JP2000300009A - Mobile farming machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a mobile farming machine capable of easily avoiding a bad state in which an unsuitable turning movement is carried out by a misjudge of an operator and easily improving turning performance in a work different in farm conditions by constituting the farming machine to be able to automatically changing over the steering operation by judging a specific condition. SOLUTION: In a mobile farming machine installed with a steering element which continuously varies speed difference of a pair of lateral crawlers and a steering operation device for controlling the steering element, the steering action is constituted to be automatically changed over depending on the judgement of the condition of a traveling road surface. In this case, it is preferable to constitute the steering control device to be able to automatically change the response of the steering element by judging a changed state of steering of the steering device. Further, it is preferable to constitute the steering control device so as to enabled to automatically change over a travel speed-changing movement depending on the state of a traveling road surface by installing a travel change element for increasing or decreasing the speed of the lateral pair of crawlers and a travel speed change operation device for controlling the travel change element.

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 or tillage tractor or a field management vehicle for continuously cutting and threshing grain culms in a field.

[0002]

Conventionally, a driving force is transmitted to left and right traveling crawlers via a belt or a hydraulic stepless transmission mechanism capable of continuously changing the traveling speed by operating a traveling speed change lever to move at an arbitrary vehicle speed. In addition, there is a technique for operating a continuously variable transmission mechanism for steering with a steering handle to control a differential mechanism, changing the drive speed difference between the left and right traveling crawlers in a stepless manner, and changing the traveling course. However, the turning and traveling operations of the left and right traveling crawlers are liable to change depending on the traveling road surface conditions such as field conditions for performing agricultural work (for example, a dry field or a wet field).
Turning and running speed-up operations are performed insensitively, and for example, in dry fields where there is almost no slippage, turning and running speed-up operations are too sensitive, and turning performance or running performance can be easily improved. There are problems such as not. In addition, when the steering handle or the traveling speed change lever is suddenly largely displaced due to an erroneous operation, the traveling speed change operation or the turning operation is performed under a remarkably overloaded state, and the traveling crawler slips to meander due to slippage. There is a problem that it is difficult to improve turning performance or running performance, etc., and it is not easy to improve handling operability.

[0003]

SUMMARY OF THE INVENTION The present invention relates to a moving agricultural machine having a steering member for continuously changing the speed difference between left and right crawlers and a steering operating tool for controlling the steering member. It is configured so that the steering operation is automatically switched according to the judgment of the road surface condition.Dry rice with a small amount of squat of the traveling crawler and small running resistance and little slip, or a dry crawler with a large amount of settlement of the traveling crawler has a large The steering operation suitable for the traveling road surface, such as a large and slippery wet field, can be easily obtained, and the problem that an incorrect turning operation is performed due to the erroneous judgment of the operator can be easily eliminated, and the field condition such as a dry field or a wet field can be reduced. It is possible to easily improve the turning performance in significantly different operations.

In addition, the response of the steering member is automatically changed by judging a steering change state of the steering operation tool. Even if the steering operation tool is suddenly largely displaced due to an erroneous operation. In addition, the disadvantage that the turning operation is performed under a remarkably overloaded state can be easily eliminated, and the turning operation can be performed within an appropriate range to easily improve the turning performance.

A traveling speed change member for simultaneously increasing or decreasing the speed of the left and right traveling crawlers and a traveling speed change operation tool for controlling the traveling speed changing member are provided, and the traveling speed change operation is automatically switched according to the judgment of the traveling road surface condition. Acceleration suitable for traveling road surfaces, such as a dry field with a small amount of squat of the traveling crawler and low running resistance and little slip, or a wet field with a large amount of squatting of the traveling crawler and large running resistance and slippery. Alternatively, it is possible to easily obtain a deceleration operation, easily eliminate a problem that an improper traveling shift operation is performed by an erroneous determination of an operator, and easily improve traveling performance in work where field conditions such as dry or wet fields are significantly different. It is possible.

Further, the system is configured to automatically change the response of the traveling speed change member by judging a change in traveling speed of the traveling speed operating device. Even if the traveling speed operating device is suddenly largely displaced due to an erroneous operation. In addition, it is possible to easily eliminate the problem that the shift operation is performed under a remarkably overloaded state, and to easily perform the shift operation within an appropriate range to improve the traveling performance.

