CN101678857A

CN101678857A - Travel vehicle

Info

Publication number: CN101678857A
Application number: CN200980000339A
Authority: CN
Inventors: 桐畑俊纪; 川崎晃一
Original assignee: Yanmar Co Ltd
Current assignee: Yanmar Power Technology Co Ltd
Priority date: 2008-03-04
Filing date: 2009-03-02
Publication date: 2010-03-24
Anticipated expiration: 2029-03-02
Also published as: CN101678857B; KR20100125165A; WO2009110430A1; JP2009208625A; KR101571074B1; JP5435881B2

Abstract

A travel vehicle, such as a combine, capable of being operated (maneuvered) as conveniently as four-wheeled automobiles, wherein the travel vehicle has a simplified mechanism for interlockingly connecting a rectilinear movement operating device (13) and a turn movement operating device (10) to transmissions (53, 54) respectively for rectilinear movement and for turn movement. A single controllingbody (131) pivotable about both a pivot axis P and a shift axis S which are perpendicular to each other are incorporated in a containing box (120). The controlling body (131) is adapted so as to pivotabout the pivot axis P by operation of the turn movement operating device (10) and so as to pivot about the shift axis S by operation of the rectilinear movement operating device (13). A converting shaft (164) for turn movement and a converting shaft (155) for rectilinear movement are pivotably supported in the containing box (120) such that the axes of the shafts are located on substantially thesame plane. The containing box (120) is mounted on the lower surface side of a step floor member (111), which forms the floor surface of an operating section (9), so as to be positioned near both thetransmissions (53, 54) located between left and right travel sections (2).

Description

Driving vehicle

Technical field

The present invention relates to the mechanical driving vehicles of special operation such as field machine, crane-car such as combination machine.

Background technology

At present, in combination machine, be constructed as follows: will via keeping straight on change-speed box, turning round, be delivered to the ridden in left or right direction crawler belt from the power of the driving engine that is equipped on the body that travels with change-speed box and modified roll mechanism as driving vehicle.

One of combination machine of this formation example is disclosed by patent documentation 1.In the combination machine of patent documentation 1, keep straight on and to regulate with the driving output of the change-speed box tilt operation amount that the craspedodrome speed basis of body is arranged at the main shift lever of manoeuvre portion of promptly travelling.If main shift lever is positioned at center position, the body that then travels is not kept straight on.In addition, gyratory directions and the speed of revolutions that turns round the body that with the driving output of change-speed box, promptly travels regulated according to being disposed at rotation direction and the rotating operation amount of handling the bearing circle in seat the place ahead in the manoeuvre portion.

In this case, main shift lever and bearing circle be via the mechanical type link gear with a lot of bars or arm, pivot backing pin etc., with keep straight on and revolution link with the change-speed box interlock.Be loaded on the Steering gear of handling seat the place ahead in the manoeuvre portion that is configured in the body that travels in the mechanical type link gear quilt of patent documentation 1.By the effect of the mechanical type link gear in this Steering gear, the combination machine of patent documentation 1 is a tracklaying vehicle, simultaneously can with four-wheel locomotive identical operations turn round at interval (manipulation).

Patent documentation 1:(Japan) spy opens the 2000-177619 communique

But, in the combination machine of patent documentation 1, the mechanical type link gear is quite complicated structure with a lot of long bar or arm, pivot backing pins etc., therefore have following problem: the needed cost of parts of mechanical type link gear increases, and is unbecoming with the request that strong in recent years cost reduces.In addition, the mechanical type link gear of labyrinth is disposed in the Steering gear of handling seat the place ahead, therefore handles seat space on every side and seems narrow, and the traveling comfort when handling in view of combination machine has room for improvement.

Summary of the invention

Technical task of the present invention is: further improve above-mentioned prior art, the simplification of trying one's best is used for handling device and the structure that each change-speed box interlock links such as main shift levers, and responds the request of strong in recent years cost reduction, the traveling comfort of raising manoeuvre portion.

In order to solve this technical task, first aspect present invention provides a kind of driving vehicle, possesses: keep straight on change-speed box and revolution change-speed box, its will be equipped on the body that travels driving engine power speed changing and be delivered to ridden in left or right direction portion; The craspedodrome operating parts, it controls described craspedodrome with the craspedodrome output of change-speed box with respect to described ridden in left or right direction portion; The revolution operating parts, it controls described revolution with the gyroscopic output of change-speed box with respect to described ridden in left or right direction portion, wherein, in orthogonal rotation axis and the rotating mono-control volume of speed change axis, be loaded on containing box, described control volume is following structure: by the operation of described revolution operating parts, rotate around described rotation axis, and operation by described craspedodrome operating parts, around described speed change rotational, in described containing box, according to making each other axis be located substantially on mode on the same plane, the rotatable earth's axis is propped up: described control volume is converted to the revolution transaxle of described revolution with the gear shifting operation amount of change-speed box around the amount of spin of described rotation axis, with the craspedodrome transaxle that described control volume is converted to the gear shifting operation amount of described craspedodrome usefulness change-speed box around the amount of spin of described speed change axis, described containing box is disposed at the following side of pedal floor component of the floor of the manoeuvre portion that constitutes the described body that travels, so that be positioned at described two change-speed boxs near, above-mentioned two change-speed boxs are between described ridden in left or right direction portion.

The described driving vehicle of second aspect present invention such as first aspect, wherein, outstanding above described pedal floor component at the revolution operating axis that is used on the described control volume to transmit around the turning effort of described rotation axis from described containing box, described revolution operating parts is installed in the upper end of described revolution operating axis.

The described driving vehicle of third aspect present invention such as first aspect, wherein, described containing box is disposed at the top higher height and position than described ridden in left or right direction portion.

The described driving vehicle of fourth aspect present invention such as first aspect, wherein, described control volume is arranged on the revolution input shaft that rotates by the operation of described revolution operating parts, so that tilt to rotate freely around described speed change axis with described rotation axis quadrature by the operation of described craspedodrome operating parts, the described rotation axis that has on described control volume with described revolution input shaft is the cam body that along the circumferential direction extend at the center, utilize the speed change slider part of the part on the quadrature-axis be sticked in sliding freely in the described cam body with described speed change orthogonal axe, described craspedodrome is rotated with transaxle, described craspedodrome is carried out gear shifting operation with change-speed box, utilize the revolution slider part that is sticked in the part on the speed change axis described in the described cam body sliding freely, described revolution is rotated with transaxle, described revolution is carried out gear shifting operation with change-speed box, on described cam body, form to being the cam path of center with described rotation axis towards radius outward direction opening, described each slider part is for embedding the structure in the described cam path sliding freely, compare with interior all side width of described cam path, form the outer circumferential side width of described cam path significantly.

The described driving vehicle of fifth aspect present invention such as fourth aspect wherein, with the rotor that embeds sliding freely in the described cam path, is rotatably freely supported on the outer circumferential side of the globular part of described each slider part.

The described driving vehicle of sixth aspect present invention such as fourth aspect wherein, rotates the globular part that is flush-mounted in described each slider part freely with rotor, and described globular part is suppressed in described cam path via rotor.

According to the present invention, can in the mono-control volume quilt of orthogonal rotation axis and speed change rotational, be loaded on containing box, constituting of described control volume: by the operation of described revolution operating parts, rotate around described rotation axis, and operation by described craspedodrome operating parts, around described speed change rotational, in described containing box, according to making each other axis be located substantially on mode on the same plane, the rotatable earth's axis is propped up: described control volume is converted to the revolution transaxle of described revolution with the gear shifting operation amount of change-speed box around the amount of spin of described rotation axis, with described control volume is converted to the craspedodrome transaxle of described craspedodrome with the gear shifting operation amount of change-speed box around the amount of spin of described speed change axis.

Therefore, by described control volume around the rotation of described rotation axis and around the rotation both sides of described speed change axis all carry out " under the state of described craspedodrome operating parts being operated the position beyond the neutrality; when described revolution operating parts is operated position beyond the neutrality; the operational ton of described revolution operating parts is big more, the body that travels more with little radius of turn left or right-hand rotation " this action.That is, described control volume has concurrently: make described revolution make the function both sides of described craspedodrome with the change-speed box action with the function of change-speed box action with the operations linkage of described craspedodrome operating parts with the operations linkage of described revolution operating parts.

Therefore, compare, can reduce number of parts with as patent documentation 1, using the structure of the operating system of much long bar or arm, pivot backing pin etc., thick by the essence of working accuracy, assembly precision, realize avoiding this effect of generation deviation on moving.

And, as mentioned above, in described containing box, according to making each other axis be located substantially on mode on the same plane, the rotatable earth's axis has been propped up: the revolution transaxle, with the craspedodrome transaxle that described control volume is converted to the gear shifting operation amount of described craspedodrome usefulness change-speed box around the amount of spin of described speed change axis, therefore the actuation range of the described control volume slewing area of described speed change axis (particularly around) is restricted, with bar or the arms of as patent documentation 1, using a lot of length, the structure of the operating system of pivot backing pin etc. is compared, and can reduce in the operating system size along described rotation axis significantly.Therefore, compare, can form the structure of described operating system significantly simple and small-sizedly with the situation of patent documentation 1.

As mentioned above, in described control volume is housed containing box be disposed at the following side of pedal floor component of the floor of the manoeuvre portion that constitutes the body that travels, with be located at described two change-speed boxs near, this two change-speed box is between ridden in left or right direction portion, therefore effectively utilize the redundant space of described pedal floor component below, can or remove for example Steering gear miniaturization.Therefore, do not enlarge the area of described pedal floor component, just can form driver's space, underfooting roomily, the traveling comfort in the time of can helping combination machine to handle improves.

In addition, make described containing box self be positioned at described two change-speed boxs near, this two change-speed box is between ridden in left or right direction portion, therefore can be simply and form power transmission structure (connecting structure) from described containing box to described each change-speed box shortly, also have this advantage of the remote operated sensitivity of raising.

According to second aspect present invention, outstanding above described pedal floor component at the revolution operating axis that is used on the described control volume to transmit around the turning effort of described rotation axis from described containing box, described revolution operating parts is installed in the upper end of described revolution operating axis, therefore when the manufacturing of driving vehicle, because with the described containing box of compactness and described revolution operating axis and the assembling in advance of described revolution operating parts, therefore they can be assembled in described operating portion simply with the form of unit.Therefore, can be achieved as follows effect: in the manufacturing line of driving vehicle, reduce the assembling number in man-hour of described unit, help the reduction of manufacturing cost.

, when travelling on the farm, the earth on farm is scratched on ridden in left or right direction crawler belt limit, and the limit produces propulsive force, flying upward of its anterior easily formation earth, stalk bits.Thisly fly upward especially when travelling, frequently take place during the travelling of operation in the harvesting in wet field.This point is as described in the third aspect present invention, and above described containing box being disposed at than described ridden in left or right direction portion during higher height and position, described containing box touches the earth that flies upward or cover with the possibility of earth, stalk bits especially little.Therefore, can be achieved as follows effect: can suppress earth, stalk bits and invade in the case portion, and can reduce extraordinarily that earth, stalk bits enter in the described containing box and the possibility of damage in-to-in operating system (described control volume etc.).

Secondly, according to fourth aspect present invention, described control volume is arranged on the revolution input shaft that rotates by the operation of described revolution operating parts, so that tilt to rotate freely around described speed change axis with described rotation axis quadrature by the operation of described craspedodrome operating parts, the described rotation axis that has on described control volume with described revolution input shaft is the cam body that along the circumferential direction extend at the center, utilize the speed change slider part of the part on the quadrature-axis be sticked in sliding freely in the described cam body with described speed change orthogonal axe, described craspedodrome is rotated with transaxle, described craspedodrome is carried out gear shifting operation with change-speed box, utilize the revolution slider part that is sticked in the part on the speed change axis described in the described cam body sliding freely, described revolution is rotated with transaxle, described revolution is carried out gear shifting operation with change-speed box, forming with described rotation axis on described cam body is the cam path of center towards radius outward direction opening, described each slider part is for embedding the structure in the described cam path sliding freely, therefore, compare with for example described each slider part being made grooved and it is flush-mounted in this structure of the cam body of making columnar section in a circumferential direction sliding freely, can improve the rigidity of described each slider part.Therefore, the advantage that has the durability that to guarantee described each slider part.

