JPH0597051A - Steering control device of combine and the like - Google Patents

Abstract

PURPOSE:To perform proper stabilization of turning according to a condition, such as a cornering load and a running ground, by detecting rotation on the input side and rotation on the outside and controlling the hydraulic forces of a steering brake and a spin turn clutch so that a combine is brought into a steering mode inputted through steering operation. CONSTITUTION:Leftward of rightward steering is effected by means of a steering clutch 8 and a running device 40 is braked with the aid of a steering brake 9 to effect turning. When a combine is operated into a spin turn mode, a brake 9 on the braked side is disengaged, the running device 40 on the turning side is reversed through input of a spin turn clutch 10, and coupled with transmission of forward rotation of the outer running device 40, the running device on the turning side effects rapid turning. In this case, on the input side of a steering clutch 8, the rotation is detected by an input rotation sensor 41 and on the output side of the spin turn clutch 10, rotation on the right and left running devices 40 is detected by right and left rotation sensors 42. Through comparison between a detecting value and a steering operation input value, the operation pressures of the steering clutch 9 and the spin turn clutch 10 are controlled.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steering control device such as a combine. It can be used for running transmissions such as tractors, trucks, and seedling planters.

[0002]

2. Description of the Related Art When traveling along a soft ground in a field like a combine while controlling the steering along a cutting line or turning, the steering brake is applied. Even if it is effective, slip is likely to occur, and it is difficult to perform turning according to the steering control operation due to the temperature change of the oil used for the steering brake and the magnitude of the load during steering. The present invention prevents a decrease in turning performance due to variations in turning load due to such a turning state and exhibits stable turning performance.

[0003]

SUMMARY OF THE INVENTION The present invention is directed to a steering transmission clutch having a steering clutch 8, a steering brake 9, and a spin turn clutch 10 for reversely transmitting a traveling device 40 on the turning side. 8 is provided with an input rotation sensor 41 for detecting rotation on the input side, and left and right rotation sensors 42 for detecting rotation on the output side with respect to the spin turn clutch 10 to provide a steering mode input by a steering operation. So that
A steering control device such as a combine for controlling the hydraulic pressure of the steering brake 9 and the spin turn clutch 10 is configured.

[0004]

In the transmission of the traveling transmission device, straight transmission is performed with the left and right steering clutches 8 engaged.
Depending on the steering operation, this left or right steering clutch 8
Turn left to steer left or right.
By operating these steering clutches 8 from the disengaged position of the steering clutch 8 to the steering brake braking position, the steering brake 9 brakes the transmission system of the traveling device 40 on the steering side to make a turn. When performing a spin turn, the steering brake 9 on the braked side releases the braking force by operating the spin turn mode, and the spin turn clutch 10 is turned on to turn the traveling transmission system on the turning side. The traveling device 40 is reversely rotated, and the traveling device 40 makes a sharp turn due to the forward rotation transmission of the outer traveling device 40.

In such traveling transmission, the input rotation sensor 41 detects the rotation on the input side of the steering clutch 8, and the left and right rotation sensors 42 on the output side of the spin turn clutch 10. Detects the rotation of the output side output to each of the left and right traveling devices 40, and compares the detected values with the steering operation input value to feedback control the operating pressure of the steering brake 9, the spin turn clutch 10, and the like. However, the turning can be swiftly performed according to the steering operation, and the turning can be appropriately and stably performed according to the conditions such as the turning load and the running ground.

[0006]

EXAMPLE A traveling transmission case 11 includes an upper input shaft 14
From the lower side to the lower drive shaft 2, a speed change shaft 15, a steering clutch shaft 3, a spin turn clutch shaft 4, a steering shaft 16 and the like are rotatably supported, and the input shaft 14 has a transmission case. By mounting the hydraulic continuously variable transmission HST on the outer side of 11, and selectively meshing the shift gear 17 that is shiftable in the direction of the input shaft 14 with the gear 18 on the shift shaft 15,
It is configured to perform sub-shifting. The hydraulic continuously variable transmission HS
T is driven by the engine to drive the input shaft 14
The output shaft 19 connected to the
In addition, a continuously variable transmission is transmitted at a high speed in the reverse direction, and is configured to perform a main shift. The transmission 1 can perform both the main shift and the sub shift.

