JP2000128015A - Traveling agricultural machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve mobility and operability and, at the same time, to enable easy correction of direction of travel and turning of a combine and other crawler vehicles as if operating a four-wheeled vehicle by allowing a gear- shifting operation from a transmission operating member to vary a turning speed with a turning radius kept generally constant. SOLUTION: When a main transmission lever 68 is operated to move a machine forward or backward, an operating member 80 is tilted to a predetermined angle in a forward or backward direction with a first pivot axis 77 as a center. At this time, a transmission arm 84 is operated via a coupling shaft 88 to select a forward or backward motion at a traveling speed. When a steering wheel 19 is turned in this condition (the main transmission lever 68 in a position other than neutral), an operating member 81 is tilted to a predetermined angle upward or downward with a second pivot axis 79 as a center. At this time, a coupling shaft 89 is either pulled or pushed to operate a steering arm 85 to turn the machine body clockwise or counterclockwise. This allows only a turning speed to be varied with a turning radius kept at generally constant, even when a main transmission output is changed by an operation of the main transmission lever 68 when the steering wheel 19 is turned.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile agricultural machine such as a combine for continuously cutting and threshing grain culm in a field.

[0002]

Conventionally, harvesting is performed while a combine equipped with left and right traveling crawlers is moved along an uncut culm row in a field, and the combine is directed in a field headland. It was shifted and moved to the unprocessed grain culm row of the next process, but the right and left traveling output of the transmission case that transmits the engine output at a variable speed is transmitted to the left and right traveling crawler via the left and right side clutch, and the left and right side clutch is disconnected By temporarily stopping and turning one of the left and right traveling crawlers by the operation, the operator needs to perform both the left and right side clutch operation and the traveling speed change operation substantially at the same time, and also changes the direction at the headland on the field There is a problem that the turning radius at the time becomes large.

Therefore, by providing left and right hydraulic continuously variable transmissions for separately transmitting the power of the engine and driving the left and right traveling crawlers, deceleration during turning and a reduction in turning radius can be easily performed, but straight running performance is reduced. There is a problem that the steering operation for moving along the uncut culm row is troublesome.

Further, a single hydraulic continuously variable transmission mechanism for transmitting the engine power to the left and right traveling crawlers and a hydraulic continuously variable steering mechanism for decelerating the traveling crawlers inside the turning and increasing the speed of the traveling crawlers outside the turning are provided. By keeping the straight running performance good, the steering operability is improved and the turning radius can be easily reduced.However, the running speed is kept substantially constant between straight running and turning, and compared to straight running. There is a problem that the engine becomes overloaded during turning when the running load increases, and when performing a spin turn operation with a small turning radius, it is necessary to perform a deceleration operation by running speed change, and when turning in a field headland It is necessary to perform both the turning operation and the traveling speed change operation.

Further, the traveling speed is automatically reduced in conjunction with the turning operation for transmitting the steering mechanism, and automatically increased to the original traveling speed in conjunction with the operation for returning to straight traveling. The spinning operation can be performed at a proper traveling speed only by turning the vehicle, reducing the troublesome traveling speed change operation. Even if the directional operation is performed, the traveling speed is reduced or increased, and the traveling speed varies unevenly during the harvesting operation. There is a problem that the steering operation cannot be easily performed.

[0006]

According to the present invention, there is provided a traveling speed change member for transmitting a driving force of an engine to a left and right traveling portion by a traveling speed change operation of a speed change operation member, and a left and right direction by a steering operation of a steering operation member. In a mobile agricultural machine provided with a steering member that causes a difference in the drive speed of a traveling unit, a turning speed is changed while a turning radius is kept substantially constant by a shift operation of a shift operation member. The driving operation can be performed according to the skill level of the vehicle, and the mobility and the driving operability can be easily improved, and the turning radius is kept substantially constant with respect to changes in the center speed of the vehicle (vehicle speed). This makes it possible to easily change the course and change the direction of a crawler traveling vehicle such as a combine equipped with a pair of left and right traveling crawlers with the driving feeling of a four-wheel traveling vehicle such as a tractor or rice transplanter. Than it is.

The turning speed is changed while the turning radius is kept substantially constant by the shifting operation of the shift operating member, so that the driving operation can be performed according to the skill of the operator and the mobility can be improved. And the turning radius is maintained substantially constant with respect to changes in the center speed of the vehicle (vehicle speed), so that a four-wheeled vehicle such as a tractor or rice transplanter can be improved. It is possible to easily change the course and change the direction of a crawler traveling vehicle such as a combine equipped with a pair of left and right traveling crawlers, as if driving.

A traveling speed change member for driving the left and right traveling crawlers in the same direction at the same speed and a steering member for driving the left and right traveling crawlers in the opposite direction at the same speed are provided, and are provided in proportion to the shift amount of the traveling speed changing member. It is configured to automatically change the steering amount of the steering member, and when the steering operation is constant, the turning radius can be kept constant, the vehicle speed can be changed by increasing or decreasing the vehicle speed by changing gear only, and the vehicle speed can be changed. The ratio of the speed of the inside traveling crawler to the speed of the outside traveling crawler is kept constant in response to the change, and it is easy to improve the traveling speed and steering function of the traveling crawler and to simplify the traveling speed and steering control. It is possible.

