JP3245931B2 - Travel turning control device such as combine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling turning control device for a combine or the like.

[0002]

[Prior art, and the object of the invention is to be Solved by the slave
In the case where the turning steering is performed by an operation lever or an operation petal, the operation of the crawler traveling device at the time of braking lock is performed in order to linearly increase the hydraulic pressure of the operation hydraulic circuit in proportion to the power steering operation angle. It is difficult to perform a delicate operation using the lever, and it is difficult to hold the operation lever in a gentle rotation.

[0003]

SUMMARY OF THE INVENTION The present invention provides a single steering system.
Lever 4 provided tilting freely in the lateral transverse direction, the steering
The lever 4 is tilted from the neutral position to the left and right by a predetermined angle.
Then, the steering clutch 2 is disengaged and the steering brake 3 on the same side
And turn the steering lever 4
When tilted to the left or right spin turn clutch 2
7 works, and the crawler 1 inside the turn rotates in reverse.
Traveling control device such as a combine with
The steering clutch 2 and steering brake 3
Between the cylinder part and the pump P that supplies hydraulic oil to the cylinder part
In addition, the operation between the steering clutch 2 and the steering brake 3 is selectively performed.
Switching valves 49, 49 for switching to pressure and valves 6, 6 for boost control
And the syringe of the spin turn clutch 27
Between the pump section and the pump P
Switching valve 50 for selectively switching latch 27 and boost control
And a valve 48 is provided according to the tilt angle of the steering lever 4.
The switching valves 49, 49, 50 and the boost control valves 6, 6, 4
8 is provided with a control means for controlling the traveling turning control device such as a combine.

[0004]

Operation and Effect of the Invention A single steering lever is set at a predetermined angle.
When tilted by θ, the steering clutch 2 on the tilted side is disengaged.
Side pressure control system built into the hydraulic circuit 5
The brake pressure is gradually increased by the control valve 6 and turning
The inner steering brake 3 is operated, the crawler inside the turning is braked, and the running turning control is performed.

At this time, the brake pressure by the valves 6 and 6 is increased.
The rising change is small in the initial A of the steering lever angle θ and is small in the final B.
In the initial A
Is large, the change in brake pressure is small, the steering lever can be easily held in the gentle turning state, and a delicate gentle turning operation can be performed.

When locking the crawler on the turning side by sudden turning brake operation, the steering lever 4 must be moved sideways at once.
The brake pressure rise with respect to the steering operation angle θ is increased. Then , because the brake pressure rises faster,
Followability is improved. The lock state of the crawler due to the brake pressure varies depending on the condition of the traveling road surface, such as a dry field, a wet field, and a road surface. Generally, the brake pressure of the crawler lock in the wetland is higher than the road surface (such as asphalt surface). For this reason, the lock by the brake of the crawler is easily performed on the road surface, but is hardly performed in the wetland. Therefore, in places where the crawler is easily locked by the steering brake 3, a safe and smooth running turning is performed by a delicate brake pressure adjustment operation, and in places where locking by the steering brake 3 is difficult to perform, the brake operation is performed. Power steering operation angle θ
Therefore, the crawler 1 can be easily locked by the steering brake 3, and the turning steering can be easily performed under a wide range of running conditions. Also, pivot the steering lever 4
When the camera is further tilted in the horizontal direction beyond the operation area,
The pin-turn clutch 27 works and the inner crawler 1 turns.
Starts to reverse, and also in this case, it responds to the tilt angle of the steering lever 4.
Control of the pressure of the valve 48, and the spin connection pressure gradually increases.
And smooth turning control by spin turn is performed.
Be done. In particular, in the present invention, one steering lever 4 is
When operated to the right, the control means consisting of the controller
The steering clutch 2 and the steering brake 3
Switching and boost control of the steering brake 3
Of the spin turn clutch 27 and its spin pressure
Power boost control can be performed easily, making operation during turning easy.
Simplicity and subtle controls, even for those unfamiliar
The lever can be easily and securely held during gentle turning.
It has the following characteristics.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Referring to FIGS. 1 to 9, a traveling device of a combine is equipped with a threshing device, a Glen tank, an engine, a steering device and the like, and a chassis 7 supporting a reaping device has a pair of left and right crawlers 1. 8, a rear portion is provided so as to be vertically pitchable around a front pitching shaft 9. Further, a pair of left and right crawlers 1 are respectively provided with rolling wheels 11 to 1 arranged along the crawler frame 10.
4 and a drive sprocket 15 supported on a bracket 17 at a bracket 16 at the front end of the vehicle body frame 8.