As mentioned above, the V-type pulley groove shape of V-shape belt of for example reeling is such, compare with interior all side width of described cam path, form the outer circumferential side width significantly, therefore be that roughly the cam path structure of the square groove shape of same size is compared with interior all side width and outer circumferential side width, only carry out the simple processing of described cam body, just can reduce the inner face of described cam path and the gap between described each slider part significantly, can improve change-speed box is used in described craspedodrome with change-speed box and described revolution output controller performance.

According to fifth aspect present invention, with the rotor that embeds sliding freely in the described cam path, be rotatably freely supported on the outer circumferential side of the globular part of described each slider part, therefore by the rotation of described rotor, can reduce the sliding resistance of described each slider part of the inner face side that is connected to described cam path.For example,, described cam body and described each slider part are moved reposefully, can improve the operability of described cam body even described craspedodrome is big with the antagonistic force of the output control of change-speed box with change-speed box, described revolution.

According to sixth aspect present invention, the rotor rotation is flush-mounted in freely the globular part of described each slider part, described globular part is suppressed in described cam path via rotor, therefore the sliding resistance of described each slider part of the inner face side that is connected to described cam path can be reduced, the inner face of described cam path and the gap between described each slider part can be reduced significantly simultaneously.

Description of drawings

Fig. 1 is the lateral plan of combination machine;

Fig. 2 is the planar view of combination machine;

Fig. 3 is the skeleton diagram of power-transmission system;

Fig. 4 is a change speed gear box in-to-in skeleton diagram;

Fig. 5 is the front instruction diagram of the configuration mode of expression steering box;

Fig. 6 is the main portion amplification front view of Fig. 5;

Fig. 7 is the plane instruction diagram of the configuration mode of expression steering box;

Fig. 8 is the main portion amplification view of Fig. 7;

Fig. 9 is an instruction diagram of schematically representing the mechanical type link gear;

Figure 10 is the planar view of steering box;

Figure 11 is that the XI-XI of Figure 10 looks lateral plan;

Figure 12 is that the XII-XII of Figure 10 looks side cut away view;

Figure 13 is the XIII-XIII sight plane section-drawing of Figure 11 and Figure 12;

Figure 14 is the XIV-XIV sight plane section-drawing of Figure 11 and Figure 12;

Figure 15 is the XV-XV sight plane section-drawing of Figure 11 and Figure 12;

Figure 16 is that the XVI-XVI of Figure 11 and Figure 12 looks side cut away view;

Figure 17 is that the XVII-XVII of Figure 10 and Figure 13 looks side cut away view;

Figure 18 is the main portion enlarged drawing of Figure 16;

Figure 19 is the main portion enlarged drawing of Figure 13;

Figure 20 is that expression cam path and speed change are amplified instruction diagram with first other routine main portion of slider part;

Figure 21 is that expression cam path and revolution are amplified instruction diagram with first other routine main portion of slider part;

Figure 22 is that the revolution of first other example is amplified instruction diagram with the main portion of the state of slider part embedding cam path;

Figure 23 is that the revolution of second other example is amplified instruction diagram with the main portion of the state of slider part embedding cam path;

Figure 24 is the side illustration figure of the configuration mode of expression steering box;

Figure 25 is the front instruction diagram of configuration mode of the steering box of expression distressed structure;

Figure 26 is the main portion amplification front view of Figure 25;

Figure 27 is the plane instruction diagram of the configuration mode of expression steering box;

Figure 28 is the main portion amplification view of Figure 27;

Figure 29 is an instruction diagram of schematically representing the mechanical type link gear;

Figure 30 is the planar view of steering box;

Figure 31 is that the XXXI-XXXI of Figure 30 looks lateral plan;

Figure 32 is that the XXXII-XXXII of Figure 30 looks side cut away view;

Figure 33 is the XXXIII-XXXIII sight plane section-drawing of Figure 31 and Figure 32;

Figure 34 is the XXXIV-XXXIV sight plane section-drawing of Figure 31 and Figure 32;

Figure 35 is the XXXV-XXXV sight plane section-drawing of Figure 31 and Figure 32;

Figure 36 is that the XXXVI-XXXVI of Figure 31 and Figure 32 looks side cut away view;

Figure 37 is that the XXXVII-XXXVII of Figure 30 and Figure 33 looks side cut away view;

Figure 38 is the functional block diagram of controller;

Nomenclature

1 body that travels

9 manoeuvre portion

10 bearing circle

13 main shift levers

18 change speed gear boxs

50 hydraulic continuously variable transmissions

53 keep straight on HST mechanism (keep straight on and use change-speed box)

54 revolution HST mechanisms (revolution change-speed box)

120 steering boxs

121 mechanical type link gears

122 revolution input shafts

125 slide blocks

131 control volumes

136 speed change output shafts

140 keep straight on uses link mechanism

149 craspedodrome actuating spindles

155 tween drive shafts (craspedodrome) with axle

156 craspedodrome link rods

157 speed change slider parts

158 speed changes output link rod

164 rotary output shafts (revolution axle)

165 revolution link rods

166 revolution slider parts

180 revolution link mechanisms

189 revolution actuating spindles

The P rotation axis

S speed change axis

The W quadrature-axis

The specific embodiment

Below, accompanying drawing during based on the combination machine that is applicable to as driving vehicle describes the embodiment that the present invention has been specialized.

(1) schematic configuration of combination machine

At first, with reference to Fig. 1 and Fig. 2 the schematic configuration of the combination machine of first embodiment is described.

One of driving vehicle example is that combination machine possesses the body 1 that travels by

crawler belt

2,2 supportings of travelling as the pair of right and left of the portion of travelling.Front portion at the body 1 that travels is equipped with the reaping apparatus 3 that the upright paddy stalk (not harvested cereal culm) of planting of farm is taken in while gathering in with regulating by single-acting hydraulic actuating cylinder 4 liftables.

The graining box 7 of the grain after laterally being equipped with the threshing apparatus 5 brought into to chain 6 on the body 1 that travels side by side, storing shelling.In this case, threshing apparatus 5 is disposed at the working direction left side of the body 1 that travels, and graining box 7 is disposed at the working direction right side of the body 1 that travels.Be provided with the defeated grain of a discharge spiral device 8 pivotally at the rear portion of the body 1 that travels.Grain in the graining box 7 are transported to the railway carriage, freight container of lorry for example etc. from the front end paddy input port of discharging the defeated grain of spiral device 8.

In the manoeuvre portion 9 that is arranged between reaping apparatus 3 and the graining box 7, dispose the travel bearing circle 10, the manipulation seat 11 that the driver takes a seat etc. of conduct revolution operating parts of the gyratory directions of body 1 and speed of revolutions of alter operation.On the lateral column 12 that is disposed at a side of handling seat 11 can before and after be provided with fascinating the body 1 that travels variable speed operation conduct craspedodrome operating parts main shift lever 13, the secondary shifter bar 14 that the output and the speed setting of hydraulic continuously variable transmission 50 described later remained on specialized range, to the continue harvesting clutch control lever 15 of disconnected operation usefulness and of the power of reaping apparatus 3 to the continue shelling clutch control lever 16 of disconnected operation usefulness of the power of threshing apparatus 5.

Main shift lever 13 is to be used for the travel joystick of the advancing, stop, retreating of body 1 and the speed of a motor vehicle thereof of alter operation infinitely.Secondary shifter bar 14 is the secondary speed-changing mechanisms 51 that are used for according in the operating condition alter operation change speed gear box 18 described later, and craspedodrome described later is set the joystick that remains low speed and high-speed two-stage gear stage with the output and the rotating speed of HST mechanism 53 across neutral zone.Harvesting clutch control lever 15 is continue joysticks of disconnected operation usefulness of the power to reaping apparatus 3, and shelling clutch control lever 16 is continue joysticks of disconnected operation usefulness of the power to threshing apparatus 5.

Below manoeuvre portion 9, dispose driving engine 17 as propulsion source.Dispose in the place ahead of driving engine 17 and to be used for two change speed gear boxs 18 that travel crawler belt 2 from the suitable speed change of the power of this driving engine 17 and about being delivered to.For the driving engine 17 of first embodiment, adopt diesel motor.

Reaping apparatus 3 possesses the cutter device 19 of clippers formula, paddy stalk collection apparatus 20, stalks conveying apparatus 21 and the grain separating body 22 of four ridges.Cutter device 19 is disposed at the below of the harvesting framework 41 (with reference to Fig. 1) of the framework that constitutes reaping apparatus 3.Paddy stalk collection apparatus 20 is disposed at the top of harvesting framework 41.Stalks conveying apparatus 21 is configured between the feeding top portion of paddy stalk collection apparatus 20 and feeding chain 6.Grain separating body 22 outstanding the place aheads, bottom that are arranged at paddy stalk collection apparatus 20.Two crawler belts 2 that travel moved in the farm about the body 1 that travels was driven by driving engine 17, utilized the driving of reaping apparatus 3 to gather in the not harvested cereal culm on farm continuously simultaneously.

Threshing apparatus 5 possesses and is used for that harvested cereal culm carries out threshing cylinder 23 that shelling handles with receiving, the swing sorting mechanism 24 and the pneumatic separating mechanism 25 of the below that is disposed at threshing cylinder 23, will handles cylinder 26 from the dirt mouth that send that the shelling thing that take out at the rear portion of threshing cylinder 23 is handled again.Threshing cylinder 23 is configured in the threshing chamber of threshing apparatus 5.Swing sorting mechanism 24 is to be used for and will to be swung the mechanism of sorting by the shelling thing of threshing cylinder 23 shellings, and pneumatic separating mechanism 25 is the mechanisms that are used for above-mentioned shelling thing is carried out pneumatic separating.

The plant root side of the receipts harvested cereal culm of bringing from reaping apparatus 3 is adopted as heir in feeding chain 6.And, receive in the fringe front side input threshing apparatus 5 of harvested cereal culm, carry out shelling with threshing cylinder 23 and handle.In addition, the S. A. 95 (with reference to Fig. 3) of threshing cylinder 23 extends along the direction of feed (working direction of the body 1 that travels) of the receipts harvested cereal culm of feeding chain 6 realizations.

The bottom of threshing apparatus 5 be provided with collection by the grain of two sorting mechanisms, 24,25 sortings in the one-level receiving slit 27, the secondary receiving slit 28 that the collecting belt branch obstructs secondary things such as grain or disconnected tassel seed of one-level thing such as smart grain.Two receiving

slits

27,28 of first embodiment are seen the top, rear portion that is horizontally set at the crawler belt 2 that travels from the side from the working direction front of the body 1 that the travels order by one-level receiving slit 27, secondary receiving slit 28.

Be transported to graining box 7 through the sorting of two sorting

mechanisms

24,25 and the one-level things such as smart grain that are collected in the one-level receiving slit 27 via the conveyer 32 (with reference to Fig. 3) of winnowing in the one-level conveyer 29 in this one-level receiving slit 27 and the tube 31 of winnowing.

Secondary things such as band branch stalk grain are collected in the more secondary receiving slit 28 at rear of one-level receiving slit 27, from being transported to two stage treatment cylinder 35 via the two-stage conveying device 30 in the secondary receiving slit 28 and the conveyers 34 (with reference to Fig. 3) that return that return in the tube 33 here.And, the secondary thing carries out shelling in two stage treatment cylinder 35 after again, turn back to and carry out sorting again in the threshing apparatus 5.Stalk bits are sucked by dust discharge fan 36, and outside discharge orifice (not shown) the discharge machine at the rear portion that is arranged at threshing apparatus 5.