The traveling speed change member is automatically decelerated by the turning operation of the steering operation tool, and the direction change in the field headland can be performed by the spin operation of the steering operation tool alone. Wet field work that can be performed by decelerating to the appropriate vehicle speed by operation, can save troublesome traveling shift operation, and can easily improve direction change performance in dry field work that can obtain agile turning operation, and do not need spin turn It is possible to easily improve the turning performance at the vehicle, improve the turning performance and the traveling performance, and improve the handling operability.

[0008]

Embodiments of the present invention will be described below in detail with reference to the drawings. Fig. 1 is an overall side view of the combine, Fig. 2
Is a plan view of the same, in which (1) is a track frame on which a pair of left and right traveling crawlers (2) are mounted, (3) is a machine frame installed on the track frame (1), and (4) is a feed chain. A threshing unit which stretches (5) to the left and incorporates a handling cylinder (6) and a processing cylinder (7), and (8) a cutting unit provided with a cutting blade (9) and a grain culm transport mechanism (10). , (11) are hydraulic cylinders for raising and lowering the cutting unit (8) via the cutting frame (12), (13) is a straw processing unit facing the end of the straw chain (14), and (15) is a threshing unit ( A grain tank that carries the grains from 4) through a frying cylinder (16), (1
7) a discharge auger for carrying out the grains of the tank (15) out of the machine, (18) a driver's cab provided with a round steering handle (19) and a driver's seat (20), and (21) a driver's seat (2
0) An engine provided below, configured to continuously cut and thresh grain culms.

Further, as shown in FIG. 3, a transmission case (22) for driving the traveling crawler (2) includes a pair of a first hydraulic pump (23) and a first hydraulic motor (24).
And a traveling transmission member (25) forming a hydraulic continuously variable transmission mechanism for traveling main transmission, and a pair of second hydraulic pumps (2
6) and a steering member (28) including a second hydraulic motor (27) to form a hydraulic stepless speed change mechanism for turning.
The output shaft (21a) of the engine (21) is connected to the input shafts (29a) (2) of the first and second hydraulic pumps (23) (26).
9b) are connected by transmission belts (30a) (30b) to drive the hydraulic pumps (23) (26).

An output shaft (31) of the first hydraulic motor (24) is provided with an auxiliary transmission mechanism (32) and a differential mechanism (3).
3) through the driving wheels (3) of the left and right traveling crawlers (2).
The differential mechanism (33) has a pair of left and right symmetric planetary gear mechanisms (35) and (35), and each planetary gear mechanism (35) has one sun gear (36).
, Three planetary gears (37) meshed on the outer periphery of the sun gear (36), and a ring gear (38) meshed with the 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 carrier shaft (4) is rotatably supported on the shaft (40).
0) is extended to form an axle to support the drive wheel (34).

The traveling speed change member (25) controls forward / reverse rotation and rotation speed of the first hydraulic motor (24) by adjusting the angle of the rotary swash plate of the first hydraulic pump (23). The rotation output of the first hydraulic motor (24) is
Each gear (43) (44) from the transmission gear (42) of 1)
(45) and the auxiliary transmission mechanism (32) to transmit to the center gear (46) fixed to the sun gear shaft (39) to rotate the sun gear (36). The sub-transmission mechanism (32) includes a sub-transmission shaft (47) having the gear (44) and a center gear (4) via the gear (45).
Parking brake shaft (4) having a gear (48) meshing with 6).
9), the auxiliary transmission shaft (47) and the brake shaft (49).
A pair of low speed gears (50) (51), medium speed gears (52) (53), and high speed gears (54) (48) are provided between the low speed gear (55) and the high speed slider (55). (56)
The sub-shift is switched between low speed, medium speed and high speed by the sliding operation of. Note that there is neutrality between low and medium speeds and between medium and high speeds. The brake shaft (4
9) A parking brake (57) is provided, and a cutting PTO shaft (58) for transmitting a rotational force to the cutting unit (8) is connected to a sub-transmission shaft via gears (59) and (60) and a one-way clutch (61). (47) are connected, and the mowing part (8) is driven at the vehicle speed tuning speed.