Each crawler frame 10 is pivotally supported on the vehicle body frame 8 by a pair of front and rear parallel link arms 18 and 19 so as to be vertically movable, and a pair of front and rear parallel phosphorus arms 18 and 1 is provided.
9 are connected by link rods 20, and the upper end of each link arm 19 on the rear side and the vehicle body frame 8 are connected by rolling cylinders 21 respectively. , The height of the body frame 8 and the chassis 7 and the right and left rolling control can be performed.

The rear of the chassis 7 and the body frame 8 are connected by a crank arm 22 and a link 23 so as to be expandable and contractable. The crank arm 22 is connected to the chassis 7 by hydraulic expansion and contraction of a pitching cylinder 24. The pitching control can be performed so that the chassis 7 is moved up and down around the pitching shaft 9 to maintain the front and rear horizontal posture.

A transmission case 25 containing a pair of left and right drive sprockets 15 and a transmission for transmitting and rotating the sprocket shaft 17 is provided with a sub-transmission 26, a steering clutch 2, a steering brake 3, a spin turn clutch 27 and the like. An output shaft of a hydraulic continuously variable transmission HST, which is a main transmission, is connected to an input shaft 28 of the transmission case 25. The hydraulic continuously variable transmission HST allows the transmission shaft 25 to move forward from a neutral position. The speed can be steplessly increased and decreased to the reverse side.

The transmission case 25 is provided with an input shaft 28, an intermediate shaft 29, a steering clutch shaft 30, a spin turn shaft 31, left and right running shafts 32, and a sprocket shaft 17. The sub-transmission 26 is composed of a sub-transmission gear on the input shaft 28, and can be transmitted at high and low speeds by changing the sub-transmission gear to a gear 33 on the intermediate shaft 29. On the steering clutch shaft 30, a wet multi-plate steering clutch 2 and a steering brake 3 are operated by a clutch piston 35 and a brake piston 36 in a hydraulic cylinder 34. A spring 37 preloads the clutch piston 35, and a connection 38 connects the pressure plate of the steering clutch 2 pressed by the clutch piston 35 and the pressure plate of the steering brake 3 pressed by the brake piston 36. It is a connecting rod. Accordingly, the clutch piston 35 and the brake piston 36 are operated by the hydraulic pressure to disengage the steering clutch 2 on the steering side or to apply the steering brake 3, thereby performing the pivot turn steering. it can. Reference numeral 39 denotes a parking brake provided at the left end of the steering clutch shaft 30. By braking the brake 29, the transmission system of the left crawler can be braked regardless of whether the steering brake 3 is braked or not. it can.

The spin turn shaft 31 is provided with a pair of left and right spin turn clutches 27 of a multi-plate type. When the spin turn clutch 27 is disengaged, the steering clutch shaft 3 is turned off.
The transmission 40 is transmitted from the gear 40 on the shaft 0 to the gear 43 on the running shaft 32 via the gear 41 on the spin turn shaft 31 and the spin turn clutch 27 is connected to the hydraulic cylinder 4.
When the clutch shaft 45 is engaged by the clutch piston 45, the running shaft 32 is reversely rotated via the gear 46 on the spin turn shaft 31 which is directly engaged and rotated by the gear 33 on the intermediate shaft 29. Therefore, when the spin turn clutch 27 is engaged, the crawler 1 on the turning side is driven in a direction opposite to that of the outer crawler 1, so that spin turn steering can be performed.

A steering lever 4 for performing a steering operation is provided near a cockpit of the combine, and is mounted on a flight deck by a lever bracket 61. The steering arm 4 is rotatable around a lever shaft 62 in the front-rear direction in the left-right direction over a fixed angular range θ1, and is rotated by engaging a pin 63 with the base of the steering lever 4. 64 is connected to the position sensor 52 above the lever shaft 62,
The operating angle θ corresponding to the constant angular range θ1 can be detected. The central portion of the operating angle θ is a neutral region, and the left and right steering clutches 2 are located at the same position. There are power steering areas on both the left and right sides of the neutral area, which are positions where the steering brake 3 is activated and the turning turn is performed from the state where the steering clutch 2 is disengaged. Further, in the spin turn specification, there is a spin area outside the power steering area, and after the steering brake 3 is released, the spin turn clutch 27 is engaged, and the turning crawler 1 is moved to the outer crawler 1. Makes a sharp turn by rotating in the reverse direction to The input from the position sensor 52 to the controller CPU controls the output of the switching valves 49 and 50 and the proportional pressure reducing valves 6 and 48.