The gear 18 of the speed change shaft 15 is meshed with a gear 20 integral with the steering clutch shaft 3 and a reverse gear 21 on the spin turn clutch shaft 4. Further, steering gears 22 that rotate integrally with each other via the clutch pack 6 or that are disconnected from the rotation are rotatably supported on the left and right sides of the gear 20 to drive the clutch pack 6 on the drive side. Body 2
3 and the steering gear 22 are integrated with each other, or by a claw clutch, they can be integrally rotated in the rotational direction by axial movement. By this, by inserting and removing the clutch pack 6 in the direction of the steering clutch shaft 3,
The driving body 23 can be integrated with the steering gear 22 or can be separated and removed to the outside.

Spin-turn clutch shaft 4 central gear 2
A gear 2 meshing between a steering gear 22 on the steering clutch shaft 3 and a gear 24 on the steering shaft 16 is provided on both left and right sides of the steering shaft 1.
5 is provided, and when the steering clutch 8 is engaged, the steering gear 22 transmits the gears 25 and 24. When the steering clutch 8 is disengaged, the spin turn clutch 10 on the same side is engaged. 21 through the spin turn clutch shaft 4 and the gear 25, which are integrally rotated, to the gear 24, and the gear 24 on the opposite side is rotated in the reverse direction.
From each steering shaft 16 through the gears 26 and 27, the drive shaft 2
And the sprocket 28 of the crawler type traveling device 40 can be interlocked to travel.

The clutch pack 6 has a boss portion which can be inserted into the steering clutch shaft 3 and an outer peripheral case portion, and a partition wall portion is formed in the central portion in the axial direction to form a donut-shaped hydraulic cylinder. Form each of these hydraulic cylinders with a piston 2
Areas A and B formed between the pistons 29 and 30 and the intermediate partition wall are fitted with the pistons 9 and 30 so that the axial ends of the pistons 29 and 30 are pressed by the steering clutches 8 and 9. By turning on and off the hydraulic pressure, the steering clutch 8 and the steering brake 9 are turned on and off. A spring 31 for constantly contacting the steering clutch 8 is provided in the area A on the steering clutch 8 side, and an appropriate elastic force is set to an extent that can reduce the hydraulic load in the steering hydraulic circuit. There is.
Further, both the steering clutch 8 and the steering brake 9 are composed of a wet multi-plate type friction clutch.

A bearing metal 32 for effecting the steering brake is provided on the outer side of the steering brake 9 in the transmission case 11.
The spacer cases 33, 34 on both the left and right sides and the lid 12 are attached to the bearing metal 32. The bearing metal 32 is provided with an oil passage for supplying and discharging the hydraulic pressure to the areas A and B through the inside of the steering clutch shaft 3 and the like. is doing. Cover the bearing metal 32 with the lid 1
2 to the spacer case 33 together with the spacer case 33
If the clutch pack 6 is removed from the transmission case 11, the clutch pack 6 can be integrally removed in the axial direction.

Further, the clutch pack 7 of the spin turn clutch 10 has almost the same structure as the clutch pack 6 such as the steering clutch 8 but in an area C formed between the piston 35 and the cylinder portion. The spin turn clutch 10 can be turned on and off by supplying / discharging the operating oil pressure, and the spin turn clutch shaft 4 and the gear 25 are integrally rotated by the press contact of the spin turn clutch 10 to transmit reverse rotation. is there. The clutch pack is
By moving the driven body 36 and the gear 25 integrally by moving in the axial direction, or by a claw clutch fitted in the axial direction, they can be joined or separated so as to be integrally rotated. When the clutch pack 7 is removed from the transmission case 11, the clutch pack 7 can be removed to the outside together with the gear 25 or alone.

An openable / closable lid 13 is provided at the end of the spacer case 33 in the direction of the spin turn clutch shaft 4, and this lid 1
3 is provided with an oil port for supplying and discharging the hydraulic pressure to and from the area C. A parking brake 38 in the form of a friction plate, which is pressed and fixed by a brake arm 37, is provided at one end of the steering clutch shaft 3.
The rotation of the driven body 39, the clutch pack 6, the driving body 23, the left and right steering gears 22, and the driving body 23 on the opposite side, the clutch pack 6 and the like are fixed by
The steering shaft 16, the sprocket 28, and the like that are meshed with the steering gear 22 are kept in a parked state so as not to rotate. The steering clutch 8 is only pressed by the spring 31, and the steering brake 9 can effectively park even when the hydraulic pressure does not work.