In addition, the steering amount of the steering member is automatically changed by a speed change operation for changing the vehicle speed, and the vehicle speed is maintained while the turning radius is kept substantially constant without performing the steering operation. It can be changed to easily perform the speed change operation and turning operation of the traveling crawler similar to the accelerator pedal of a four-wheeled vehicle, improve the vehicle speed control and steering control function of the traveling crawler, and simplify the speed change operation and the steering operation This can be easily achieved.

[0010]

Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a perspective explanatory view of an operation system of a main shift lever and a steering handle, FIG. 2 is an overall side view of the combine, and FIG. 3 is a plan view of the combine, wherein (1) shows a traveling crawler (2). (3) is a machine frame installed on the track frame (1), (4) is a feed chain (5) stretched to the left side, and has a built-in handling cylinder (6) and a processing cylinder (7). A threshing unit, which is a threshing machine, (8) is a cutting unit provided with a cutting blade (9) and a grain culm transport mechanism (10), and (11) is moved up and down the cutting unit (8) via a cutting frame (12). A hydraulic cylinder, (13) a straw processing unit that faces the end of a straw chain (14), (15) a grain tank that carries in the grains from the threshing unit (4) via a fryer cylinder (16). , (17) is a discharge auger for carrying out the grains of the tank (15) outside the machine, and (18) is a round steering. Bundle (19) and the driver's seat (20) operating cabin comprising etc., constitute (21) as is an engine provided with the operating cabin (18) downward, threshing continuously harvests culms.

As shown in FIG. 4, the traveling crawler (2)
The transmission case (22) for driving the vehicle is a traveling hydraulic continuously variable transmission mechanism (25) which is a main transmission mechanism including a pair of a first hydraulic pump (23) and a first hydraulic motor (24).
And a turning hydraulic continuously variable transmission mechanism (28), which is a steering mechanism including a pair of second hydraulic pumps (26) and a second hydraulic motor (27), and an output of the engine (21). The first and second hydraulic pumps (23) (2) are mounted on the shaft (21a).
The input shaft (29) of 6) is interlockingly connected via a transmission belt (30) to drive these hydraulic pumps (23) and (26).

An auxiliary transmission mechanism (32) and a differential mechanism (3) are connected to an output shaft (31) of the first hydraulic motor (24).
3) The driving wheels (34) of the traveling crawler (2) are interlocked via 3). The differential mechanism (33) has a pair of symmetrical planetary gear mechanisms (35) and (35). The planetary gear mechanism (35) includes one sun gear (36) and three planetary gears (3) meshing on the outer periphery of the sun gear (36).
7) and a ring gear (38) meshing with these planetary gears (37).

The planetary gear (37) is rotatably supported on a carrier (41) of a carrier shaft (40) on a coaxial line with a sun gear shaft (39) so as to be rotatable, and sandwiches left and right sun gears (36) and (36). The left and right carriers (41) are arranged to face each other, and the ring gear (38) has internal teeth (38a) meshing with each planetary gear (37) and is arranged on the same axis as the sun gear shaft (39). The shaft (40) is rotatably supported on the shaft (40).

A traveling hydraulic continuously variable transmission mechanism (2)
5) Controlling the forward / reverse rotation and rotation speed of the first hydraulic motor (24) by adjusting the angle change of the rotary swash plate of the first hydraulic pump (23), and the rotation output of the first hydraulic motor (24). From the transmission gear (42) of the output shaft (31) to each gear (4
3) A center gear (46) fixed to the sun gear shaft (39) via (44) (45) and the auxiliary transmission mechanism (32).
To rotate the sun gear (36). The auxiliary transmission mechanism (32) includes an auxiliary transmission shaft (47) having the gear (45) and a parking brake shaft (49) having a gear (48) meshing with the center gear (46). A pair of low-speed gears (50) and (48) and a medium-speed gear (5) are provided between the shaft (47) and the brake shaft (49).
1) (52) ・ Providing high-speed gears (53) and (54)
The low speed, the medium speed, and the high speed can be switched by sliding the gear (51) at the center position (there is a neutral state between the low speed and the medium speed and between the medium speed and the high speed. is there). The brake shaft (49) is provided with a vehicle speed detection gear (55), and the gear (55)
A vehicle speed sensor (56) for detecting the vehicle speed from the number of revolutions is provided. It should be noted that the cutting P transmitting the rotational force to the cutting unit (8).
The transmission gear (42) of the output shaft (31) is meshed with the PTO input gear (58) of the TO shaft (57).

The first hydraulic motor (24) transmitted to the sun gear shaft (39) via the center gear (46).
Is transmitted to the carrier shaft (40) through the left and right planetary gear mechanisms (35), and the rotation transmitted to the carrier shaft (40) is transmitted to the pair of left and right reduction gears (6).
0) and (61) to the left and right wheel shafts (34a) of the left and right drive wheels (34), respectively.