Rear side (feeding end side) row of disposing stalk chain 37 at feeding chain 6.Adopt as heir from the rear end of feeding chain 6 in row's stalk (stalk of threshing) of row's stalk chain 37 and discharge in the rear of the body 1 that travels with long state, perhaps, after being cut into suitable length with row's stalk cutting knife 38 at the rear that is positioned at threshing apparatus 5, discharge in the rear of the body 1 that travels shortly.

(2) power-transmission system of combination machine

Then, with reference to Fig. 3 and Fig. 4 the power-transmission system of combination machine is described.

Be delivered to crawler belt 2 that travels (reaping apparatus 3) and threshing apparatus 5 both directions from one of the power of driving engine 17 branch.Another power from driving engine 17 transmits to discharging the defeated grain of spiral device 8.Be delivered to the hydraulic continuously variable transmission 50 of change speed gear box 18 for the time being via the belt wheel belt drive system and the power-transfer clutch 89 that travels to branch's power of the crawler belt 2 that travels from driving engine 17.In this case, constitute from branch's power of driving engine 17: utilize the suitable speed change such as hydraulic continuously variable transmission 50 grades of change speed gear box 18, from change speed gear box 18 via about the drive wheel 90 of outwards outstanding driving output shaft 77 about outputing to.

Change speed gear box 18 possesses above-mentioned hydraulic continuously variable transmission 50, have the secondary speed-changing mechanism 51 of a plurality of speed change levels, have the modified roll mechanism 52 (with reference to Fig. 4) of pair of right and left sun and planet gear 68 etc.Hydraulic continuously variable transmission 50 constitutes with HST mechanism 54 (revolution change-speed box) with HST mechanism 53 (keep straight on and use change-speed box) with by the revolution that second Hydraulic Pump 57 and second HM Hydraulic Motor 58 constitute by the craspedodrome that is made of first Hydraulic Pump 55 and first HM Hydraulic Motor 56.

Pass transmission of power to hydraulic continuously variable transmission 50 to the shared pump shaft 59 that connects first Hydraulic Pump 55 and second Hydraulic Pump 57 from the output shaft 49 of driving engine 17 via the power-transfer clutch 89 that travels.In keeping straight on HST mechanism 53, utilize the power that is delivered to shared pump shaft 59, suitably send power fluid from first Hydraulic Pump 55 to first HM Hydraulic Motor 56.Equally, use in the HST mechanism 54, utilize the power that is delivered to shared pump shaft 59, suitably send power fluid to second HM Hydraulic Motor 58 from second Hydraulic Pump 57 in revolution.

In addition, though detailed structure is not shown, the filling pump that is used for to

Hydraulic Pump

55,57 and HM

Hydraulic Motor

56,58 supply power fluides is installed on shared pump shaft 59.Filling pump constitutes: can with shared pump shaft 59 interlocks, and utilize the power driven of driving engine 17.

Keep straight on and constitute: according to the operational ton of the main shift lever 13 that is disposed at manoeuvre portion 9, bearing circle 10 with HST mechanism 53, the angle of inclination of the rotation swash plate of first Hydraulic Pump 55 is regulated in change, and change leads to the discharge direction and the discharge rate of power fluid of first HM Hydraulic Motor 56, at random regulates thus from hand of rotation and the rotating speed of the outstanding craspedodromes of first HM Hydraulic Motor 56 with motor drive shaft 60.

Craspedodrome is delivered to the secondary speed-changing mechanism 51 that is made of existing known gear mechanism with the rotary power of motor drive shaft 60 from the transmission gear mechanism 62 of keeping straight on, on the other hand, also be delivered to the outstanding harvesting PTO axle 64 that is arranged at change speed gear box 18 via above-mentioned craspedodrome transmission gear mechanism 62 and free-wheel clutch 63.Be delivered to the making operation of the power of harvesting PTO axle 64 by not shown harvesting power-transfer clutch, via the harvesting input shaft 43 of the harvesting input pipe 42 (with reference to Fig. 1) of the horizontal length that is positioned at the framework that constitutes reaping apparatus 3, what be delivered to reaping apparatus 3 respectively installs 19～21.Therefore, respectively installing of reaping apparatus 3 19～21 drives with speed of a motor vehicle synchronous speed.

The operation of the secondary shifter bar 14 of secondary speed-changing mechanism 51 by being disposed at manoeuvre portion 9 is used for and will switches to low speed or the such two-stage gear stage of high speed from the setting range of keeping straight on the rotary power (hand of rotation and rotating speed) of motor drive shaft 60.In addition, has neutrality (secondary speed change is output as the position of 0 (zero)) at the low speed of secondary speed change with at a high speed.Composed component at secondary speed-changing mechanism 51 is to be provided with brake actuators 66 such as wet multi-plate dish on the brake actuator axle 65.

Rotary power from secondary speed-changing mechanism 51 is delivered to modified roll mechanism 52 from the secondary speed change output gear 67 that is anchored on brake actuator axle 65.Modified roll mechanism 52 possesses a pair of sun and planet gear 68 and the relay axis 69 between sun and planet gear 68 and brake actuator axle 65 of left-right symmetric shape configuration.The secondary speed change output gear 67 of brake actuator axle 65 and the intermediate gear that is installed on relay axis 69 70 engagements, intermediate gear 70 and sun gear 76 (description of the detailed content back) engagement of being fixed in sun wheel shaft 75.

About each sun and planet gear 68 possess a sun wheel 71 respectively, with a plurality of planetary wheels 72 of periphery ingear of sun wheel 71, with the periphery ingear Ring gear 73 of these planetary wheels 72, with a plurality of planetary wheels 72 carriage 74 of axle bearing on same radius rotatably.The carriage 74 of left and right sides sun and planet gear 68 disposes according to the mode that separates the mutual subtend of appropriate intervals on same axis.Central portion in the sun wheel shaft between left and right sides sun and planet gear 68 75 is fastened with and intermediate gear 70 ingear sun gears 76.The both sides that clip sun gear 76 in sun wheel shaft 75 are fastened with sun wheel 71 respectively.

Have the internal tooth of inner peripheral surface and outer peripheral face external tooth about each Ring gear 73 so that its internal tooth and the concentric shape of a plurality of planetary wheel 72 ingear states be disposed at sun wheel shaft 75.Each Ring gear 73 rotatably axle bearing in driving output shaft 77 outwards outstanding from about the lateral surface of carriage 74.At the leading section that drives output shaft 77 drive wheel 90 is installed.Therefore, the rotary power that is delivered to left and right sides sun and planet gear 68 from secondary speed-changing mechanism 51 is delivered to left and right sidesing driving wheel 90 from the driving output shaft 77 of each carriage 74 with equidirectional same rotating speed, drives ridden in left or right direction crawler belt 2.

For revolution HST mechanism 54, it constitutes: according to the rotating operation amount of bearing circle 10, the angle of inclination of the rotation swash plate of second Hydraulic Pump 57 is regulated in change, and change leads to the discharge direction and the discharge rate of power fluid of second HM Hydraulic Motor 58, at random regulates thus from hand of rotation and the rotating speed of the outstanding revolutions of second HM Hydraulic Motor 58 with motor drive shaft 61.

In the first embodiment, in change speed gear box 18, possess: have cutting brake 79 cutting brake axle 78, have the steering clutch shaft 80 of steering clutch 81, the left input gear mechanism 82 that links via counter gear 84 and left Ring gear 73, with the external tooth of the right Ring gear 73 right input gear of ingear mechanism 83 always.Revolution is transmitted gear mechanism 85 with the rotary power of motor drive shaft 61 from revolution, is delivered to steering clutch shaft 80 via cutting brake axle 78 and steering clutch 81.Tighten intrinsic pair of right and left

transmission gear

86,87 at steering clutch shaft 80, the rotary power that is transmitted to steering clutch shaft 80 is delivered to cooresponding with it left and right sides

input gear mechanism

82,83 from left and right

sides transmission gear

86,87.

Make secondary speed-changing mechanism 51 become neutrality and cutting brake 79 is set at on-state and steering clutch 64 is being set under the situation of off-state, from second HM Hydraulic Motor 58 to the left and right the transmission of power of sun and planet gear 68 be prevented from.During secondary speed change output beyond the neutrality cutting brake 79 is set at off-state and steering clutch 64 is set under the situation of on-state, the rotary power of second HM Hydraulic Motor 58 is delivered to left Ring gear 73 via left input gear mechanism 82 and counter gear 84, on the other hand, be delivered to right Ring gear 73 via right input gear mechanism 83.Consequently, when second HM Hydraulic Motor 58 is just being changeed (counter-rotating), with the same rotating speed of direction opposite each other, left Ring gear 73 counter-rotatings (just changeing), right Ring gear 73 is just changeing (counter-rotating).

By above constituting as can be known, be delivered to the drive wheel 90 of ridden in left or right direction crawler belt 2 respectively via secondary speed-changing mechanism 51 and modified roll mechanism 52 from the speed change output of each motor drive shaft 60,61.Consequently, the travel speed of a motor vehicle (moving velocity) and the direct of travel of body 1 of decision.

Promptly, when second HM Hydraulic Motor 58 being stopped and making when driving first HM Hydraulic Motor 56 under the state of right and left rings generating gear 73 stationary fixing, be delivered to left and right sides sun wheel 71 from sun gear 76 with same rotating speed from the rotation output of keeping straight on motor drive shaft 60, planetary wheel 72 and carriage 74 via two sun and planet gears 68, same rotating speed with equidirectional drives ridden in left or right direction crawler belt 2, and the body 1 that travels is kept straight on and travelled.

On the contrary, when first HM Hydraulic Motor 56 being stopped and making when driving second HM Hydraulic Motor 58 under the state of left and right sides sun wheel 71 stationary fixing, by from revolution with the rotary power of motor drive shaft 61, left lateral star gear mechanism 68 just or counter-rotating, right lateral star gear mechanism 68 instead or just changes.So, wheel rotation of advancing in the drive wheel 90 of ridden in left or right direction crawler belt 2, another is taken turns and retreats rotation, and body 1 original place of therefore travelling turns to.

In addition, when driving first HM Hydraulic Motor 56 and driving second HM Hydraulic Motor 58, on the speed of ridden in left or right direction crawler belt 2, produce difference, Yi Bian the body 1 that travels advance or retreat, Yi Bian walk around left or right-hand rotation to the big radius of turn of radius of turn with specific rotation.The radius of turn of this moment decides according to the velocity contrast of ridden in left or right direction crawler belt 2.

So, as shown in Figure 3, be delivered to shelling input shaft 92 via shelling power-transfer clutch 91 from the branch's power in the power of driving engine 17 to threshing apparatus 5.A part that is transmitted to the power of shelling input shaft 92 is delivered to the S. A. 94 that send the dirt mouth to handle cylinder 26, S. A. 95 and row's stalk chain 37 of threshing cylinder 23 via shelling driver train 93.

In addition, from shelling input shaft 92 via belt wheel and belt drive system, also to winnowing fan axle 96, the one-level conveyer 29 of wind-force sorting mechanism 25 and the conveyer 32 of winnowing, two-stage conveying device 30 with return conveyer 34 and dust discharge axle 98 and row's stalk cutting knife 38 of oscillating axle 97, the dust discharge fan 36 of two stage treatment cylinder 35, swing sorting mechanism 24 carry out transmission of power.Branch's power via dust discharge axle 98 is delivered to feeding chain 6 via feeding chain power-transfer clutch 99 and feeding chain rivet 100.

In addition, via the injection power-transfer clutch 101 that transmits certain rotational force to reaping apparatus 3, also be delivered to harvesting input shaft 43 from the power of shelling input shaft 92.Promptly constitute as follows: just will not be directly delivered to reaping apparatus 3 from the power of driving engine 17 via change speed gear box 18, speed of a motor vehicle speed no matter can both be forced driving reaping apparatus 3 with certain high speed rotating speed thus.

