25 can be transmitted. 62 is a clutch cylinder. The spin turn shaft 17 is always engaged and rotated with the center gear 22, and has a spin turn clutch 26, which can be turned on and off by hydraulic pressure, and a spin turn gear 27 transmitted by the left and right sides on both right and left sides. The transmission from 22 to the spin turn gear 27 via the spin turn shaft 17 can be switched on and off. 63 is a spin cylinder.

The steering brake shaft 18 includes a brake gear 28 that meshes with the left and right spin turn gears 27 and a brake case 29 that is integral with the travel transmission case 3. A multi-plate steering brake 30 that frictionally brakes by hydraulic pressure is provided. The brake gear 28 is meshed with a wheel gear 31 on the traveling shaft 19 on the opposite side to rotate the left and right crawler traveling devices 8. Each can be braked separately. 64 is a brake cylinder.

Each of the brake gears 28 on the steering brake shaft 18 is always meshed with a steering clutch gear 25 on the steering clutch shaft 16.
The reverse rotation is also transmitted directly from the side. Therefore, during normal running, the steering clutch gear 2 is turned off by disengaging the spin turn clutch 26.
5, the wheel gear 31 can be rotated forward through the brake gear 28 and the like. However, when performing a sharp steering turn, the steering clutch 2 on the steering side is disengaged, and the spin turn clutch 30 on the same side is engaged to further engage the crawler traveling device 8 on the steering side. Is rotated backward. Such operation timing is performed by program control in a controller having a microcomputer. The hydraulic circuit 58 for steering includes a hydraulic pump P1, a tank port T, a relief valve 65, and the like.

The synchro transmission case section 7 has a synchro speed change shaft 32, an intermediate shaft 33, a constant speed clutch shaft 34, an intermediate shaft 35, and the like. By the operation of 59, the low-speed transmission-side low-speed synchro clutch 36 and the high-speed transmission-side high-speed synchro clutch 37 can be alternately switched on and off. or,
The constant speed clutch shaft 34 includes the synchro clutches 36, 3
7 and a constant-speed clutch 39 for constant-speed transmission.
The switching transmission can be performed by the operation of the constant rotation switching cylinder 60 based on the hydraulic pressure. Reference numeral 61 denotes a switching control valve that switches between the lodging mode switching cylinder 59 and the constant rotation switching cylinder 60.

A belt 40 is transmitted between the output shaft 14 and the synchro transmission shaft 32, and is transmitted from the intermediate shaft 35 to the synchronization transmission gear 23 to transmit the cutting output shaft 4. , From the input shaft 12 to the constant speed clutch gear 41 of the constant speed clutch shaft 34. Therefore, the form of interlocking with the reaping output shaft 4 depends on each of these clutches 36, 3
By the on / off control of 7, 38, and 39, the mowing transmission can be divided into a standard mode L when the grain stalk is not lying down and a lodging mode H with the grain stalk lying down as shown in FIG. In the standard mode, the synchro clutch 38 is engaged and the low-speed synchro clutch 36 is engaged. Therefore, the constant speed clutch 39 and the high speed synchro clutch 37
Is cut. In the mode L state, when the hydraulic continuously variable transmission HST is sequentially increased in speed, the low speed synchro clutch 36 and the synchro clutch 3
After 8 and the like, the speed of the cutting output shaft 4 is increased at a relatively gentle gradient.

In the falling mode H, the high-speed synchro clutch 37 is engaged in the above state. Therefore, the low-speed synchro clutch 36 is disengaged. The state of the cutting output shaft 4 at this time is such that the rotation transmission is raised at a steep gradient, and the moving or scraping of the falling grain stalk is quickly performed.
When the mowing speed increases to a certain speed, the synchro clutch 38 is switched to the constant speed clutch 39, and the transmission from the output shaft 14 through the high speed synchro clutch 36 is stopped by the disengagement of the synchro clutch 38, and the transmission from the input shaft 12 is constant. Since the cutting output shaft 4 is driven and rotated via the speed clutch 39 and does not pass through the hydraulic continuously variable transmission HST, the cutting speed is kept constant even if the running speed is increased. At this time, if the switching timing and the switching speed from the synchro clutch 38 to the constant speed clutch 39 and the switching speed are controlled by the controller, the mowing speed can be increased at a constant gradient D.