Further, a hydraulic stepless speed change mechanism for turning (2)
8) The forward / reverse rotation of the second hydraulic motor (27) and the control of the rotation speed are performed by adjusting the angle change of the rotary swash plate of the second hydraulic pump (26), and the output shaft of the second hydraulic motor (27) is controlled. The rotational output is transmitted from the output gear of (62) to the input gears (65a) and (65b) of the turning input shaft (64) via the gear transmission mechanism (63), and the external teeth (3) of the right ring gear (38) are transmitted.
8b) directly and on the left ring gear (3
The external gear (38b) of (8) is transmitted through the reverse gear (67) of the reverse rotation shaft (66) so that the left and right ring gears (38) rotate at the same rotational speed when the second hydraulic motor (27) rotates forward. , The left gear (38) is rotated forward and the right gear (38) is rotated reversely.

When the driving of the first hydraulic motor (24) for driving is stopped while the driving of the second hydraulic motor (27) for turning is stopped and the left and right ring gears (38) are stationary. The rotation output from the first hydraulic motor (24) is transmitted from the center gear (46) to the left and right sun gears (36) at the same speed, and the planetary gears (37) and the carrier (41) of the left and right planetary gear mechanisms (35) and the reduction gear. Gear (60)
(61) is transmitted to the left and right wheel sets (34a) at the same rotational speed in the same rotational direction in the left and right directions, so that the aircraft travels straight forward and backward. On the other hand, when the driving of the first hydraulic motor (24) for driving is stopped and the left and right sun gears (36) are stationary and fixed, the second hydraulic motor for turning (27) is driven forward and reverse to rotate the left and right sun gears (36). The planetary gear mechanism (35) rotates forward or backward,
In addition, the right planetary gear mechanism (35) rotates reversely or forwardly to make the driving direction of the left and right traveling crawlers (2) forward and backward, thereby causing the body to spin turn right or left on the spot.

When the first hydraulic motor (24) for traveling is driven and the second hydraulic motor (27) for turning is driven to turn the body left and right, turning with a large turning radius is enabled. The turning radius is determined according to the speed of the left and right traveling crawlers (2).

As shown in FIGS. 5 to 13, the main transmission lever (68) connected to the traveling hydraulic stepless transmission mechanism (25) and the turning hydraulic stepless transmission mechanism (28). And a steering handle (19) to be linked to the speed change and turning interlocking mechanism (69).
9) is a link mechanism (7) which is a traveling speed change and steering link system.
0) and a continuously variable transmission mechanism (2) for traveling and steering via (71).
5) It is linked to the control levers (72) and (73) of (28).

The interlocking mechanism (69) includes a rotating plate (75) for supporting the base bent portion (68a) of the main transmission lever (68) on the cylinder shaft (74) so as to be able to swing left and right, and a body side. A fixed mounting plate (78) fixedly mounted on the frame (76) of the main body and supporting the rotating plate (75) rotatably back and forth via a first pivot (77) in the left-right direction; and the pivot (77). A) a speed change operation member (80) that is connected to a rotation plate (75) via a second pivot (79) in the front-rear direction orthogonal to the second direction and is provided rotatably around the shaft (79); A steering operation member (81) rotatably connected around an axis of the pivot (79), and a second pivot (79) of the speed change and steering operation members (80) (81).
Means that the operation output sections (80a) (81a) at the eccentric position are linked to the speed change and steering link mechanisms (70) (71).

The speed change and steering link mechanism (70) (7)
1) is the frame (7) at the rear of the interlocking mechanism (69).
6) a speed change arm (84) which is supported on the side via a swing cylinder shaft (83) outside the swing shaft (82), and turning output reversing means for fixing a base end to the swing shaft (82). Steering arm (8
5) a universal joint shaft (88) (89) connecting between each operation output shaft (86) (87) of the output section (80a) (81a) and each arm (84) (85); Dynamic axis (8
2) a gear output rotatably provided on a steering output arm (91) fixed to the right end and an intermediate shaft (94) attached to a fulcrum bearing (93) of a pivot (92) of the driving cabin (18). And a first swing arm (95) (96) for steering, the arms (84) (91), and a first swing arm (95).
(96) A universal joint type first rod (97) (98) for speed change and steering which connects the respective ends of each other, and a first swing arm (95) (96) provided on the intermediate shaft (94). Speed change and steering second swing arm (99) (1
00), a shift and steering cylinder shaft (103) (104) rotatably supported by a support shaft (102) mounted on a bearing plate (101) above the transmission case (22); 103) (104), a first swing arm (105) (106) having a base end fixed thereto, and the second swing arm (9).
9) A speed change and steering universal joint type second rod (107) (108) connecting between the respective distal ends of (100), and a second rocker having a base end fixed to the cylindrical shaft (103) (104). Moving arm (109) (110) and the control lever (7
2) a speed change operation member (80) including a speed change and steering universal joint type third rod (111) (112) for connecting the respective ends of (73) to each other, and centering on the first pivot (77).
Control lever (72) for running by rotation of
The steering control member (81) is operated by rotating the steering operation member (81) about the second pivot (79) during traveling to perform gear shifting and steering control. are doing.