From driving engine 17 to the power of discharging the defeated grain of spiral device 8 via the continue defeated grain of the spiral device power-transfer clutch 103 of disconnected usefulness of particle input gear mechanism 102 and power, vertical conveyer 105 in the defeated grain of the vertical spiral device tube in end conveyer 104 in graining box 7 and the defeated grain of the discharge spiral device 8 carries out transmission of power, then, via adopting as heir screw rod 106, the discharge conveyer 107 in the defeated grain of the horizontal spiral device tube of discharging the defeated grain of spiral device 8 carries out transmission of power.

(3) be used for the structure that speed change turns to control

Then, turn to the structure of control to describe with reference to Fig. 1, Fig. 2, Fig. 5～Figure 17 to being used to regulate the travel speed of a motor vehicle of body 1 and the speed change of direct of travel.

The upright Steering gear 112 that is provided with lengthwise case shape in the place ahead of manipulation seat 11 on the pedal floor component 111 of the bottom surface that constitutes manoeuvre portion 9.Above Steering gear 112, extend along the vertical direction and rotate freely that the steering wheel shaft 113 of axle bearing projects upwards in these Steering gear 112 in-to-in substantial middle.The bearing circle 10 of the circle of conduct revolution operating parts is installed in the upper end of steering wheel shaft 113.The lower end of steering wheel shaft 113 via Hooke's coupling 114 (with reference to Fig. 9) with from be positioned at pedal floor component 111 below the input relay axis 115 that projects upwards of the steering box 120 as containing box of side link.By the flexure operation of Hooke's coupling 114, the installation site of change bearing circle 10 on fore-and-aft direction makes the installation site of bearing circle 10 adapt to driver's physique etc.

The steering box 120 of first embodiment releasably is installed on the bearer frame 118 of the pedal floor component 111 of supporting manoeuvre portion 9.The steering box 120 that is disposed at the following side of pedal floor component 111 is a closed structure of enclosing power fluid.Mechanical type link gear 121 with respect to main shift lever 13 and bearing circle 10 conduct output control mechanisms is housed in steering box 120.The output control part of using HST mechanism 54 with the output control part or the revolution of HST mechanism 53 of keeping straight on links via mechanical type link gear 121 and main shift lever 13 or bearing circle 10.

As Fig. 5 and shown in Figure 6, the lower end of steering box 120 is positioned at the top higher height and position than ridden in left or right direction crawler belt 2.That is, steering box 120 is disposed at " between pedal floor component 111 and the bearer frame 118 (change speed gear box 18 top) " this top higher height and position than ridden in left or right direction crawler belt 2.

Mechanical type link gear 121 is in order to carry out following exercises:

1, when in operation that main shift lever 13 is fascinated (output of keeping straight on HST mechanism 53 from keeping straight on) under the state of neutrality position in addition, with bearing circle 10 rotating operations (carrying out gyroscopic output with HST mechanism 54) during in addition position of neutrality from revolution, the rotating operation amount of bearing circle 10 is big more, the body 1 of travelling more with little radius of turn left or right-hand rotation, and radius of turn is more little, and the speed of a motor vehicle of the body 1 that travels (when advancing or the speed of revolutions when retreating) is slowed down;

Even 2 with main shift lever 13 tilt operation to advancing or retreating under the situation on the either direction, the rotating operation direction of bearing circle 10 is also consistent with the gyratory directions of the body 1 that travels, and (if make bearing circle 10 left-handed turnings, the body 1 that then travels carries out left side revolution; If make bearing circle 10 right-hand turnings, the body 1 that then travels carries out right-hand rotation);

3, when main shift lever 13 is positioned at center position (being output as zero from the craspedodrome of keeping straight on HST mechanism 53), even direction of operating dish 10 is not brought into play function (revolution is maintained zero with the gyroscopic output of HST mechanism 54) yet,

And constitute: will be from the operating effort proper transformation of main shift lever 13, bearing circle 10, and to transmitting from the outwards outstanding speed change output shaft 136 in the side of steering box 120, rotary output shaft 164 (detailed content aftermentioned).

As Fig. 9～shown in Figure 17, mechanical type link gear 121 possesses two end axles is propped up the input shaft of revolution longitudinally 122 in steering box 120.Make the gear 123 of the upper end that is anchored on revolution input shaft 122 and be anchored on gear 116 engagements of outstanding bottom in steering box 120 in the input relay axis 115.But input relay axis 115 and revolution input shaft 122 link via each gear 123,116 transmission of power ground.Thereby the rotating operation power of bearing circle 10 is transmitted to revolution input shaft 122 via input relay axis 115.

Top at above-mentioned revolution input shaft 122 is embedded with slide block 125 slidably via ball-type key 127 grades.Non-rotatable reaching is embedded with holding components 126 slidably in the bottom of revolution input shaft 122.Slide block 125 constitutes along the rotation axis P direction of revolution input shaft 122 and slides freely.In addition, slide block 125 constitutes with turning round input shaft 122 and rotates around above-mentioned rotation axis P.

The revolution input shaft 122 in than holding components 126 more the part of downside be embedded with wind spring 128.The top 128a of wind spring 128 and terminal 128b clamping have the pin 129 of the upwards convex that is anchored on steering box 120 and are anchored on pin 130 both sides of the downward convex of holding components 126.On holding components 126 (bearing circle 10), wind spring 128 promptly always turns back to the direction of center position (craspedodrome traveling-position) to the following direction application of force from the position of left rotation and right rotation.That is, the rotating operation of the direction to the left and right of bearing circle 10 is resisted the elasticity of wind spring 128 and is carried out.And, utilize the elastic restoring force of wind spring 128 to the rotating operation of original center position (craspedodrome traveling-position).

The rotatable scope of holding components 126 is limited in the scope of the center position θ of angle to greatest extent 1, θ 2 to the left and right (for example, θ 1=67.5 °, θ 2=67.5 ° are with reference to Figure 13 and Figure 15).And, can release from the relation of gear ratio of each gear 116,123 of revolution usefulness, the rotatable scope of bearing circle 10 is the about respectively 135 ° to the left and right angular range in ground that center position is clipped in the middle.

Bottom in steering box 120 see from the rotation axis P direction of revolution input shaft 122 overlook the time dispose the control volume 131 of ring-type around the revolution input shaft 122.In the inner face of control volume 131, when overlooking, pass the centre of gration of revolution input shaft 122 and be formed with pair of right and left inwardly protruding portion 132 with position on the speed change axis S of rotation axis P quadrature of revolution input shaft 122.About inwardly protruding portion 132 utilize threaded shaft 133 rotatably to be articulated in holding components 126.Control volume 131 can be supported around speed change axis S (threaded shaft 133) rotationally via holding components 126.

Therefore, control volume 131 can be mounted via holding components 126 rotationally around two orthogonal axis P, S.Peripheral part at control volume 131 is formed with the circular cam 134 that extends along the circumferencial direction that with the axial line that turns round input shaft 122 is the center.On circular cam 134, be formed with the cam path 134a (the detailed content back is stated) that spreads all over its full week and extend.

Top in steering box 120 clips revolution input shaft 122 ground side in the left and right sides and disposes horizontal main shift lever input shaft 135.Opposite side in steering box 120 disposes horizontal speed change input shaft 136.Main shift lever input shaft 135 and speed change input shaft 136 shape parallel to each other ground when overlooking prolongs.The main shift lever input shaft 135 and the speed change input shaft 136 rotatable earth's axis are propped up in steering box.One end of main shift lever input shaft 135 and speed change input shaft 136 is outwards outstanding from each side of steering box 120.

As Fig. 5～shown in Figure 8, in the first embodiment, main shift lever input shaft 135 is outstanding to the left and right sides center side of the body 1 that travels from steering box 120.Jag at main shift lever input shaft 135 is fastened with main shifting arm 137.Shifter bar 13 on the lateral column 12 is linked to main shifting arm 137 via interlock hookup mechanisms 138 such as bars.By the operation that tilts forward and back of main shift lever 13,135 rotations of main shift lever input shaft.

In addition, speed change output shaft 136 is outstanding to the left and right sides center side of the body 1 that travels from steering box 120.Speed change output arm 139 is fastened on the jag of speed change output shaft 136.On speed change output arm 139, with link mechanism 140 interlock bindings craspedodrome actuating spindle 149 is arranged via keeping straight on.By the rotation of speed change output shaft 136, keep straight on and carry out gear shifting operation with link mechanism 140.The craspedodrome of craspedodrome actuating spindle 149 change speed gear boxs 18 is outstanding with HST mechanism 53.

Above-mentioned craspedodrome actuating spindle 149 is used to regulate the angle of inclination (swash plate angle) of craspedodrome with the rotation swash plate of first Hydraulic Pump 55 of HST mechanism 53.Craspedodrome actuating spindle 149 is as regulating the adjusting portion performance function of keeping straight on and exporting with the speed change of HST mechanism 53.That is, by the positive and negative swash plate angle of regulating first Hydraulic Pump 55 that transfers of craspedodrome actuating spindle 149, rotating speed control or the rotating of carrying out first HM Hydraulic Motor 56 are thus switched, and carry out the stepless change of moving velocity (speed of a motor vehicle) or the switching of forward-reverse.

Keep straight on and possess the top carriage 143 that is fixed in change speed gear box 18 with link mechanism 140, the rotatable earth's axis is propped up the horizontal fulcrum 144 in carriage 143, be anchored on first swing arm 145 of an end of horizontal fulcrum 144, relaying bar 142 with speed change output arm 139 and first swing arm, 145 bonded assembly band bottle screws 141, be anchored on second swing arm 146 of the other end of horizontal fulcrum 144, be anchored on the craspedodrome motion arm 148 of craspedodrome actuating spindle 149, with craspedodrome motion arm 148 and second swing arm, 146 bonded assembly shifter bars 147.

One end of relaying bar 142 is linked to speed change output arm 139 via the ball and socket straight coupling.The other end of relaying bar 142 is linked to first swing arm 145 via the ball and socket straight coupling.One end of shifter bar 147 is linked to second swing arm 146 via the ball and socket straight coupling.The other end of shifter bar 147 is articulated in the craspedodrome motion arm 148 of craspedodrome actuating spindle 149 sides rotationally via horizontal Pivot.

Part in main shift lever input shaft 135, in the steering box 120 tightens intrinsic a pair of main transformer speed yoke 151.The front end of main transformer speed yoke 151 is provided with ball-bearing casing 152.At the peripheral shape of slide block 125 groove 125a circlewise.Ball-bearing casing 152 embeds and is sticked in endless groove 125a.Therefore, by the rotation (rotating operation of main shift lever 13) of main shift lever input shaft 135, slide block 125 slides up and down along revolution input shaft 122.That is, main shift lever 13 is when center position, and slide block 125 is arranged in the position shown in Figure 12 solid line (can slide up and down the roughly intermediate point of scope).By with main shift lever 13 from center position direction rotating operation forwards, backwards, slide block 125 moves up and down.

In addition, slide block 125 and control volume 131 link by the swing link rod 153 that two ends have pin 154.Main shift lever 13 is when center position, and slide block 125 does not slide up and down.The state of the flat-hand position that control volume 131 maintains a neutral position not to tilt to rotate.When from center position forwards or during the rotating operation of rear, slide block 125 moves up and down with main shift lever 13.Move up and down by slide block 125, control volume 131 is that the center tilts to rotate around speed change axis S with threaded shaft 133.Control volume 131 clips flat-hand position ground and tilt to rotate (with reference to Figure 16) along the vertical direction in the scope of suitable angle [alpha] 1, α 2.

To prolong with speed change output shaft 136 parallel shape ground as the tween drive shaft 155 of keeping straight on exchanging shaft.Make the both end sides of tween drive shaft 155 protrude in steering box 120 inside and outside.In steering box 120, speed change output shaft 136 roughly under the position axle propped up tween drive shaft 155.Though the detailed content back is stated, control volume 131 is transformed to the controlling quantity of keeping straight on HST mechanism 53 around the amount of spin of speed change axis S by tween drive shaft 155.