As described above, the driving force from the first hydraulic motor (24) transmitted to the sun gear shaft (39) via the center gear (46) is applied to the left and right planetary gear mechanisms (35).
And to the left and right carrier shafts (40) via
The rotation transmitted to the left and right carrier shafts (40) is transmitted to the left and right drive wheels (34), respectively, to drive the left and right traveling crawlers (2).

Further, a steering member (28) formed by a hydraulic stepless speed change mechanism for turning is provided with a second hydraulic motor (27) by adjusting the angle of a rotary swash plate of a second hydraulic pump (26).
For controlling the forward / reverse rotation and the number of revolutions of the vehicle, including a brake shaft (63) having a steering output brake (62), a clutch shaft (65) having a steering output clutch (64), and the left and right ring gears. Left and right input gears (66) and (67) that are always engaged with the external teeth (38b) of (38) are provided, and the brake shaft (6) is mounted on the output shaft (68) of the second hydraulic motor (27).
3) The clutch shaft (65) is connected via the steering output clutch (64), the right input gear (67) is connected to the clutch shaft (65) via the forward gear (69), and the clutch shaft is The left input gear (66) is connected to (65) via a forward rotation gear (69) and a reverse rotation gear (70). The brake (62) is turned on by the neutralization of the sub-transmission sliders (55) and (56), and the clutch (6) is turned on.
4), the brake (62) is turned off and the clutch (64) is turned on at the time of the output of the sub-shift other than the neutral, and the forward gear (69) is applied to the external teeth (38b) of the right ring gear (38). ) Is transmitted to the external gear (38b) of the left ring gear (38) via the forward gear (69) and the reverse gear (70).
7) The rotation is transmitted, and when the second hydraulic motor (27) is rotated forward (reverse rotation), the left ring gear (38) is rotated reversely (forward rotation) and the right ring gear (38) is rotated forward (rotation) at the same left and right rotation speed. (Reverse rotation).

The second hydraulic motor for turning (27)
When the first hydraulic motor (24) for traveling is driven in a state where the left and right ring gears (38) are stopped and fixed, the rotation output from the first hydraulic motor (24) is The right and left traveling crawlers (2) are transmitted to the sun gear (36) at the same rotation speed, and are driven by the same rotation speed in the left and right same rotation direction via the planetary gear (37) and the carrier (41) of the left and right planetary gear mechanism (35). Then, the vehicle travels straight in the front-rear direction. On the other hand, when the first hydraulic motor (24) for traveling is stopped and the left and right sun gears (36) are stationary and fixed, the second hydraulic motor (27) for turning is driven forward and reverse to rotate the left planetary gear. The gear mechanism (35) rotates forward or backward, and the right planetary gear mechanism (35) rotates reversely or forward, driving the left and right traveling crawlers (2) in the reverse direction, and turning the body left or right. Further, by driving the second hydraulic motor for turning (27) while driving the first hydraulic motor for traveling (24), the body turns right and left and the course is corrected. The turning radius is determined by the output rotation speed of the second hydraulic motor (27).

Further, as shown in FIGS. 2 and 4, a steering column (71) is erected on the front upper surface of the driver's cab (18), and a steering handle (19) is provided above the upper surface of the steering column (71). ) Is mounted so as to be rotatable around the vertical axis, and a side column (72) is provided on the left side of the cab (18).
And a mission (2) below the side column (72).
2) is arranged, and the main transmission lever (73), the auxiliary transmission lever (74), the mowing clutch lever (75), and the threshing clutch lever (76) are attached to the side column (72).

A steering shaft (77) connected to the steering handle (19) is connected to a steering column (71).
The upper part of the steering input shaft (78) is rotatably supported on the upper part of the steering column (71), and the gear (79) of the handle shaft (77) and the steering input shaft. The shafts (77) and (78) are connected by engaging the sector gear (80) of (78).