On the other hand, a gear (114) is provided on a handle operation shaft (113) at the lower end of the steering handle (19), and a sector gear (11) attached to the rear rotation shaft (115).
6) meshing the gear (114) with the steering shaft (117) disposed below the position of the main shift lever (68).
The first swing arm (118) and the rotating shaft (115)
A universal joint type steering first rod (12) serving as a steering link mechanism is provided between each of the distal ends of the output arm (119) and the output arm (119) having the base end fixed thereto.
0), and a second swing arm (121) integrated with the first swing arm (118) of the steering shaft (117),
The universal joint shaft (89) is connected to the front end of the universal joint type steering second rod (122) via the handle (1).
The steering operation member (81) is configured to rotate around the second pivot (79) by the rotation operation of (9).

A neutral positioning plate (123) is provided below the gear (114) of the handle operation shaft (113), and a projecting shaft (124) on the lower surface of the positioning plate (123) is provided.
To one end of a steering detection link (125), and a reduction arm shaft (12) disposed on the right side of the rotation shaft (115).
6) is provided with a first swing arm (127), and the shaft (128) of the first swing arm (127) is connected to the detection link (1).
25) The other end of the long hole (125a) is slidably connected to the other end of the deceleration arm (12) of the steering shaft (117).
9) and the second swing arm (13) of the reduction arm shaft (126).
0) is connected by a universal joint type first deceleration rod (131) which is a deceleration link mechanism, and the rightmost end deceleration transmission shaft (132) of the speed change operation member (80) and the second swing arm. The other end of (130) is connected by a universal joint type second deceleration rod (133), and the running handle (1
As the steering amount in 9) is increased, the second deceleration rod (133) is pulled downward to reduce the traveling speed. Further, the rotating plate (75) and the speed change operating member (80)
A spring (S1) is stretched between the steering handle (19).
Is returned to the straight traveling position and the detection link (125) is returned to the original position, the member (80) is returned by the spring (S1), and the traveling speed is returned to the original value by the steering handle (19). Make up.

The shifting and steering operation member (8)
0) (81) can be rotated around the axis.
9) and the universal joint portion (89a) of the steering arm (85) and the joint shaft (89) are substantially aligned on the horizontal line (L1) in the front-rear direction, and the operation output shafts (86) (87) ) And the universal joint shaft (88) (89)
(89b) and the first pivot (77) are connected to the line (L).
1) is located on a horizontal horizontal line (L2) orthogonal to the line (L2). Further, the universal joint (88a) between the transmission arm (84) and the joint shaft (88) and the joint (89a) are connected to the line (L2). ) And the joint (88a) as close to the joint (89a) as possible (at a position as close as possible) to the joint (89a). When one of these is operated during neutral holding of the direction handle (19), each operating member (80)
(81) is rotated only about the first and second pivots (77) and (79), and no operating force is applied to the joint shafts (88) and (89).

As shown in FIG. 9, when the operation member (80) is inclined forward and backward by an angle (α1) (α2) about the first pivot (77) by the forward / reverse operation of the main speed change lever (68), The speed change arm (84) is operated by pulling or pushing the joint shaft (88) to switch the traveling speed between forward and backward, and during this state as shown in FIG. 11 (when the main speed change lever (68) is other than neutral). ) To the steering wheel (1
When the operating member (81) is tilted up and down by an angle (β1) (β2) about the second pivot (79) in the turning operation of 9), the joint shaft (89) is pulled or pushed to pull the steering arm (8).
5) is operated to make a left and right turn of the body. That is, the joint shaft (89) moves on a substantially conical surface centered on the line (L1) even when the turning operation is performed when the main shift is in neutral, and the distance between the joint portions (89a) and (89b) changes. The steering arm (85) does not operate. The steering arm (85) operates when a turning operation is performed other than in the neutral position of the main shift, and the steering arm (85) operates in the front-rear direction when switching to forward / reverse travel.
The configuration is such that the rotation of the second hydraulic motor (27) is reversed in forward and reverse directions.

That is, the first hydraulic motor for traveling (24)
Assuming that the forward rotation of the motor is forward, the planetary gear mechanism (3) by the second hydraulic motor for turning (27) at the time of reverse rotation during reverse rotation.
The operation of 5) is reversed between forward and reverse. In order to match the turning direction of the body by operating the handle (19) between forward and reverse, the first hydraulic motor (24) is rotated in reverse (reverse). ), The swash plate angle of the second hydraulic pump (26) is switched to the opposite direction (first and second hydraulic pumps (23), (2)).
6) The rotation direction of the input shaft is constant), and the second hydraulic motor (2
The rotation of 7) is made to be in the opposite direction between the forward movement and the reverse movement.

That is, in this case, the operating member (80) at the time of the forward operation is tilted toward the angle (α1) forward from the neutral position, and the second rod (12) is turned by the right turning operation of the handle (19).
2) Pull the operation member (81) downward angle (β2)
Output part (81a) of the operating member (81) when tilted to the side
Is brought closer to the steering arm (85) side, and the steering arm (85) is rotated about the swing shaft (82) in a direction (counterclockwise in FIG. 5) away from the operation member (81). The control lever (73) is rotated downward via the first and second rods (98) (108) and the like, and the second hydraulic motor (27) for rotation is rotated forward. That is, the aircraft is turned right by forward movement (the speed of the traveling crawler (2) is large on the left side,
The right side is small).