The inner at tween drive shaft 155 is provided with craspedodrome link rod 156 in the mode of rotating freely on above-below direction.Part on the quadrature-axis W that passes the centre of gration of revolution input shaft 122 and extend with speed change axis S with meeting at right angles in craspedodrome link rod 156, when overlooking is provided with speed change usefulness slider part 157.Speed change is rotatably freely supported on craspedodrome link rod 156 with slider part 157 around above-mentioned quadrature-axis W.Speed change along the circumferential direction engages with circular cam 134 via cam path 134a slidably with slider part 157.

As shown in figure 18, speed change is propped up in the axial region 157a of craspedodrome link rod 156 with spheroid 157c that the front end of axial region 157a is provided with integratedly and is constituted by utilizing ball-bearing casing 157b to rotate the earth's axis freely with slider part 157.Speed change is inserted in the cam path 134a of circular cam 134 freely with the spheroid 157c slip and the rotation of slider part 157.

Rotate freely and export the front of link rod 158 via linking

link rod

159 and 156 bindings of craspedodrome link rod with the speed change of speed change output shaft 136 bindings.When speed change axis S tilted to rotate, via speed change slider part 157, craspedodrome link rod 156 rotated around the axle center of tween drive shaft 155 at circular cam 134.Therefore, craspedodrome link rod 156 and speed change output link rod 158 rotates in linkage around the inclination of speed change axis S with control volume 131 and rotates up and down.

Rotation is embedded with the cardinal extremity of non-deceleration arm 160 freely on speed change output shaft 136.Front end at non-deceleration arm 160 is equipped with slotted hole 160a.Front end at main transformer speed yoke 151 is provided with pin 161.Be embedded in the pin 161 that engaging has main transformer speed yoke 151 at the slotted hole 160a of non-deceleration arm 160.Non-deceleration arm 160 rotates (with reference to Figure 17) in linkage with the up-and-down movement of main transformer speed yoke 151.

In addition, the position between speed change output link rod 158 and the non-deceleration arm 160 is provided with switching part 162 in speed change output shaft 136.Switching part 162 is bearing on the speed change output shaft 136 slidably along its axis direction.M/C switching part 162 is selected the either party that speed change output link rod 158 or non-deceleration arm 160 are selected in a ground.The either party who speed change is exported link rod 158 or non-deceleration arm 160 links via switching part 162 and the mode of speed change output shaft 136 with the one rotation.

As shown in figure 14, on switching part 162, be provided with pin 163.Utilize blocked operation mechanism 169 that switching part 162 is slided along speed change output shaft 136, the pin 163 of switching part 162 is engaged with speed change output link rod 158 or non-deceleration arm 160.Can switch to selectively via pin 163 and speed change be exported rotary decelerating state that link rod 158 combines with speed change output shaft 136 or arbitrary state of the non-deceleration regime of revolution that non-deceleration arm 160 combined with speed change output shaft 136 via pin 163.

Consequently, switch under the situation of rotary decelerating state on highway or in the little harvest operation of the sinkage of the crawler belt 2 that travels such as dried field, the moving velocity at the center of the body 1 that travels (centers that the ridden in left or right direction crawler belt is 2) can slow down pro rata with radius of turn.For example, be reduced to ratio with the radius of turn of the body 1 that travels, the moving velocity of the body 1 that travels can automatically slow down.Promptly, under the situation that switches to the rotary decelerating state, the moving velocity that will turn round on one side the crawler belt 2 that travels in the outside is maintained the speed of roughly keeping straight on, with radius of turn pro rata reduce turn round the moving velocity of inboard travel crawler belt 2 on one side, the body 1 that travels turns round and changes its course.In this case, the travel moving velocity and the radius of turn at center (centers that the ridden in left or right direction crawler belt is 2) of body 1 slows down pro rata.Can reduce the horizontal slip etc. of the pillow crawler belt 2 that travels on the ground on farm.

On the other hand, switch under the situation of the non-deceleration regime of revolution in the big harvest operation of the sinkage of the crawler belts 2 that travel such as wet field, the radius of turn of the moving velocity at the center of the body 1 that travels (centers that the ridden in left or right direction crawler belt is 2) and the body 1 that travels has nothing to do and is maintained the speed of roughly keeping straight on.For example, the radius of turn of the body 1 that travels is more little, and the speed when keeping straight on is benchmark, the moving velocity of the crawler belt that travels in the revolution outside more with radius of turn speedup pro rata.That is, under the situation that is switching to the non-deceleration regime of revolution, the deceleration and guaranteeing that can reduce the moving velocity of the inboard crawler belt 2 that travels of the revolution propulsive force of body 1 of travelling can improve the turnability on the wet field that easily takes place to break away etc.In addition, when the sinkage of the crawler belt 2 that travels is big, the moving velocity of the body 1 that travels is slowed down, therefore, even the moving velocity of the crawler belt that travels in the revolution outside is compared speedup significantly when keeping straight on, the moving velocity of the crawler belt that travels in the revolution outside can be not too fast yet.

Blocked operation mechanism 159 is the formation of the following stated.That is, as Figure 14 and shown in Figure 16, slip reaches freely and rotates axle bearing freely the blocked operation axle 170 that extends with speed change output shaft 136 parallel shape ground is arranged in steering box 120.Tighten intrinsic switch boards 171 at blocked operation axle 170.On switching part 162, be formed with endless groove 172.Switch boards 171 embeds and is sticked in endless groove 172.One distal process of blocked operation axle 170 is for the outside of steering box 120.Jag at blocked operation axle 170 is provided with handle 173.

The driver holds handle 173, and blocked operation axle 170 is slided along its axis direction.Can carry out the blocked operation of above-mentioned rotary decelerating state and the non-deceleration regime of revolution from the outside of steering box 120.In addition, on blocked operation axle 170, be provided with ball power-transfer clutch 174.By ball power-transfer clutch 174, blocked operation axle 170 is remained with the rotary decelerating state of speed change output shaft 136 and speed change output link rod 158 combinations or with the non-deceleration regime of revolution of speed change output shaft 136 and non-deceleration arm 160 combinations.

Along using 164 of the rotary output shafts of transaxle to prop up in steering box 120 with the conduct revolution of speed change output shaft 136 orthogonal directionss extension.In the side of steering box 120, speed change output shaft 136 roughly under the position dispose rotary output shaft 164.The both end sides of rotary output shaft 164 protrude in steering box 120 inside and outside.The detailed content back is stated, and rotary output shaft 164 is used for the amount of spin of control volume 131 wraparound shaft axis P is converted to the controlling quantity of revolution with HST mechanism 54.End in rotary output shaft 164, in the steering box 120 is fastened with the cardinal extremity of revolution link rod 165.Part in revolution link rod 165, when overlooking on the speed change axis S is provided with the revolution slider part 166 that along the circumferential direction is sticked in circular cam 134 sliding freely.

As shown in figure 19, revolution with slider part 166 by the axial region 166a that is installed on revolution link rod 165, with the front end of axial region 166a be set to one spheroid 166b (globular part), go up the ring bodies 166c formation that bevelled mode freely is flush-mounted in spheroid 166b in any direction freely and with respect to the axis of axial region 166a with rotation.Ring bodies 166c slides and rotation is inserted in the cam path 134a of circular cam 134 freely.

As shown in figure 11, the axis AX2 of the axis AX1 of tween drive shaft 155 and rotary output shaft 164 is positioned on the roughly same plane.In addition, as shown in figure 15, the radius of gyration r2 of radius of gyration r1 of craspedodrome link rod 156 (from tween drive shaft 155 to speed change with the length of slider part 157) and revolution link rod 165 (from rotary output shaft 164 to the length of revolution with slider part 166) is set at substantially the same length

On the other hand, in the rotary output shaft 164, the gyroscopic output arm 167 that is anchored on the outer end links with 189 interlocks of revolution actuating spindle.Make revolution actuating spindle 189 outstanding with HST mechanism 54 from the revolution of change speed gear box 18.With link mechanism 180,, make revolution actuating spindle 189 carry out gear shifting operation via revolution by the rotation of rotary output shaft 164.

Revolution actuating spindle 189 is used to regulate the angle of inclination (swash plate angle) of revolution with the rotation swash plate of second Hydraulic Pump 57 of HST mechanism 54, as regulating the adjusting portion performance function of revolution with the speed change output of HST mechanism 54.Promptly, carry out the swash plate angle of second Hydraulic Pump 57 regulates by the rotating that utilizes revolution actuating spindle 189, the stepless change of the steering angle (radius of turn) of the body 1 that travels and the switching of left and right sides gyratory directions are switched in rotating speed control and the rotating of carrying out second HM Hydraulic Motor 58.

As Fig. 5～shown in Figure 8, revolution possesses with link mechanism 180: be fixed in the top carriage 183 of change speed gear box 18, the rotatable earth's axis prop up relaying fulcrum 184 in carriage 183, be anchored on an end of relaying fulcrum 184 the first arm 185, with the relaying bar 182 of the first arm 185 and gyroscopic output arm 167 bonded assembly band bottle screws 181, be anchored on the other end of relaying fulcrum 184 second arm 186, be anchored on the revolution motion arm 188 that turns round actuating spindle 189, will turn round motion arm 188 and second arm, 186 bonded assembly pivoted levers 187.

One end of relaying bar 182 is linked to gyroscopic output arm 167 via the ball and socket straight coupling.The other end of relaying bar 182 is linked to the first arm 185 via the ball and socket straight coupling.In addition, an end of pivoted lever 187 is linked to second arm 186 via the ball and socket straight coupling.The other end of pivoted lever 187 articulates via horizontal Pivot rotationally with the revolution motion arm 188 of revolution actuating spindle 189.

In addition, steering box 120 for go up with the vertical plane A (with reference to Figure 11) of the rotation axis P of revolution input shaft 122, two structures that are divided into the lower part box 120b of the upper box body 120a of die casting or casting system and identical die casting or casting system.And two

tanks

120a, 120b accompany under the state of pad (not shown) of sealing usefulness betwixt, utilize many bolts (not shown) releasably to carry out combination.The employed power fluid of the various hydraulic efficiency equipments hydraulic actuating cylinder 4 of reaping apparatus 3 lifting moving (for example, with) that combination machine is arranged in the internal storage of steering box 120.Utilize the power fluid in the steering box 120, lubricated mechanical type link gear 121.In addition, on steering box 120, be provided with the inlet and the outlet (diagram is omitted) of the power fluid that is used to come in and go out.

(4) action of mechanical type link gear

Then, the action of the mechanical type link gear 121 during to operation main shift lever 13, bearing circle 10 describes with reference to Fig. 9～Figure 17.

Main shift lever 13 is when center position, and the slide block 125 of revolution on the input shaft 122 do not move up and down, so control volume 131 remains the flat-hand position of center position, does not tilt to rotate around speed change axis S.In this state, even with bearing circle 10 either direction rotating operation to the left and right, the speed change that engages with the circular cam 134 of control volume 131 does not move with slider part 166 both sides along the vertical direction with slider part 157 and revolution, and relay axis 155 (speed change output shaft 136) and rotary output shaft 164 maintain halted state.Therefore, both sides' HST mechanism 53,54 (first HM Hydraulic Motor 56, second HM Hydraulic Motor 58) is failure to actuate.

Promptly, under the state that places center position to make main shift lever 13 to travel body 1 to stop, even the neglectful contact by the driver etc. is rotated bearing circle 10, also can not drive both sides'

HST mechanism

53,54, the body 1 that travels can be maintained halted state reliably.Therefore, when for example maintenance activity etc., only main shift lever 13 is placed center position, just can avoid the body 1 that travels reliably to run counter to the possibility that driver's intention is carried out unexpected movement, can fully guarantee safety.