At the lower end of the steering lever 4, there is provided an arm 66, which is integrally rotated with the steering lever 4, having a pair of pins 69 of a pair of plates 68 which are rotatable around a pin 67 in the front-rear direction.
Each of these plates 68 is tensioned by a spring 70. The steering lever 4 is operated against the pressure of the spring 70. A rod 72 which is tensioned by a spring 71 is provided below each of the plates 68. When the steering lever 4 enters the spin turn region, the pressure load of the spring 71 reduces the operating force of the steering lever 4. Will work. This allows the pilot to distinguish and determine the pivot turn operation area and the spin turn operation area.

The steering lever 4 has a lever shaft 73 perpendicular to the lever shaft 62, and can rotate in the front-rear direction against a spring 65 for returning to neutral. By turning the steering lever 4 back and forth, the combine chassis 7 is
In contrast, the mowing device is configured to be able to control up and down movement. In the hydraulic circuit 5 of FIG. 1, the hydraulic circuit includes a hydraulic pump P and a relief valve 47, and the hydraulic cylinders 34 such as the left and right steering clutches communicate with each other via the proportional pressure reducing valve 6. 44
Through a proportional pressure reducing valve 48. A switching valve 49 for switching between the clutch piston 35 and the brake piston 36 of the left and right hydraulic cylinders 34 is provided. Reference numeral 50 denotes a switching valve for switching the left and right spin turn clutch 27.

The proportional pressure reducing valves 6, 48, the switching valve 49,
50 and the like are controlled by an output from a controller CPU having a microcomputer. On the input side of the controller CPU, a power steering operation angle θ, which is a steering operation angle of the steering lever 4 or the like, is detected, and a power steering position sensor 52 for inputting a degree of steering as a power steering position voltage V is provided. A pressure sensor 53 for detecting the hydraulic pressure of each hydraulic circuit communicating with the hydraulic cylinder 34 of the steering clutch and the steering brake, and a pressure sensor 5 for detecting the hydraulic pressure of the hydraulic circuit communicating with the hydraulic cylinder 44 of the spin turn clutch.
4. It has a rotation sensor 55, a vehicle speed sensor 56, and the like for detecting the number of rotations of gears linked to the left and right crawlers in the transmission case 25.

The left and right clutch / brake switching valves 49 and the left and right proportional pressure reducing valves 6 for the steering operation as described above.
And the like are set as shown in the graphs of FIGS.
Steering by the steering clutch 2, the steering brake 3, etc., or pivot turn steering control can be performed. That is, left,
The brake pressure by the right proportional pressure reducing valve 6 has a small pressure rise in the initial operation A region where the power steering operation angle θ is small,
In the region of the final operation period B where the power steering operation angle θ is large, the pressure is set so as to follow the quadratic pressure curve C so that the pressure rise becomes large.

Accordingly, in the initial position A where the steering lever 4 is close to the neutral range side, the brake pressure can be finely adjusted by the operating angle θ of the steering lever 4, and in the final position B, the brake pressure can be adjusted by the operating angle θ. The pressure is spiked to facilitate pivot turns. For this reason, when the steering change correction control is performed simply by disengaging the steering clutch 2 or when the steering brake 3 is applied to the disengagement of the steering clutch 2 to increase the steering force, the initial A region or the end period is used. The turning operation is performed until reaching the B region, and the turning steering is performed in the final B region. For example, the brake lock pressure in a wetland is D
If the brake lock pressure on the asphalt road is set to E and set in this final period B region, even if there is a pressure difference between the brake lock pressures D and E under these two conditions, the difference in the operation angle θ is not so large. It is not large, and the turning operation can be easily performed. F is a pressure line of the brake pressure when it is generally set.

Left and right clutch / brake switching valves 49 for steering operation in spin turn steering control,
The relation of the right proportional pressure reducing valve 6 and the like is set as shown in the graphs of FIGS. In the left and right crawlers 1, the rolling wheels 12 at the front and rear middle portions are moved up and down with respect to the crawler frame 10 by a hydraulic cylinder 58 for crawling up and down. The intermediate roller 12 is supported by the roller arm 59 with respect to the crawler frame 10, and by rotating the roller arm 59 downward, the central portion of the crawler 1 is pressed downward, and the crawler 1 is pressed. Height can be increased. The rotation of the wheel arm 59 pushes down the wheel 12 by the hydraulic cylinder 58 of the crawler frame 10 and the piston. Numeral 60 denotes a spring for buffering the wheel arm 59.