In the above-described forward operation, the steering wheel (1
When the second rod (122) is pushed up by the left rotation operation of 9) and the operation member (81) is tilted to the upper angle (β1) side, the output section (81a) of the operation member (81) is operated by the operation arm ( 85), the steering arm (85) is rotated about the swing shaft (82) in a direction (clockwise in FIG. 5) to approach the operation member (81), and the control lever (73) is turned. By rotating upward, the second hydraulic motor (27) is reversely rotated. That is, the body is turned leftward by moving forward (the speed of the traveling crawler (2) is large on the right side and small on the left side).

Further, the operating member (80) at the time of the reverse operation is inclined toward the angle (α2) rearward from the neutral position, and
When the second rod (122) is pulled by the right rotation operation of 9) and the operation member (81) is inclined to the downward angle (β2) side, the output portion (81a) of the operation member (81) is moved to the steering arm (81). 85), the steering arm (85) is rotated about the swing shaft (82) in a direction (clockwise in FIG. 5) to approach the operation member (81), and the control lever (73) is turned. By rotating upward, the second hydraulic motor (27) is reversely rotated. That is, the aircraft turns to the right in reverse (the speed of the traveling crawler (2) is large on the left side and small on the right side).
Let it.

Further, contrary to the above, at the time of reverse operation,
By turning the handle (19) to the left, the operation member (8
When tilting 1) toward the upward angle (β1), the output portion (81a) of the operating member (81) is brought closer to the operating member (81), and the steering arm (82) is pivoted about the swing shaft (82). 8
5) is rotated in a direction (counterclockwise in FIG. 5) away from the operation member (81), and the control lever (73) is rotated.
Is rotated downward to rotate the second hydraulic motor (27) forward. In other words, the aircraft is caused to make a reverse left turn (the speed of the traveling crawler (2) is high on the right side and low on the left side).

As described above, the turning operation of the steering arm (85) is reversed in the turning operation at the time of the forward and backward movements, and the turning operation direction of the steering handle (19) in both the forward and backward movements. And the turning direction of the aircraft,
A steering operation member is constituted by a circular steering handle (19) which is rotated, and the rotation operation of the handle (19) performs a course correction, a direction change, and the like with the same driving feeling as a tractor or a rice transplanter, for example. And a link mechanism (70) (71) for mechanically connecting the steering operation member to the traveling speed change member or the steering member, and the link mechanism (7) is provided.
0) The operation and functions of (71) hardly deteriorate with time, so that the reliability of the steering operation can be easily improved.

FIGS. 15 and 16 show the relationship between the turning angle of the steering handle (19) and the speed of the left and right crawler (2) when the body turns to the left.
As the cutting angle of 9) increases, the speed difference between the left and right traveling crawlers (2) increases, and the left and right traveling crawlers (2) become larger.
The center speed of the aircraft, which is the average speed of the aircraft, is also reduced according to the traveling speed (high speed / standard speed / low speed). Even when the aircraft turns right, the left and right crawlers (2) only have the opposite relationship. As is clear from FIGS. 15 and 16, when the steering handle (19) in the straight traveling position is rotated leftward (rightward) by about 15 degrees, the elongated hole (125) is rotated.
The shaft (128) moves in a), the first deceleration rod (131) is maintained at the same position as the straight traveling by the spring (S1), and the first steering rod (131) is steered through the gears (114) (116). The rod (120) pushes (pulls) and turns left (right) by the steering output of the second hydraulic pump (26) and the motor (27). At this time, the amount of deceleration of the traveling crawler (2) inside the turning is substantially equal to the amount of acceleration of the traveling crawler (2) outside the turning, and the center speed of the machine is maintained at substantially the same speed as the straight traveling. Further, when the steering handle (19) is rotated by 15 degrees or more from the straight traveling position, the first deceleration rod (131) is pulled by either the left turn or the right turn against the spring (S1) to perform the deceleration operation. , The first hydraulic pump (2
3) The traveling speed output of the motor (24) is decelerated, and the left and right traveling crawlers (2) and (2) are driven to rotate (rotate) in the same direction to move forward (or backward), thereby causing the left and right traveling crawlers (2) to move forward.
(2) Left direction (right direction) due to difference in traveling speed in the same direction
Perform a turning brake turn operation. Further, when the steering handle (19) is rotated about 135 degrees, the center speed of the fuselage is reduced to about one-fourth of that when traveling straight, and the traveling crawler (2) inside the turning is reversely driven, and the traveling crawler inside the turning is driven. A spin turn operation in which the aircraft turns around (2) is performed. As shown in FIG. 18, the steering wheel (19) is rotated leftward or rightward by rotating the steering handle (19) in a range of 0 to 135 degrees. Perform a right turn operation and turn the steering wheel (1
9) Correct the alignment path moving along the uncut culm row in the rotation range while maintaining the traveling speed when traveling straight,
By turning the steering wheel (19) left and right 135 degrees from the straight-ahead position, the spin-turn operation of turning the aircraft on the field headland and moving to the next work process is automatically performed at a traveling speed of about one-quarter of the straight-ahead. It is configured to perform at a reduced speed.