Then, on the basis of the state that bearing circle 10 is maintained center position (craspedodrome traveling-position), with main shift lever 13 when center position carries out tilt operation, slide block 125 links and up-and-down movement with it, and control volume 131 is according to carry out just anti-obliquity rotation (with reference to the long and two-short dash line state of Figure 16) around the mode of speed change axis S up-and-down movement.That is, the speed change that is sticked in the part on the quadrature-axis W of circular cam 134 with slider part 157 along the rotation axis P of revolution input shafts 122 from center position miles of relative movement L1 or L2 up and down.

In addition, the revolution that is sticked in the part on the speed change axis S of circular cam 134 is with slider part 166 moving up and down by above-mentioned slide block 125 not.In addition, before main shift lever 13 is carried out tilt operation from center position, operation by blocked operation mechanism 169, the pin 163 of switching part 162 is engaged with speed change output link rod 158, speed change is exported

link rod

158 and 136 bindings of speed change output shaft, so that speed change output link rod 158 and speed change output shaft 136 rotate integratedly.

As implied above, when speed change is moved with slider part 157, speed change is delivered to craspedodrome actuating spindle 149 (keeping straight on HST mechanism 53) with the moving via craspedodrome link rod 156, link link rod 159, speed change output link rod 158, switching part 162, speed change output shaft 136, speed change output arm 139 and keep straight on link mechanism 140 up and down of slider part 157.That is, when making speed change use slider part 157 mobile up and down, by the inclination rotation of circular cam 134 around speed change axis S, the swash plate of first Hydraulic Pump 55 (keeping straight on HST mechanism 53) carries out gear shifting operation from center position.

On the other hand, because the engaging of the part on the speed change axis S of the circular cam 134 of control volume 131 has revolution with slider part 166, therefore, even circular cam 134 (control volume 131) is around the just anti-obliquity rotation of speed change axis S, as long as inoperation bearing circle 10, revolution does not just move up at upper and lower with slider part 166 yet.The swash plate of second Hydraulic Pump 57 (turning round with HST mechanism 54) can not carry out gear shifting operation from center position.Therefore, from keep straight on HST mechanism 53 to the left and right two crawler belts 2 that travel transmit identical rotating speed (same hand of rotation) simultaneously, the body 1 that travels marches forward or direction of retreat is travelled.

The amount of spin decision of the craspedodrome actuating spindle 149 that the moving velocity when craspedodrome is travelled (speed of a motor vehicle) is used HST mechanism 53 by keeping straight on.This amount of spin by speed change with miles of relative movement L1 up and down, the L2 of slider part 157 (from inclination anglec of rotation α 1, the α 2 of the circular cam 134 of center position) decision.By the tilt operation amount of main shift lever 13, inclination anglec of rotation α 1, the α 2 of changeable circular cam 134, the moving velocity in the time of therefore can travelling with the craspedodrome that the operational ton from center position of main shift lever 13 is regulated the body 1 that travels pro rata.

Then, under the state of main shift lever 13 being operated center position position in addition, when with bearing circle 10 from center position left or right carry out rotating operation and when making the rotation of revolution input shaft 122, circular cam 134 (control volume 131) together rotates with the state and the revolution input shaft 122 of the rotation of tilting around speed change axis S.So, the revolution that is sticked in the part on the speed change axis S of circular cam 134 with slider part 166 by the rotation of revolution input shaft 122 and move up and down.Revolution is with the moving via revolution link rod 165, rotary output shaft 164, gyroscopic output arm 167 and revolution with link mechanism 180 up and down of slider part 166, is delivered to the revolution actuating spindle 189 of second Hydraulic Pump 57 (revolution with HST mechanism 54).Consequently, the swash plate angle of second Hydraulic Pump 57 is changed to beyond the center position, and second Hydraulic Pump 57 (turning round with HST mechanism 54) carries out gear shifting operation.

Therefore, by the gear shifting operation from center position of second HM Hydraulic Motor 58 (revolution with HST mechanism 54), from the rotation (same rotating speed) that crawler belt 2 transmits direction opposite each other simultaneously of travelling to the left and right of second HM Hydraulic Motor 58.That is, the crawler belt 2 that can travel to the left and right gives velocity contrast, the direction revolution of body 1 to direction of operating dish 10 of therefore travelling each other.That is, the operation of direction of passage dish 10, the course of the variable body 1 that travels.

Second Hydraulic Pump 57 (revolution with HST mechanism 54) from the gear shifting operation amount of center position, promptly to turn round the rotating operation angle from center position (rotating operation amount) of amount of spin and bearing circle 10 of actuating spindle 189 proportional.Promptly, revolution is proportional with the amount of movement of the direction up and down of slider part 166 with revolution with the gear shifting operation amount of HST mechanism 54, and this revolution is accompanied by the action that control volume 131 is rotated by revolution input shaft 122 with the state around the just anti-obliquity rotation of speed change axis S with the amount of movement of the direction up and down of slider part 166.Therefore, revolution is proportional and increase with the rotating operation angle from center position (rotating operation amount) of the velocity contrast of the ridden in left or right direction crawler belt 2 of the gear shifting operation of HST mechanism 54 realization and bearing circle 10, and the radius of turn of the body 1 that travels diminishes.

Especially, in the first embodiment, by the inclination rotation of circular cam 134 around speed change axis S, the speed change that engages with circular cam 134 is moved up and down with slider part 157, therefore the rotating operation amount with bearing circle 10 makes craspedodrome actuating spindle 149 rotation round about at that pro rata, can reduce corresponding to the craspedodrome speed (speed of revolutions of the body 1 that travels) of radius of turn at this moment with ridden in left or right direction crawler belt 2.

That is, when with bearing circle 10 when center position carries out rotating operation, circular cam 134 (control volume 131) rotates by revolution input shaft 122 with the state of the rotation of tilting around speed change axis S.And along with the rotation of circular cam 134, the speed change that is sticked in circular cam 134 moves with slider part 157, so that the part of part on speed change axis S from quadrature-axis W of circular cam 134 is close.Therefore, compare with the situation of part on the quadrature-axis W that is positioned at circular cam 134, speed change with slider part 157 move up and down distance L 1, L2 diminishes.That is, the amount of spin of craspedodrome actuating spindle 149 (keeping straight on the gear shifting operation amount of HST mechanism 53) diminishes.Consequently, be controlled on the deceleration direction from the first HM Hydraulic Motor 56 craspedodrome rotating speed that crawler belt 2 transmits that travels to the left and right, the moving velocity the during revolution of the body 1 that travels is slack-off.In this case, the speed at the center that the ridden in left or right direction crawler belt is 2 is slack-off, and the moving velocity of the crawler belt 2 that travels in the revolution outside maintains the speed that is similar to the craspedodrome moving velocity before slowing down.

Therefore, the rotating operation amount of bearing circle 10 is big more, the velocity contrast of ridden in left or right direction crawler belt 2 is big more, radius of turn is more little, and the moving velocity of craspedodrome direction reduces, as body 1 integral body of travelling, moving velocity (speed of a motor vehicle) is slack-off, therefore, when revolution, can alleviate the centnifugal force that revolution outwards acts on body 1 (driver) that travel.Can reduce the horizontal slip of ridden in left or right direction crawler belt 2.In addition, when advancing and when retreating, rotating operation with respect to bearing circle 10, control volume 131 (circular cam 134) is opposite around the inclination rotation direction of speed change axis S, therefore when forward-reverse under any situation, the rotating operation direction of bearing circle 10 is all consistent with the gyratory directions of the body 1 that travels.

Incidentally, with the proportional and situation that automatically slow down of the rotating operation angle (rotating operation amount) of the moving velocity and the bearing circle 10 of the body 1 that travels as the field of wetting etc. when thin-skinned, may cause two crawler belt 2 increases that are absorbed in (sinkage) earthward of travelling.That is, by the radius of turn of the body 1 that reduces to travel, compare with the rotating speed of the crawler belt 2 that travels in the revolution outside, the rotating speed of the crawler belt 2 that travels that revolution is inboard reduces significantly.Like that, when the rotating speed of the crawler belt 2 that travels reduces significantly, the thin-skinned wet Tanaka on ground, crawler belt 2 depression significantly of travelling.

In this case, utilize the operation of the switching part 162 of blocked operation mechanism 169, switch to the state that non-deceleration arm 160 is combined with speed change output shaft 136 from speed change being exported the state that link rod 98 combines with speed change output shaft 136.With under non-deceleration arm 160 and the situation that speed change output shaft 136 combines, irrelevant with the corner (deflection angle) of bearing circle 10, and the moving velocity of the body 1 that travels (craspedodrome moving velocity) is maintained the setting speed of main shift lever 13.With compare with the corner (deflection angle) of bearing circle 10 reduce pro rata the to travel situation of moving velocity (craspedodrome moving velocity) of body 1 as described above, even to the direction direction of operating dish 10 of the radius of turn of the body 1 that reduces to travel, the amount of deceleration of the crawler belt 2 that travels that revolution is inboard is also for by a small margin.

With under non-deceleration arm 160 and the situation that speed change output shaft 136 combines, the rotating operation of the operation of main shift lever 13 and bearing circle 10 is irrelevant, directly, be delivered to the craspedodrome actuating spindle 149 of keeping straight on HST mechanism 53 via interlock hookup mechanism 138, main shifting arm 137, main shift lever input shaft 135, main transformer speed yoke 151, non-deceleration arm 160, speed change output shaft 136, speed change output arm 139 and craspedodrome link mechanism 140.Therefore, the tilt operation of the rotating operation of bearing circle 10 and main shift lever 13 is not directly related.With the interlock that turns to of bearing circle 10, discharge from the state that slows down via will the travel moving velocity of body 1 of circular cam 134.Keep the proportional moving velocity of tilt operation amount (speed of a motor vehicle) with main shift lever 13.Therefore, the course of body 1 even change is travelled, the amount of deceleration of the crawler belt 2 that travels that revolution is inboard also for by a small margin, also can be maintained the rotating speed that turns round the inboard crawler belt 2 that travels more than the regulation.Consequently, according to suppressing, combination machine can be made wet field specification to this mode of soft ground-surface being absorbed in (depression of the crawler belt 2 that travels).

According to above formation, possesses the control volume 131 (circular cam 134) that can rotate around two orthogonal axis P, S.Control volume 131 constitutes: by the positive and negative rotation along with the wraparound shaft axis P of the operation of bearing circle 10, make revolution with 54 actions of HST mechanism, the positive and negative rotation around speed change axis S by along with the operation of main shift lever 13 making and keeping straight on 53 actions of HST mechanism.Therefore, the positive and negative rotation of wraparound shaft axis P by control volume 131 and around the positive and negative rotation both sides of speed change axis S all carry out " when under state; during with the position of bearing circle 10 rotating operations beyond neutral; its rotating operation amount is big more with the position of main shift lever 13 tilt operation beyond neutral, travel body 1 more with little radius of turn left or right-hand rotation " this action.That is, control volume 131 has concurrently: make revolution turn to function, make the speed changing function both sides' that travel that move with HST mechanism 53 of keeping straight on function with the tilt operation interlock of main shift lever 13 with the revolution of HST mechanism 54 actions with the interlock of the rotating operation of bearing circle 10.

Therefore, compare, can reduce the constituent part number of mechanical type link gear 121 with as patent documentation 1, using the structure of the operating system of much long bar or arm, pivot backing pin etc.Essence by working accuracy, assembly precision is thick, can avoid producing deviation in the action of mechanical type link gear 121.Can be than existing adjustment operation when more simplifying assembly mechanical formula link gear 121 etc.That is, mechanical type link gear 121 can be constituted at low cost, operations such as the assembling of mechanical type link gear 121 or maintenance can be improved simultaneously.

In addition, in the first embodiment, owing to the revolution of rotating with bearing circle 10 rotating operations interlocks is located substantially on the same plane with the axis AX2 of output shaft 164 with the link axis AX1 of the tween drive shaft 155 that rotates of the tilt operation of main shift lever 13, so can limit the actuation range (slewing area particularly has a down dip) of control volume 131 on speed change axis S.Compare with structure as patent documentation 1, can shorten in the mechanical type link gear 121 size significantly along rotation axis P with the operating system of a lot of long bars or arm, pivot backing pin etc.