Further, the gear (79) has a plurality of teeth (81) formed in an outer peripheral area of 270 degrees, an outer peripheral area of 90 degrees is formed in an arc (82), and the entire steering handle (19) is formed. The rotation angle is set to 270 degrees, the angle of the left steering rotation or the right steering rotation is set to 135 degrees, and the steering handle (19) is formed so that the operator can easily perform the rotation operation with one hand. The sector gear (80) has a plurality of teeth (83) formed in an outer circumferential range of 130 degrees, and an outer circumferential range of 230 degrees is formed in an arc cam (84), and the teeth (81) of the gear (79) are formed.
The teeth (83) of the sector gear (80) mesh with the stoppers (85) at both ends of the arc (82) and the stoppers (85) at both ends of the arc cam (84) when the gears (79) and (80) rotate in the maximum forward and reverse directions. 86) is abutted to restrict the rotation of the steering handle (19).

A straight notch (87) is formed at the center of the arc cam (84) of the sector gear (80).
A detent shaft (88) is rotatably supported on the upper surface wall of the steering column (71), a detent arm (89) is fixed to the lower end of the detent shaft (88), and a roller shaft (90) is attached to the detent arm (89). The detent roller (91) is rotatably supported via the cam and the arc cam (8).
The detent roller (91) is brought into contact with 4), the detent roller (91) is detachably engaged with the rectilinear notch (87), and the steering handle (19) is supported at the rectilinear position.

Further, one end of a steering output arm (92) is fixed to the steering input shaft (78), and a steering handle (1) is provided.
A pair of right and left rectilinear springs (93) and (9) for returning the 9) to the rectilinear position
3) and a steering handle (1) against the spring (93).
Return resistance absorber (94) for reducing the rotation speed of 9)
Is connected to the output arm (92), and when a manual operation of rotating the steering handle (19) to the left or right is performed, the operator releases the hand from the handle (19) so that the handle (19) is loosened. Automatically returns to the straight-ahead position, and eliminates the need for the operator to return straight to the handle (19).
A slide potentiometer type steering angle sensor (95) is connected to the output arm (92), and a steering handle (1) is connected.
The steering operation amount of 9) is detected by the steering angle sensor (95).

Further, as shown in FIG. 5, a potentiometer type main shift sensor (9) for detecting a shift operation position, a neutral position, and a forward / reverse switching operation of the main shift lever (73).
6), a potentiometer-type sub-transmission sensor (97) for detecting a shift operation position and a neutral position of the sub-transmission lever (74), and a photographing of the upper surface of a steering column (71) to be switched by an operator in a driver's seat (20). Hand operation member (98)
The volume type turning feeling setting device (99) for changing the reduction ratio of the vehicle speed with respect to the increase in the turning angle of the steering handle (19) by the operation of the steering wheel (19), and the steering angle sensor (95)
Is input connected to a shift steering controller (100) formed by a microcomputer. Also, a microswitch-type linear sensor (101) for detecting, via a detent arm (89), a linear state in which the detent roller (91) is engaged with the linear notch (87), and a lug of the traveling crawler (2). A piezoelectric sensor type condition sensor (102) that is embedded and detects a traveling road surface condition (dry field or wetland) is input connected to the controller (100). The detection data of the condition sensor (102) is replaced by a radio signal, wirelessly transmitted to a receiving circuit attached to the feeling setting device (99), and input to the controller (100).

Further, as shown in FIGS. 3 and 5, there is provided an electric transmission motor (103) which can be switched by manual operation of the main transmission lever (73), and the transmission motor (103) is operated by operating the main transmission lever (73). The first hydraulic pump (23) is operated to change the swash plate angle of the first hydraulic pump (23),
4) A forward / reverse switching operation of continuously changing or reversing the rotation speed of the output shaft (31) and performing the first hydraulic motor (24) in proportion to the operation amount of the main shift lever (73).
Of the steering handle (1)
9) Electric steering motor (10
4) a straight-ahead valve (105) operated by a straight-ahead operation of a steering handle (19) and a neutral changeover mechanism (32); and a steering clutch cylinder (106) connected to the valve (105). By operating the steering handle (19) to operate the steering motor (104) to change the swash plate angle of the second hydraulic pump (26), the output rotation speed of the second hydraulic motor (27) is steplessly changed. To change the direction of travel or to reverse the direction, and change the direction of travel to the left or right to change the direction or correct the course on the headland. To change the rotation speed of the steering motor (27), to operate the steering handle (19) in a straight line, and to operate the auxiliary transmission mechanism (32).
The straight-ahead valve (105) is automatically switched by the neutral operation, the steering clutch cylinder (106) is operated, the steering output clutch (62) is disengaged, and the output of the second hydraulic motor (27) is stopped. The steering drive is stopped.