Further, as shown in FIG. 17, the sub-shift is maintained at a standard speed (1.5 meters per second), and the steering wheel (1
When 9) was rotated 90 degrees, the turning radius of the aircraft was kept substantially constant even if the main transmission output was changed to high speed and two thirds and one third by operating the main transmission lever (68). In this state, only the turning speed (aircraft center speed) changes.

As is apparent from the above description, the driving force of the engine (21) is shifted to the left and right traveling crawlers (2) and (2) by the traveling speed change operation of the main shifting lever (68) as the speed change operating member. The first transmission transmission member
An operation that causes a difference in the driving speed of the left and right traveling crawlers (2) and (2) by the steering operation of the hydraulic pump (23) and the first hydraulic motor (24) and the steering handle (19) that is a steering operation member. A second hydraulic pump (26),
In a mobile agricultural machine provided with a hydraulic motor (27), the traveling speed is reduced according to the amount of operation of a steering handle (19), and the speed difference between left and right traveling crawlers (2) and (2) is continuously changed to operate the agricultural machine. When the operation amount of the steering handle (19) exceeds a predetermined amount, the operation is shifted to a spin turn operation, the speed is reduced only by operating the steering handle (19), the direction is changed at the field headland, and the next work process is performed. By returning to straight running, the speed is increased to the work traveling speed of the previous process and the work is resumed,
The traveling speed change operation accompanying the steering operation is omitted, and the straight traveling and course correction operation during farm work and the spin turn operation to change the direction toward the next work process position on the field headland are only a series of continuous steering operations. In addition to the smooth running, the running speed is reduced to about one-fourth when the steering handle (19) is fully steered, the straight running speed for agricultural work, and the spin turn for turning in the field headland The difference in running speed
High-speed running work is larger in proportion to running speed than low-speed running work, and even when performing high-speed running work, the spin-turn operation on the field headland can be performed as well as at low speed, and the low-speed running work Even if you do, you can quickly change the direction on the headland as in the case of high speed, and even if you set a large shift range for straight running while performing agricultural work, reduce the running speed range after deceleration during spin turn operation. It is configured to improve mobility and steering operability.

The output of the second hydraulic pump (26) and the second hydraulic motor (27) is maximized when the steering handle (19) is maximally steered, so that the traveling load is lower than that in the agricultural operation in which the vehicle travels straight. The driving crawler (2) necessary for turning in a headland on a field where the driving force becomes large secures the driving force, prevents troubles such as stopping of the engine (21) due to running overload at the time of turning, and operating the engine (21) accelerator. When the steering handle (19) is turned left and right by a predetermined amount based on the straight traveling position, the left and right traveling crawler (2) can be improved.
(2) is relatively increased and reduced by substantially the same amount to provide a dead zone for deceleration of the traveling speed that keeps the center speed of the body substantially constant, and performs a steering operation to make the body follow a row of crops or ridges during farm work. In addition, it is possible to prevent the running speed from changing non-uniformly and to correct the course during agricultural work while keeping the running speed approximately the same. Direction operation. Further, the turning radius of the steering handle (19) is changed by the sub-shift operation for switching the shift reference value of the main shift lever (68), and the first hydraulic pump (23) and the first hydraulic motor (24) and the traveling crawler ( Setting of the reduction ratio between 2) and the reduction ratio between the second hydraulic pump (26) and the second hydraulic motor (27) and the traveling crawler (2), or traveling driving necessary for a small radius turning required for spin turn operation. Enhance power and so on. Further, by changing the turning speed of the main shift lever (68), the turning speed is changed while the turning radius is kept substantially constant, a driving operation can be performed according to the skill of the worker, etc., thereby improving mobility and driving operability. And the turning radius is kept substantially constant with respect to changes in the center speed of the vehicle (vehicle speed), so that a pair of left and right traveling crawlers can be driven with the feeling of driving a four-wheeled vehicle such as a tractor or rice transplanter. It is configured to be able to correct the course and change the direction of a crawler traveling vehicle such as a combine equipped with (2).

A first hydraulic pump (23) for driving the left and right traveling crawlers (2) in the same direction and at the same speed, and a first hydraulic pump (23).
A hydraulic motor (24), a second hydraulic pump (26) and a second hydraulic motor (27) for driving the left and right traveling crawlers (2) in opposite directions at the same speed, and a first hydraulic pump (23).
And the second hydraulic motor (24)
The steering amount of the hydraulic pump (26) and the second hydraulic motor (27) is automatically changed, and when the steering operation is constant, the steering operation for keeping the turning radius constant is performed only by the shifting operation, and the vehicle speed is changed. Is increased or decreased to maintain a constant ratio between the speed of the inside traveling crawler (2) and the speed of the outside traveling crawler (2) with respect to a change in the vehicle speed, so that the traveling speed change and steering functions of the traveling crawler (2) are maintained. Of the second hydraulic pump (26) and the second hydraulic motor (27) are automatically changed by a speed change operation for changing the vehicle speed, and the steering operation is simplified. Without having to perform
The vehicle speed is changed while keeping the turning radius substantially constant, and the speed change operation and the turning operation of the traveling crawler (2) approximate to the accelerator pedal of the four-wheeled vehicle are performed, thereby controlling the vehicle speed and steering of the traveling crawler (2). Improvement of functions and simplification of shift operation and steering operation are aimed at.