The steering clutch 2, the steering brake 30, and the spin-turn clutch 26 of the traveling transmission device
And the like are actuated by an output control of a solenoid valve of a hydraulic circuit 58 from a controller CPU having a microcomputer by a left and right rotation operation of a power steering lever. In this manner, in a combine that operates the steering clutch 2 to perform steering or turning by the transmission of a shift by the hydraulic continuously variable transmission HST, when traveling is stopped, the transmission load is applied to each traveling transmission gear. In many cases, the gear cannot be shifted even if an attempt is made to shift the sub-transmission gear in this stopped state. For this reason, when the traveling is stopped or when the exhaust sensor of the exhaust device detects that the exhaust has run out, the left and right steering clutches 2 are disengaged when the engine is automatically stopped. I do. As a result, there is no need to operate a special main clutch, etc.
With the disengagement control using the steering clutch 2, a state in which a gear shift operation can be easily performed can be achieved, and the configuration and operation can be simplified.

The control structure of the steering operation by the power steering lever or the like is as shown in FIGS.
On the input side of U, a power steering position sensor 42 for detecting the left and right operation angles of the power steering lever, a brake pressure sensor 43 for detecting the brake oil pressure in the left and right steering brakes 30, and the clutch oil pressure of the left and right spin turn clutches 26 are provided. A spin turn pressure sensor 44 for detecting, a transmission gear rotation sensor 45 for detecting a rotation speed of any gear to detect a transmission rotation speed to the traveling device, a vehicle speed sensor 46 for detecting a vehicle speed, and a spin turn automatically. Spin automatic switch 47, left and right crawler 8
A crawler lifting / lowering automatic switch 48 for tensioning the center rolling wheel 79 of the crawler 8 with the crawler 8 and a brake petal switch 49 for the operator to brake the left and right steering brakes 30 by operating a petal are provided.

On the output side, a steering clutch switching valve 50 in a steering hydraulic circuit for operating the left and right steering clutches 2 and a left and right running brake in a brake hydraulic circuit for operating the left and right steering brakes 30 are provided. A pressure reducing valve 51, a left and right spin pressure reducing valve 52 in a spin hydraulic circuit for operating the left and right spin turn clutch 26, and a left and right crawler lifting and lowering valve 53 which are output by operating the power steering lever when the crawler lifting and lowering automatic switch 48 is ON. And left and right steering brakes 3 by operating the brake petals
It has a left and right brake switching valve 54 for switching the brake hydraulic circuit for braking 0 to the left and right.

Switching to a neutral range, a pivot turn range, a spin turn range, and the like is controlled by the operation angle of the power steering lever (FIG. 1). At this time, changes in hydraulic pressure by the left and right steering clutch switching valves 50, the left and right steering brake pressure reducing valves 51, the left and right spin pressure reducing valves 52, and the like are controlled as shown in the graphs of FIG. In this case, as described above,
When the traveling is stopped, the output is controlled by the detection of the vehicle speed sensor 46 so that the left and right steering clutch switching valves 50 are simultaneously turned off.

The left and right steering clutches 2 have a pressure cylinder 55 for operating the clutch, a piston 56 fitted inside the clutch, a clutch spring 57 for constantly tensioning the pressure cylinder 55 to the clutch pressure contact side, and the like. And
When the hydraulic pressure from the steering clutch hydraulic circuit is sent to the cylinder area between the pressure cylinder 55 and the piston 56, the pressure cylinder 55 is pressed against the clutch spring 57 to disengage the steering clutch 2. I do. Conversely, when the hydraulic pressure in this cylinder area is released, the pressure cylinder 55 is pushed back by the clutch spring 57, and presses the steering clutch 2 into engagement.