10 to 12 are different from the above example in that when the brake pressure of the steering clutch 2 and the steering brake 3 is controlled by the proportional pressure reducing valves 6 and 48, the hydraulic oil of the hydraulic circuit 5 is controlled. When the oil temperature in the transmission case 25 used is low, the brake pressure is reduced, and as the oil temperature increases, the brake pressure is also increased so as to increase. Generally, disc-shaped steering clutches and steering brakes are effective when the oil temperature is low and the viscosity is high, and are ineffective when the oil temperature is high and the viscosity is low. By changing the pressure setting,
Constant turning performance can be maintained regardless of the working time.

The oil temperature in the transmission case 25 is detected by a temperature sensor 42, and the detected oil temperature value of the temperature sensor 42 is input to a controller CPU, and is input by a power steering position sensor 52, a pressure sensor 53 and the like. The proportional pressure reducing valves 6, 48, etc. are output, and the brake pressure and the spin pressure are switched in advance so as to be controlled in accordance with a pressure line such as H at a high oil temperature and L at a low oil temperature.

In FIGS. 11 and 12, these pressure lines H and L are linear changes and are different from the pressure curves C shown in FIGS. Of course, it can also be used. 13 to 15, the difference from the above example is that, in a traveling transmission device having a steering clutch 2 and a steering brake 3, transmission of the reaper can be performed in a state where the left and right steering brakes 3 are simultaneously applied. Is controlled.

As the main transmission, a hydraulic continuously variable transmission HS
In the case of a combine transmission using T, in order to apply the left and right steering brakes 3, the hydraulic continuously variable transmission H
It is necessary to keep ST neutral, or to make the auxiliary transmission neutral. Further, in a mode in which a part of the mowing device and the threshing device is stopped by stopping the traveling, the traveling is stopped and the shampooing and threshing cannot be performed.

For this reason, when the brake switch 74 of the left / right steering brake 3 is turned on by a petal operation while the engine is being driven, the left / right switching valve 49 switches to the brake piston 36 side, and the left / right steering is performed. The brake 3 is braked under the control pressure of the proportional pressure reducing valve 6. At the same time, the gear of the hydraulic continuously variable transmission HST or the auxiliary transmission 26 is switched to neutral. In addition, the rotation of the reaping device and the threshing device is controlled to increase to a rotation speed at which the pillow can be handled.

At this time, the pressure line of the brake pressure by the proportional pressure reducing valve 6 is as shown by the dotted lines in FIGS. 14 and 15 in the neutral region.

[Brief description of the drawings]

FIG. 1 is a hydraulic circuit diagram.

FIG. 2 is a front sectional view of a traveling transmission case portion.

FIG. 3 is a side view of the crawler.

FIG. 4 is a front view of a steering lever unit.

FIG. 5 is a side view thereof.

FIG. 6 is a block diagram of a controller.

FIG. 7 is a hydraulic pressure diagram of turning steering.

FIG. 8 is a hydraulic pressure diagram of turning steering.

FIG. 9 is an enlarged view of a part thereof.

FIG. 10 is a block diagram of a controller showing a partially different embodiment.

FIG. 11 is a hydraulic pressure diagram of the turning steering.

FIG. 12 is a hydraulic pressure diagram of the turning steering.

FIG. 13 is a block diagram of a controller showing a partially different embodiment.

FIG. 14 is a hydraulic pressure diagram of the turning steering.

FIG. 15 is a hydraulic pressure diagram of the turning steering.

[Explanation of symbols]

 Reference Signs List 1 Crawler 2 Steering clutch 3 Steering brake 5 Hydraulic circuit 6 Proportional pressure reducing valve A Initial B Final C Pressure curve θ Power steering operation angle

Claims (1)

(57) [Claims] 1. A tilting operation of a single steering lever 4 in the lateral direction.
The steering lever 4 can be moved freely from the neutral position
The steering clutch 2 is disengaged
Pivot turn mode with steering brake 3 on the same side
When the steering lever 4 is further tilted,
The spin turn clutch 27 works to turn the inner claw
Combination having a spin turn mode in which la 1 is reversed
In the traveling turning control device such as
2. Acts on each cylinder and cylinder of steering brake 3
Steering clutch 2 and steering between pump P that supplies oil
Switching valves 49, 4 for selectively switching operation between brakes 3
9 and the valves 6 and 6 for boost control
Between the cylinder part of the turn clutch 27 and the pump P
To switch between the left and right spin turn clutches 27
A switching valve 50 for controlling the pressure and a valve 48 for controlling the pressure increase are provided.
The switching valves 49, 49, 5 according to the tilt angle of the
0 and control means for controlling the boost control valves 6, 6, 48 are provided.
A travel turning control device for a combine or the like, characterized in that the device is driven.