As shown in FIG. 12, the detection link (125) provided on the steering handle (19) moves the first swing arm (127) in the same direction in either right or left turning operation from the neutral position. By rotating in the range of the angle (θ), the second deceleration rod (133) is always pulled,
When the operating member (80) at the time of the forward operation is inclined toward the angle (α1), the distance between the joints (88a) and (88b) is reduced, and the operating member (80) at the time of the reverse operation is moved to the angle (α).
2) When inclined to the side, the joints (88a) (88
b), the distance between them is increased, and the speed change arms (84) are respectively displaced toward the low speed side in the neutral direction to perform deceleration according to the turning amount.

Further, the first rods (97) and (98) and the swing arm (95) for transmitting the operating force for shifting and steering.
The center of the universal joint (97a) (98a) of (96)
The driving cabin (18) can be turned forward without removing these operation systems when shifting and steering is kept neutral by matching the position of the rotation fulcrum shaft (92) of the driving cabin (18). It is configured to be.

As shown in FIGS. 4 and 14, the first and second hydraulic pumps (23) and (26) and the first and second hydraulic motors (24) and (27) are respectively connected to a loop hydraulic circuit (134). ) (135) so as to be freely reversible, and the output shafts (31) (62) of the first and second hydraulic motors (24) (27) are provided with solenoid valves (136) (13).
7) The running and turning brake devices (138) and (139) for stopping the running of the output shafts (31) and (62) and for fixing the straight running by the operation of 7) are provided, and the parking brake shaft (49) is provided with a brake. A parking brake device (140) for holding the shaft (49) stationary is provided.

FIG. 18 shows the steering handle (1).
9) A steering lever (141) is provided in place of the steering lever (141), and the steering lever (141) is mounted to be swingable left and right around an axis (142), and is fixed to a base of the steering lever (141). (143a) and the handle operation shaft (11
3) The bevel gear (143b) fixed to the upper end is meshed, and the operating shaft (113) is rotated forward or backward by the left and right swing of the steering lever (141), and the link mechanisms (70) and (71) are similar to the above. Is operated to control the steering, and a steering lever (141) for swinging operation constitutes a steering operation member. It is configured to allow conversion.

Further, as shown in FIG. 19, a speed change actuator (144) and a steering actuator (145) formed by, for example, an electric motor or a hydraulic cylinder are provided, and the first and second stepless speed change mechanisms (25) and (28) are provided. The actuators (144) and (145) are connected to control levers (72) and (73) forming trunnions provided on the second hydraulic pumps (23) and (26), and the shift operation position of the main shift lever (68) is changed. A potentiometer-type main speed change sensor (146) for detection and the lever (6
8) a changeover switch type forward / backward sensor (147) for detecting forward or backward operation, a potentiometer type steering handle sensor (148) for detecting a rotational operation position of the steering handle (19), and a rotation direction of the handle. (Left or right) changeover switch type left / right rotation sensor (14
9), a switch-type auxiliary shift sensor (150) for detecting an auxiliary shift operation position of the auxiliary shift mechanism (32), and a potentiometer type shift position sensor (151) for detecting a traveling shift position of the shift control lever (72). ), A potentiometer type turning position sensor (152) for detecting a turning shift position of the turning control lever (73), and a pickup type vehicle speed sensor (153) for detecting a running speed of the running crawler (1). Each sensor (14) is sent to a controller (154) formed by
6) to (153) and each actuator (144)
(145) is electrically connected. Then, the link mechanisms (70) and (71) described above are omitted and, similarly to the above, based on the operation of the steering handle (19) and the main speed change lever (68), via the sensors (146) to (153). The actuator controls the actuators (144) and (145) to operate the control levers (72) and (73) to perform various operations such as traveling speed change and left / right turning. A steering handle (a steering operation member) is used. 19) is electrically connected to the first hydraulic pump (23) and the first hydraulic motor (24) as the traveling transmission member or the second hydraulic pump (26) and the second hydraulic motor (27) as the steering member. Controller (15
4) is provided so that the steering control function can be easily made multifunctional and the manufacturing cost can be easily reduced.