Therefore, when the power steering lever is in the neutral range, the left and right steering clutch switching valves 50 are not ON-output, so that the clutch spring 5
7, the steering clutch is in the engaged state A. By turning ON the left and right steering clutch switching valves 50 as described above, the steering clutch is disengaged in the state A. Note that a manual condition switch 106 for disengaging the steering clutch 2 may be provided (FIG. 2).

The undercarriage 66 of the combine is equipped with an engine, a threshing device, a Glen tank, a control device, and the like, and supports a reaper at the front. Under this chassis 66, a crawler frame 67 is provided with a pitching shaft 68 at the front.
The rear part is rotated up and down by hydraulic expansion and contraction of the pitching cylinder 69 to control the front and rear inclination of the chassis 66.

Track frames 70 for adjusting the crawlers 8 are provided on both left and right sides of the crawler frame 67, respectively.
Is supported by a pair of front and rear parallel links 71, 72, and the track frame 7 is supported by a rolling cylinder 73 by hydraulic expansion and contraction with the crawler frame 67.
0 can be raised and lowered in parallel. 74 and 75 are link arms integrated with the parallel links 71 and 72, respectively, connected by a rod 76, and connected to a rolling cylinder 73 by a link arm 75 on the rear side.

The left and right rollers 8 are tensioned by a sprocket 9 at the front end, an end rolling wheel 78 at the rear end, a center rolling wheel 79, and front and rear rolling wheels 80, 81 between them. The sprocket 9 is rotated by the sprocket shaft 10 of the traveling transmission case 3 as described above. The end wheel 78 is movable back and forth with respect to the track frame 70, and is tensioned rearward by a spring. Front wheel 80
The rolling arms 82, 83 of the rear rolling wheel 81 are connected to the parallel links 71, 72 by links 84, 85, and the rolling arms 82, 83 are associated with the change of the up / down of the parallel links 71, 72. When the vehicle height is increased by lowering the ground contact surface of the crawler 8, the angle of the crawler 8 with respect to the ground before and after the crawler 8 is reduced, and the ground contact length is reduced. . Wheel arm 86 of central wheel 79
Is an arm 8 integral with the wheel boom 82 of the front wheel 80.
7 and a hydraulic elevating cylinder 89 with a spring 88 interposed
When the vehicle height is increased by moving the parallel links 71 and 72 downward, the wheel arm 86 is pushed down, and the center portion of the crawler 8 is pushed down by the center wheel 79.
In addition, the lifting cylinder 89 of the steering side is tensioned by operating the power steering lever also by the hydraulic pressure, and the crawler 8 is pressed against the center rolling wheel 79.

The hydraulic control of the pitching cylinder 69 and the left and right rolling cylinders 73 is performed by a hydraulic pump P
Control valve 91 in hydraulic circuit 90 having two
And the rolling control valve 92, etc., the controller CP
This is performed by the output from U. This hydraulic circuit 90 includes:
The crawler elevating valve 53 for controlling the left and right elevating cylinders 89, the mowing elevating valve 94 for the mowing vertical cylinder 93 for raising and lowering the mowing device, and the auger vertical cylinder 95 for controlling the auger discharging direction for removing grains from the grain tank. It has an auger control valve 96, a relief valve 97, an unload valve 98, and the like.

In addition to the above, the controller CPU includes a left-right inclination sensor 99 for detecting the left-right inclination angle of the vehicle body and performing rolling control, a front-rear inclination sensor 100 for detecting the front-rear inclination angle of the vehicle body and performing pitching control, The rolling sensors 73 and the stroke sensors 101 and 102 for performing feedback control while detecting the amount of expansion and contraction of the pitching cylinder 69 and the like; the tilt lever switch 103 for manually operating the control valves 92 and 91 for the rolling or pitching cylinder; The vehicle height up / down switch 10 which simultaneously outputs the control valve 92 to raise and lower the vehicle height
And a vehicle body horizontal automatic switch 105 for automatically controlling the output of the pitching control valve 91 and the rolling control valve 92 by the inclination sensors 99 and 100 and the like.