Therefore, compare, can make the structure of mechanical type link gear 121 significantly simple and small-sized, can realize operating system single-piece densification with the situation of patent documentation 1.Consequently, can help the to travel saving spatialization of manoeuvre portion 9 peripheries of body 1.

Particularly, in the first embodiment, because the radius of gyration r2 of the radius of gyration r1 of craspedodrome link rod 156 and revolution link rod 165 is set at substantially the same length

Therefore can make operating system single-piece structure further compact.

And, in the first embodiment, in the compactness of mechanical type link gear 121 is housed steering box 120 be disposed at the redundant space of pedal floor component 111 belows of the bottom surface that constitutes manoeuvre portion 9.Effectively utilize such redundant space, can or remove, the higher effect of performance in the saving spatialization of manoeuvre portion 9 peripheries of the body 1 that travels Steering gear 112 miniaturizations.

Incidentally, when travelling on the farm, the earth on farm is scratched on ridden in left or right direction crawler belt 2 limits, and the limit produces propulsive force, flying upward of its anterior easily formation earth, stalk bits.Thisly fly upward especially when travelling, frequently take place during the travelling of operation in the harvesting in wet field.This point is in embodiment, as Fig. 5, Fig. 6 and shown in Figure 24, because steering box 120 is disposed at " between pedal floor component 111 and the bearer frame 118 (change speed gear box 18 top) " this top higher height and position than ridden in left or right direction crawler belt 2, therefore, steering box 120 touches the earth that flies upward or covers with the possibility of earth, stalk bits less.Therefore, can suppress earth, stalk bits and invade in the case portion, and can reduce extraordinarily that earth, stalk bits enter in the steering box 120 and the possibility of damage mechanical type link gear 121 (control volumes 131 etc.).

In addition, as shown in figure 18, utilize axial region 157a will embed spheroid 157c in the cam path 134a of circular cam 134 sliding freely, be rotatably freely supported on craspedodrome link rod 156 this speed changes and can reduce the sliding-frictional resistance between circular cam 134 and the spheroid 157c significantly with the formation (first other example) of slider part 157.

In addition, as shown in figure 19, with the ring bodies 166c that embeds sliding freely in the cam path 134a of circular cam 134, with rotation freely and can be to the bevelled mode freely of direction arbitrarily with respect to the axis of axial region 166a, the spheroid 166b that is inlaid in and is installed on the axial region 166a one of revolution link rod 165 go up this revolution with the formation (first other example) of slider part 166 with above-mentioned same, can reduce the sliding-frictional resistance between circular cam 134 and the spheroid 166b significantly.Above-mentioned spheroid 166b is formed by sphere.

Self-evident, speed change also can replace formation shown in Figure 180 and make formation shown in Figure 19 with slider part 157.Revolution also can replace formation shown in Figure 19 and make formation shown in Figure 180 with slider part 166.

In first other example of the cam path 134a of Figure 20～shown in Figure 22, compare with interior all side width C L1 of cam path 134a, form the outer circumferential side width C L2 of cam path 134a significantly.The V-type pulley shape of V-shape belt of for example reeling forms circular cam 134 like that, and cam path 134a forms V-type pulley groove shape.In addition, as shown in figure 21, be provided with spheroid 166b on slider part 166, embed ring bodies 166c in the cam path 134a sliding freely as rotor as globular part in revolution.Ring bodies 166c is rotatably freely supported on the outer circumferential side of spheroid 166b.

Promptly, as the V-type pulley shape of the V-shape belt of reeling, compare with interior all side width C L1 of cam path 134a, form outer circumferential side width C L2 significantly, therefore forming roughly the structure of the cam path of the square groove shape of same size with interior all side width and outer circumferential side width compares, only carry out the simple processing of circular cam 134, just can reduce the gap between spheroid 157c, the 166b of the inner face of cam path 134a and each slider part 157,166 significantly, can improve and keep straight on HST mechanism 53, revolution output controller performance with HST mechanism 54.Particularly, remain zero center position in output and be supported with slider part at 157,166 o'clock, almost can eliminate the inner face of cam path 134a and the gap between

spheroid

157c, 166b each

HST mechanism

53,54.

In addition, as mentioned above, cam path 134a outside (radius outward direction) on the radiant rays direction that with revolution input shaft 122 is the center offers.Cam path 134a forms V-type pulley groove shape.As Figure 21 at length shown in, the outer peripheral face shape of ring bodies 166c is formed circular cone shape.That is, its centre of gration of lateral (axle center of the revolution input shaft 122) embedding from circular cam 134 has outer peripheral face to be shaped as the ring bodies 166c of circular cone shape in the cam path 134a of V-type pulley groove shape.Therefore, when input shaft 122 rotations are changeed in circular cam 134 wraparounds, Yi Bian the axle center of keeping with revolution input shaft 122 is the radiant rays state consistent with the axial line of ring bodies 166c at center, Yi Bian ring bodies 166c rotates around spheroid 166b.

In other words, the cam path 134a by the V-slot shape and the ring bodies 166c's of circular cone shape is chimeric, when input shaft 122 rotations are changeed in circular cam 134 wraparounds, even uneven friction drag acts on ring bodies 166c, also can stop ring bodies 166c to rotating with the heterotropic direction of the hand of rotation of circular cam 134.Consequently, can make the hand of rotation of the hand of rotation of circular cam 134 and ring bodies 166c always consistent.Compare with the heterotropic structure of ring bodies 166c, can make ring bodies 166c, can reduce the rotary load of circular cam 134 always with little resistance rotation.In addition, compare, can prevent the eccentric wear of ring bodies 166c, can suppress the generation in gap with the heterotropic structure of ring bodies 166c.

As Figure 21 and shown in Figure 22, sphere supports support 168 cylindraceous is anchored on the above-mentioned revolution link rod 165.Support 168 is inserted in the axial region 166a discrepancy that is anchored on above-mentioned spheroid 166b freely.Setting makes axial region 166a absorb with spring 169 from support 168 outstanding gaps.In addition, rotation is embedded with ring bodies 166c freely on spheroid 166b.The outer peripheral face shape of ring bodies 166c forms circular cone shape.The angle of inclination of the angle of inclination of outer peripheral face of ring bodies 166c of circular cone shape and above-mentioned cam path 134a top (following) is formed about equally.Utilize the gap to absorb with spring 169, make ring bodies 166c periphery top and following and cam path 134a top and followingly connect liftoff butt.Utilize the gap to absorb, make spheroid 166b can connect liftoff suppressing in circular cam 134 via ring bodies 166c with spring 169.

According to above-mentioned formation, can reduce the sliding resistance that slider part 166 (ring bodies 166c) is used in the revolution that is connected in the cam path 134a, can reduce cam path 134a face simultaneously significantly and turn round the gap of using between slider part 166 (ring bodies 166c).Consequently, bearing circle 10 is being supported on the state of in-line position, promptly turning round by the gap between cam path 134a face and ring bodies 166c under the state that easily moves about because of the mechanical vibration of driving engine 17 etc. with slider part 166, also can remain zero with respect to the output that the mechanical vibration of driving engine 17 grades will be turned round with HST mechanism 54.

In addition, constitute following structure: possess with the transmission of power of driving engine to above-mentioned ridden in left or right direction portion as the craspedodrome of craspedodrome mobile devices with HST mechanism 53 with respect to the main shift lever 13 as variable speed operation spare of keeping straight on HST mechanism 53, by the operation of main shift lever 13, the circular cam 134 as cam body is rotated around the speed change axis S with the rotation axis P quadrature that turns round input shaft 122.Therefore, change the rotation axis P of input shaft 122 and around the circular cam 134 of speed change axis S three-dimensional ground displacement, can make revolution with slider part 166 actions by wraparound.Operational ton control that can be by main shift lever 13 can improve the output controller performance of revolution with HST mechanism 54 based on the revolution of the operational ton of bearing circle 10 output with HST mechanism 54.

For example, can constitute: by main shift lever 13 is operated beyond the center position advance or going-back position makes circular cam 134 rotate around speed change axis S, utilize the operation of bearing circle 10, the rotation axis P that makes circular cam 134 wraparounds change input shaft 122 rotates, the may command revolution output of HST mechanism 54.Can constitute: main shift lever 13 is when center position, even direction of operating dish 10, revolution also is maintained zero with the output of HST mechanism 54.

In second other example of cam path 134a shown in Figure 23, replacement Figure 21 and shown in Figure 22 on the V-type pulley groove makes in shape and below bevelled cam path 134a (first other example) all, and only make top or following arbitrary face tilt of cam path 134a.In this case, therefore same because ring bodies 166c do not rotate with structure shown in Figure 20, preferably the axial region 166a of spheroid 166b is supported on revolution link rod 165 via ball-bearing casing, prevent the eccentric wear of spheroid 166b.In addition, self-evident, also speed change can be made Figure 21～structure shown in Figure 23 with the structure of slider part 157, to replace structure shown in Figure 20.

(5) distressed structure of mechanical type link gear

Then, with reference to Figure 25～Figure 38 the distressed structure of mechanical type link gear 121 is described.The mechanical type link gear 121 of distressed structure is brought into play and above-mentioned mechanical type link gear 121 identical functions that illustrated basically.But, in distressed structure, amount of spin according to speed change output shaft 136, by craspedodrome electro-motor 241 as electric actuator, make the craspedodrome actuating spindle 149 positive and negative rotations of keeping straight on, according to the amount of spin of rotary output shaft 164, by revolution electro-motor 181 as electric actuator with HST mechanism 53, make the revolution actuating spindle 189 positive and negative rotations of revolution with HST mechanism 54, this point is different with the structure of the above-mentioned mechanical type link gear 121 that has illustrated.

As Figure 25～shown in Figure 28, speed change output shaft 136 is outstanding to the left and right sides center side of the body 1 that travels from steering box 120.End (outstanding end) at speed change output shaft 136 is provided with the craspedodrome rotary angle transmitter 240 as one of rotation detecting device example.Craspedodrome rotary angle transmitter 240 is according to the corner (amount of spin) of speed change output shaft 136, and detecting craspedodrome is the corner of tween drive shaft 155 with transaxle, and then detects the tilt operation amount of main shift lever 13.Therefore, the tilt operation amount of the corner of tween drive shaft 155 and then main shift lever 13 detects indirectly by the craspedodrome rotary angle transmitter 240 that is arranged at speed change output shaft 136.Craspedodrome rotary angle transmitter 240 is electrically connected (with reference to Figure 38) with the controller 200 as control setup described later, its detection information input controller 200 that suits.As craspedodrome rotary angle transmitter 240, as long as adopt for example rotary encoder, swinging potential difference meter etc.

In rotary output shaft 164, be provided with revolution rotary angle transmitter 280 to the outstanding end of the rear side of the body 1 that travels as one of rotation detecting device example from steering box 120.Revolution rotary angle transmitter 280 is the corner (amount of spin) of rotary output shaft 164 according to revolution with transaxle, detects the rotating operation angle (rotating operation amount) of bearing circle 10.Revolution rotary angle transmitter 280 is electrically connected (with reference to Figure 38) with the controller 200 as control setup described later, its detection information input controller 200 that suits.As revolution rotary angle transmitter 280, as long as adopt for example rotary encoder, swinging potential difference meter etc.

Also have, as Figure 25～shown in Figure 28, the craspedodrome that removes shared pump shaft 59, first HM Hydraulic Motor 56 is with the motor drive shaft 60, and craspedodrome actuating spindle 149 is outwards given prominence to HST mechanism 53 from keeping straight on.Craspedodrome actuating spindle 149, links with motor output shaft 242 interlocks of the top craspedodrome electro-motor 241 as electric actuator that is disposed at change speed gear box 18 in mode that can positive and negative rotation via craspedodrome link mechanism 245.Craspedodrome electro-motor 241 is installed on the top carriage 243 that is fixed on change speed gear box 18.The vertical plate part of the central to the left and right through bracket 243 of motor output shaft 242 of craspedodrome electro-motor 241.