[0042]

As is apparent from the above embodiments, the present invention provides a traveling system in which the driving force of the engine (21) is transmitted to the left and right traveling units (2) and (2) by the traveling speed change operation of the speed change operation member (68). The speed change members (23) and (24) and the steering members (26) and (27) that cause a difference in the driving speed of the left and right traveling units (2) and (2) by the steering operation of the steering operation member (19) are provided. In the mobile agricultural machine, the turning speed is changed while the turning radius is kept substantially constant by the shifting operation of the shift operating member (68), and the driving operation is performed according to the skill of the worker. In addition to being able to easily improve the mobility and the driving operability, the turning radius is kept substantially constant with respect to changes in the center speed of the vehicle (vehicle speed), so that the tractor or rice transplanter can be improved. Driving feeling of four-wheeled vehicles such as In, it is capable of performing a pair of right and left travel crawlers So設 were combined and crawler vehicle of course modifications and diverting such a (2) easily.

The turning radius of the steering operation member (19) is changed by an auxiliary speed change operation for switching the shift reference value of the speed change operation member (68), and the traveling speed change members (23) (24) Of the speed reduction ratio between the steering member and the traveling portion (2) and the speed reduction ratio between the steering members (26) and (27) and the traveling portion (2), or the traveling drive force required for the small radius turning required for the spin turn operation. It is possible to easily maintain the turning radius of the speed change operation member (68) at the time of the speed change operation by changing the turning radius by the auxiliary speed change operation. It is possible to easily change the course and change the direction of a crawler traveling vehicle such as a combine provided with a pair of left and right traveling crawlers (2) with the feeling of driving a vehicle.

A traveling speed change member (23) (24) for driving the left and right traveling crawlers (2) in the same direction and at the same speed.
And steering members (26) and (27) for driving the left and right traveling crawlers (2) in opposite directions at the same speed, and providing the steering members (2) in proportion to the shift amounts of the traveling transmission members (23) and (24).
6) The steering amount in (27) is automatically changed. When the steering operation is constant, only the gear change operation is performed.
The vehicle speed can be increased / decreased while keeping the turning radius constant, and the ratio of the speed of the inside traveling crawler (2) to the speed of the outside traveling crawler (2) is kept constant with respect to the change in the vehicle speed. It is possible to easily improve the traveling speed and steering functions of the traveling crawler (2) and simplify the traveling speed and steering control.

Further, the steering amount of the steering members (26) and (27) is automatically changed by a speed change operation for changing the vehicle speed, and the turning radius is substantially constant without performing the steering operation. The speed of the traveling crawler (2) can be easily changed and the turning operation approximated to the accelerator pedal of a four-wheeled vehicle, and the vehicle speed control and steering control of the traveling crawler (2) can be easily performed. It is possible to easily improve the functions and simplify the shift operation and the steering operation.

[Brief description of the drawings]

FIG. 1 is an explanatory perspective view of an operation system of a main shift lever and a steering handle.

FIG. 2 is an overall side view of the combine.

FIG. 3 is an overall plan view of the combine.

FIG. 4 is an explanatory diagram of a mission drive system.

FIG. 5 is an explanatory diagram of a traveling speed change and steering operation unit.

FIG. 6 is an explanatory front view of an operation unit.

FIG. 7 is an explanatory plan view of an operation unit.

FIG. 8 is an explanatory side view of the operation unit.

FIG. 9 is an explanatory side view of the operation member.

FIG. 10 is an explanatory front view of an operation member.

FIG. 11 is an explanatory plan view of an operation member.

FIG. 12 is an explanatory plan view of a steering handle portion.

FIG. 13 is an explanatory plan view of a link mechanism.

FIG. 14 is a hydraulic circuit diagram.

FIG. 15 is a diagram showing a relationship between a steering wheel turning angle and a crawler speed when the aircraft turns.

FIG. 16 is a diagram showing a relationship between steering wheel operation and traveling deceleration.

FIG. 17 is a diagram showing a relationship between main speed changeover and traveling deceleration.

FIG. 18 is an explanatory view provided with a steering lever.

FIG. 19 is an explanatory diagram provided with a controller.

[Explanation of symbols]

 (2) Travel crawler (travel section) (19) Steering handle (steering operation member) (21) Engine (23) First hydraulic pump (travel transmission member) (24) First hydraulic motor (travel transmission member) ( 26) Second hydraulic pump (steering member) (27) Second hydraulic motor (steering member) (68) Main shift lever (shift operation member)

Claims (4)

[Claims] 1. A traveling speed change member that transmits a driving force of an engine to a left and right traveling portion by a traveling speed change operation of a speed change operation member, and a steering that causes a difference in a driving speed of the left and right traveling portion by operating a steering operation member. A mobile agricultural machine provided with a member, wherein a turning speed is changed while a turning radius is kept substantially constant by a shift operation of a shift operation member. 2. The mobile agricultural machine according to claim 1, wherein the turning radius of the steering operation member is changed by an auxiliary speed change operation for switching a shift reference value of the speed change operation member. 3. A traveling speed change member for driving the left and right traveling crawlers in the same direction and at the same speed, and a steering member for driving the left and right traveling crawlers in the opposite direction and at the same speed are provided. The mobile agricultural machine according to claim 1, wherein a steering amount of the steering member is automatically changed. 4. The mobile agricultural machine according to claim 3, wherein the steering amount of the steering member is automatically changed by a speed change operation for changing the vehicle speed.