When the vehicle height is increased or decreased, a pair of left and right rolling control valves 92 are output by operating the vehicle height up / down switch 104, and the left and right rolling cylinders 73 are vertically moved by the same amount. When the vehicle height is low, FIG.
Each of the front and rear wheels 80, 81 is substantially parallel to the ground side of the crawler 8, and the ground length of the crawler 8 is long. When the vehicle height is high, the front and rear rolling wheels 80 and 81 are formed along the inclined surfaces before and after the crawler 8 as shown in FIG.

When the steering angle θ of the power steering lever is in the neutral range, the left and right steering clutches 2 are in the engaged state, and the left and right crawlers 8 are driven together and are in the straight traveling state. When the power steering lever is steered to the left or right, the steering angle θ is detected by the power steering position sensor 42, and the steering clutch 2 on the steering side is disengaged, and further the steering brake 30 is activated. Perform a pivot turn. Further, when the power steering lever is steered in the same direction, a spin turn area is entered, and the spin turn clutch 26 is engaged.

In such output control of the steering brake 30, when the vehicle height is raised by the vehicle height up / down switch 104, the brake pressure V2 of the left and right steering brake pressure reducing valves 51 is detected by the stroke sensor 101 or the like. But,
The steering brake 30 is switched so as to be lower than the blurring pressure V1 of the steering brake pressure reducing valve 51 when the vehicle height is low, and the effectiveness of the steering brake 30 is reduced.

In a steering turn, the rolling cylinder 73 on the steering side pushes up the track frame 70 on the same side, which can also be used for attitude control of the steered vehicle body. Although the turning property of the crawler 8 on the steering side is good, the brake pressure V2 of the steering brake 30 is also low, so that early brake lock can be prevented. In the controller CPU,
A parking petal switch 107 is provided, and when the parking petal is depressed, the left and right steering clutches 2 are simultaneously disengaged,
The left and right steering brakes 30 are braked M (FIG. 1), and the vehicle is switched to parking even during steering.

1 and 10, the point different from the above example is that the output value of the steering brake proportional pressure reducing valve 51 is controlled to set the pressure output H so as to reduce the output value to the maximum value of the operation angle of the power steering lever. Therefore, the lock state of the steering brake 30 does not occur until the operation of the power steering lever is set to the maximum position not only in the pivot area but also in the spin turn area. Therefore, the braking of the crawler 8 on the steering side can be reliably maintained, and the turning can be smoothly performed. That is, as compared with the case where the pressure is set so as to maximize the output value of the proportional pressure reducing valve 51 in the pivot region, the pressure difference L is provided over the entire region.

[Brief description of the drawings]

FIG. 1 is a graph showing a relationship between a power steering lever operation angle and hydraulic pressure of each steering clutch, steering brake, spin turn clutch, and the like.

FIG. 2 is a block diagram of steering control and vehicle body control.

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

FIG. 4 is a hydraulic circuit diagram of vehicle body attitude control.

FIG. 5 is a side view of a crawler unit of the combine.

FIG. 6 is a side view showing the operation.

FIG. 7 is a front sectional view of a synchro transmission case.

FIG. 8 is a front sectional view of a traveling transmission case portion.

FIG. 9 is a graph showing a relationship between a running speed and a cutting speed.

FIG. 10 is a graph showing the relationship between the operation angle of a power steering lever and the output of a steering brake pressure reducing valve.

[Explanation of symbols]

2 ... steering clutch, 8 ... crawler, 30 ... steering brake, 51 ... steering brake pressure reducing valve, 58 ... hydraulic circuit, 71
... parallel link, 72 ... parallel link, 73 ... rolling cylinder, 99 ... inclination sensor, 101 ... stroke sensor, 104 ... vehicle height up / down switch.

Claims (1)

(57) [Claims] 1. The crawler 8 inside the turning direction is reversed.
Spin turn and steering brake 30 turn inside
Brake turn to brake the crawler 8
The aircraft by tilting it to the left and right
A power steering lever that turns left and right is provided,
When selecting the power steering lever,
The steering brake 30 is locked in the forward tilt position.
When the lock position is exceeded, the spin
Control to execute turn, select brake turn
When the power steering lever is in the maximum tilt position, the steering brake 3
0 is in a locked state.
Combine traveling device.