Craspedodrome link mechanism 245 possesses the swing arm 146 that is anchored on motor output shaft 242, the craspedodrome motion arm 148 that is anchored on craspedodrome actuating spindle 149 and with these two arms, 146,148 bonded assembly shifter bars 147.One end of shifter bar 147 is connected in swing arm 146 via the ball and socket straight coupling, and the other end of shifter bar 147 is articulated in craspedodrome motion arm 148 rotationally via horizontal Pivot.

Be equipped with on craspedodrome actuating spindle 149 (or the motor output shaft 242 of craspedodrome electro-motor 241 also can) that detecting keeps straight on keeps straight on speed change output transducer 244 (with reference to Figure 38) with the rotary encoder of the speed change output of HST mechanism 53 etc.Keeping straight on is electrically connected with controller 200 described later with speed change output transducer 244, its detection information input controller 200 that suits.

On the other hand, except that motor drive shaft 61 was used in the revolution of shared pump shaft 59, second HM Hydraulic Motor 58, revolution actuating spindle 189 was outwards outstanding with HST mechanism 54 from revolution.Revolution actuating spindle 189, links with motor output shaft 282 interlocks of the top revolution electro-motor 281 as electric actuator that is disposed at change speed gear box 18 in mode that can positive and negative rotation via revolution link mechanism 285.Revolution electro-motor 281 is installed on the top carriage 283 that is fixed on change speed gear box 18.The motor output shaft 282 of revolution electro-motor 281 is the vertical plate part of through bracket 283 forward.

Revolution link mechanism 285 possesses the swing arm 186 that is anchored on motor output shaft 282, be anchored on the revolution motion arm 188 of revolution actuating spindle 189 and with these two arms, 186,188 bonded assembly pivoted levers 187.One end of pivoted lever 187 is connected in swing arm 186 via the ball and socket straight coupling, and the other end of pivoted lever 187 is articulated in revolution motion arm 188 rotationally via horizontal Pivot.

On revolution actuating spindle 189 (or the motor output shaft 282 of revolution electro-motor 281 also can), be equipped with detect revolution with the revolutions such as rotary encoder of the speed change output of HST mechanism 54 with speed change output transducer 284 (with reference to Figure 38).Revolution is electrically connected with controller 200 described later with speed change output transducer 284, its detection information input controller 200 that suits.

Then, as shown in figure 38, be equipped on the body 1 that travels as the controller 200 of control setup detection information based on each rotary angle transmitter 240,280, carry out the speed of a motor vehicle and this speed change of direct of travel that make each electro-motor 241,281 action regulate the body 1 that travels and turn to control.Controller 200 also possesses the RAM203 (read-write memory (RWM) at any time) of the ROM202 (read-only memory (ROM)) of storage control program or data, temporary transient storage control program or data, as the clock of timer function and the IO interface etc. of carrying out the exchange of each input and output kind equipment (sensor, actuator etc.) and data except that possessing the CPU201 (central processing unit) that carries out various calculation process, control.

Controller 200 is connected in storage battery 205 via the key switch 204 of the additional usefulness of power supply.Key switch 204, is disposed in the manoeuvre portion 9 though diagram is omitted for the rotary switch of the rotatable operation of key of the regulation of utilization insertion key hole.In addition, key switch 204 also is connected with the starter 206 that is used for fire an engine 17.

On controller 200, be connected with as the relevant equipment of input: as the craspedodrome rotary angle transmitter 240 and the revolution rotary angle transmitter 280 of rotation detecting device, detect keep straight on the craspedodrome of the speed change output of HST mechanism 53 with speed change output transducer 244, and detect revolution with the revolution of the speed change output of HST mechanism 54 with speed change output transducer 284 etc.In addition, on controller 200, be connected with as the relevant equipment of output: the positive and negative rotation of control craspedodrome actuating spindle 149 so that keep straight on the 241a of motor drive circuit portion of the craspedodrome electro-motor 241 of the speed change output of HST mechanism 53, and the positive and negative rotation of control revolution actuating spindle 289 and then revolution with the 281a of motor drive circuit portion of the revolution electro-motor 281 of the speed change output of HST mechanism 54 etc.

Under situation about as above constituting, also possessing can be around two orthogonal axis P, the control volume 131 that S rotates, control volume 131 passes through the positive and negative rotation along with the wraparound shaft axis P of the operation of bearing circle 10, revolution is moved with HST mechanism 54, by positive and negative rotation around speed change axis S along with the operation of main shift lever 13, make and keep straight on 53 actions of HST mechanism, therefore, the positive and negative rotation of wraparound shaft axis P by control volume 131 and around the positive and negative rotation both sides of speed change axis S can both carry out " when under state; during with the position of bearing circle 10 rotating operations beyond neutral; its rotating operation amount is big more with the position of main shift lever 13 tilt operation beyond neutral, travel body 1 more with little radius of turn left or right-hand rotation " and so on action.That is, control volume 131 has concurrently with the interlock of the rotating operation of bearing circle 10 and makes the function of revolution electro-motor 281 (revolution with HST mechanism 54) action and the function both sides that craspedodrome electro-motor 241 (keeping straight on HST mechanism 53) moved with the tilt operation interlock of main shift lever 13.

And, owing to possess: the craspedodrome rotary angle transmitter 240 that detects the amount of spin of the tween drive shaft 155 (and then speed change output shaft 136) that rotates according to the tilt operation amount of main shift lever 13, the revolution rotary angle transmitter 280 of the amount of spin of the rotary output shaft 164 that detection is rotated according to the rotating operation amount of bearing circle 10, with keep straight on the related craspedodrome electro-motor 241 of the craspedodrome actuating spindle 149 of HST mechanism 53, with revolution with the related revolution electro-motor 281 of the revolution actuating spindle 189 of HST mechanism 54, utilize each rotary angle transmitter 240, each electro-motor 241 of 280 detection information-driven, 281 controller 200, therefore, can use a lot of long bar or arms, pivot backing pins etc. are with the axle 155 (136) of steering box 120 sides, 164 and the actuating spindle 149 of change speed gear box 18 sides, 189 mechanically link, and can reduce number of parts.Therefore, formation is also extremely simple and compact.In addition, also help the reduction of manufacturing cost.

As mentioned above, control volume 131 has the function that makes revolution electro-motor 281 (revolution HST mechanism 54) action with the rotating operation interlock of bearing circle 10 concurrently, with make the function both sides of craspedodrome electro-motor 241 (craspedodrome) action with the interlock of the tilt operation of main shift lever 13 with HST mechanism 53, the relation of the operational ton of bearing circle 10 and main shift lever 13 is based on the action of control volume 131 and therefore mechanically decision need not set expression two rotary angle transmitters 240 with for example graphicform or function table form etc., 280 detection information and two electro-motors 241, the output model of the syntagmatic of 281 drive amount.

Promptly, controller 200 if respectively independently control keep straight on the proportionate relationship of sensor 240 motors 241 and revolution proportionate relationship with sensor 280 motors 281, do not need to control to keep straight on and use the degree of correlationship of the complexity of equipment with equipment and revolution.Therefore, utilize electrical control, can reduce the computational load of controller 200 simultaneously, can adopt cheap controller 200 for the speed of a motor vehicle of regulating the body 1 that travels and direct of travel.

In addition, in embodiment, axis AX2 at the rotary output shaft 164 that rotates with the rotating operation interlock of bearing circle 10, be located substantially under the state on the same plane with the axis AX1 of the tween drive shaft 155 that rotates with the interlock of the tilt operation of main shift lever 13, the rotary output shaft 164 and the tween drive shaft 155 rotatable earth's axis are propped up in steering box 120, therefore the actuation range (slewing area particularly has a down dip on axis of pitch S) of control volume 131 is restricted, with bar or the arms of as patent documentation 1, using a lot of length, the structure of the operating system of pivot backing pin etc. is compared, and can shorten in the mechanical type link gear 121 size of axis P longitudinally significantly.Therefore, compare, can form the structure of mechanical type link gear 121 simple significantly and small-sizedly, can realize operating system single-piece densification with the situation of patent documentation 1.

Particularly, in embodiment, the radius of gyration r2 of the radius of gyration r1 of craspedodrome link rod 156 and revolution link rod 165 is set at substantially the same length

Therefore can further form operating system single-piece structure compactly.

(6) other

The present application is not limited to above-mentioned embodiment, can be embodied as variety of way.For example, the present application is not limited to above-mentioned the sort of combination machine, can be widely used in special operations such as field machines such as trac., rice transplanter, crane-car with various vehicles such as vehicles.In addition, each formation is not limited to graphic embodiment, in the scope that does not break away from the present application spirit, can carry out all changes.

Claims

1, a kind of driving vehicle possesses: keep straight on change-speed box and revolution change-speed box, its will be equipped on the body that travels driving engine power speed changing and be delivered to ridden in left or right direction portion; The craspedodrome operating parts, it controls described craspedodrome with the craspedodrome output of change-speed box with respect to described ridden in left or right direction portion; The revolution operating parts, it controls described revolution with the gyroscopic output of change-speed box with respect to described ridden in left or right direction portion, it is characterized in that,

In orthogonal rotation axis and the rotating mono-control volume of speed change axis, be loaded on containing box, described control volume is following structure: by the operation of described revolution operating parts, rotates around described rotation axis, and the operation by described craspedodrome operating parts, around described speed change rotational

In described containing box, according to making each other axis be located substantially on mode on the same plane, the rotatable earth's axis is propped up: described control volume is converted to described revolution around the amount of spin of described rotation axis is converted to described craspedodrome craspedodrome transaxle with the gear shifting operation amount of change-speed box with transaxle with described control volume around the amount of spin of described speed change axis with the revolution of the gear shifting operation amount of change-speed box

Described containing box is disposed at the following side of pedal floor component of the floor of the manoeuvre portion that constitutes the described body that travels, so as to be positioned at described two change-speed boxs near, above-mentioned two change-speed boxs are between described ridden in left or right direction portion.

2, driving vehicle as claimed in claim 1, it is characterized in that, outstanding above described pedal floor component at the revolution operating axis that is used on the described control volume to transmit around the turning effort of described rotation axis from described containing box, described revolution operating parts is installed in the upper end of described revolution operating axis.

3, driving vehicle as claimed in claim 1 is characterized in that, described containing box is disposed at the top higher height and position than described ridden in left or right direction portion.

4, driving vehicle as claimed in claim 1, it is characterized in that, described control volume is arranged on the revolution input shaft that rotates by the operation of described revolution operating parts, so that tilt to rotate freely around described speed change axis with described rotation axis quadrature by the operation of described craspedodrome operating parts, the described rotation axis that has on described control volume with described revolution input shaft is the cam body that along the circumferential direction extend at the center

Utilize the speed change slider part of the part on the quadrature-axis be sticked in sliding freely in the described cam body with described speed change orthogonal axe, described craspedodrome is rotated with transaxle, described craspedodrome is carried out gear shifting operation with change-speed box, utilize the revolution slider part that is sticked in the part on the speed change axis described in the described cam body sliding freely, described revolution is rotated with transaxle, described revolution is carried out gear shifting operation with change-speed box

Forming with described rotation axis on described cam body is the cam path of center towards radius outward direction opening, described each slider part is for embedding the structure in the described cam path sliding freely, compare with interior all side width of described cam path, form the outer circumferential side width of described cam path significantly.

5, driving vehicle as claimed in claim 4 is characterized in that, is rotatably freely supported on the outer circumferential side of the globular part of described each slider part with embedding rotor in the described cam path sliding freely.

6, driving vehicle as claimed in claim 4 is characterized in that, rotor is rotated the globular part that is flush-mounted in described each slider part freely, and described globular part is suppressed in described cam path via rotor.