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

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

The hydraulic circuit of the spin turn clutch 10 includes a spin turn switching valve 50, a spin proportional pressure reducing valve 51 for adjusting the spin turn clutch pressure, a pressure sensor 52 for detecting the oil pressure, and the left and right spin turn clutches 1.
Spin switching control valve 53 for switching to cylinder area C of 0
Etc. Steering control including a microcomputer for the unload valve 45, the brake proportional pressure reducing valve 46, the spin switching valve 50, the spin proportional pressure reducing valve 51, the brake switching control valve 48, the spin switching control valve 53, and the like of these hydraulic circuits 43. The output from the device CPU operates and controls in the form of a solenoid valve.

The input portion of the steering control device CPU has left and right power steering lever switches 54 which can be switched by a power steering lever tilting in the steering direction, a spin clutch 55 for operating a spin turn clutch, and a front and rear direction of the vehicle body. An inclination sensor 56 for detecting an inclination angle, a position sensor 57 for detecting an operation inclination angle of the power steering lever,
The brake pressure sensor 47 and the spin pressure sensor 5
2 etc. are provided. Furthermore, the rotation sensors 41 and 42 for feedback control are provided.

The power steering lever switch 54 is turned on on the inclined side by tilting the power steering lever to the left or right side, whereby the unload valve 48 and the brake switching control valve 48 are moved to the left side.
Switch to the right. The power steering lever outputs the clutch switching control valve of the left and right steering clutches 8 by the tilting operation to turn it off, and then further tilts the power steering lever switch 54 to turn it on to turn the steering clutch off. The steering brake 9 is braked to pivot (turn). Further, by tilting the power steering lever in the same direction, the braking of the steering brake 9 is released, the spin turn clutch 10 is turned on, and the traveling device 40 on the turning side is transmitted in reverse rotation to cause a spin turn. It makes a sharp turn.

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

A graph showing the relationship between the rotation speed of the steering shaft 16 and the angle of the position sensor 57 by the power steering lever, and a graph showing the relationship between the brake proportional pressure reducing valve 46 and the spin proportional pressure reducing valve 51, as shown in FIG. Is set in advance in the steering control device CPU, and the brake proportional pressure reducing valve 46 and the spin proportional pressure reducing valve 51 are output by the steering operation by the power steering lever to obtain a predetermined rotation. The value detected by 42 is
When the line deviates from the line of the setting graph, the brake proportional control valve 46 or the spin proportional control valve 51 is feedback-controlled by the detection values of the rotation sensors 41 and 42, and the brake proportional control valve 46 or the spin proportional control valve 51 is fed back according to the operation angle of the power steering lever as shown in the setting graph. The number of revolutions (turning speed) can be obtained.

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

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

7 and 8 are different from the above example in that
When the vehicle body pitches back and forth during steering turning, the inclination sensor 56 detects this to slow down the vehicle speed or loosen the steering brake 9 on the turning side to loosen the vehicle. The control mode is changed so that the turning stability is achieved. If you make a sharp turn while driving on the road, etc., if the vehicle speed is high, there is a danger that it will be in a severe pitching condition and the driver will be likely to be shaken off, but at this time it will automatically switch to slow turn as described above If so, the pitching is reduced, and the safety and the durability of each part of the body are improved.

In FIG. 7, the hydraulic continuously variable transmission HS for the main shift is shown.
By outputting a vehicle speed control motor M relay 58 for gearshift control of T, the hydraulic continuously variable transmission HST is operated so as to be decelerated by the pitching operation detected by the inclination sensor 56. Further, in FIG. 8, when the tilt sensor 56 detects the pitching of the vehicle body when the brake pressure of the brake proportional pressure reducing valve 46 rises due to the turning operation, the brake pressure by the brake proportional pressure reducing valve 46 is lowered and the operation is performed. The rotation speed of the steering shaft 16 on the opposite side is increased. Therefore, not only the spin turn is not performed, but also the steering brake 9 is loosened to alleviate the pivot turn.

[Brief description of drawings]

 The figures show an embodiment of the invention.

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

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

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

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

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

FIG. 6 is a side view thereof.

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

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

[Explanation of symbols]

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

Claims (1)

[Claims] 1. A steering transmission clutch comprising a steering clutch 8, a steering brake 9, and a spin turn clutch 10 for reversely transmitting a traveling device 40 on the turning side.
Is provided with an input rotation sensor 41 for detecting rotation on the input side and left and right rotation sensors 42 for detecting rotation on the output side with respect to the spin turn clutch 10, and a steering mode input by a steering operation is set. As described above, a steering control device such as a combine for controlling the hydraulic pressure of the steering brake 9 and the spin turn clutch 10.