Further, the speed increasing and decelerating circuits (107) (10) for rotating the speed change motor (103) forward or backward.
8) is connected to the controller (100) to change the swash plate angle of the first hydraulic pump (23) by the transmission motor (103) in substantially direct proportion to the operation amount (operation angle) of the main transmission lever (73). To obtain a vehicle speed corresponding to the tilting operation of the main shift lever (73), and at the same time, the steering motor (10
4) Left and right turning circuit (109) for rotating forward or reverse
(110) connected to said controller (100),
The second hydraulic pump (2) is driven by a steering motor (104) with respect to the steering operation amount (left-right rotation angle) of the steering handle (19).
6) The swash plate is changed in substantially direct proportion, and as shown in the turning output diagram of FIG. 6, the left and right of the steering handle (19) is changed between the forward operation and the reverse operation of the main shift lever (73). The right and left turning output is reversed with respect to the rotation to prevent the steering wheel from being reversed when the vehicle is moving forward and when the vehicle is moving backward, and the vehicle is moved forward and backward by performing the same steering operation as the four-wheeled vehicle. Also, the main shift lever (73)
Is neutral, the swash plate angle of the second hydraulic pump (26) is maintained at zero, the output of the second hydraulic motor (27) is stopped and maintained,
The turning operation by the operation of the steering wheel (19) under the neutral state of the main transmission is prevented, and the absolute value of the swash plate angle of the second hydraulic pump (26) which increases according to the turning angle of the steering handle (19) is changed to the main transmission. The lever (73) is controlled so as to be proportional to the absolute value of the operation angle, and the steering handle (19) maintains a constant turning radius even when the vehicle speed is changed when the turning angle is constant. Turn in motion. The steering valve cylinder (106) is switched by switching the straight valve (105).
Is connected to the controller (100), and the sub-shift neutral or the steering wheel (1) is operated.
9) A shift hydraulic pressure sensor (112) for detecting the operating oil pressure of the first hydraulic motor (24) and an operating oil pressure for detecting the operating oil pressure of the second hydraulic motor (27) while automatically stopping the steering output by going straight. Direction hydraulic sensors (113) are provided, and the driving load of the traveling crawler (2) by the hydraulic motors (24) and (27) is applied to the hydraulic sensors (112) and (11).
3) Detected by the controller (100) and input to the controller (100), and based on the detection results of the condition sensor (102) and the respective hydraulic sensors (112) (113), the traveling road surface condition (dry or wetland) is automatically determined. Let it.

Further, as shown in the vehicle speed output diagram of FIG.
As the steering angle of the steering handle (19) increases, the vehicle speed determined by the shift position of the main shift lever (73) is reduced, and while the main shift lever (73) is maintained at a fixed position, the handle (19) is maintained. The speed is reduced in proportion to the turning angle, and the lever (73) is automatically returned to the speed of the lever (73) simply by returning the steering wheel (19) straight, and the speed of the steering wheel (19) is reduced to the spin turn speed at the maximum turning angle. ) At the dead zone (rotation angle of about 15 degrees)
3) Even if the steering speed is maintained and the steering operation is performed for alignment (path correction) along the uncut culm row during the harvesting operation, the traveling speed is reduced or increased and the harvesting operation is performed. The driving speed is prevented from being changed non-uniformly, a proper steering operation is performed without causing a difference between the driving feeling of the operator and the traveling operation of the combine, and the hand operation member (98) is used. By the manual switching of the operator, control for changing the reduction ratio so as to achieve sharp turning, normal turning, and smooth turning is performed manually by the member (98).
A turning performance adapted to field conditions, crop conditions, etc. is obtained.

Further, as shown in the turning output diagram of FIG.
In response to an input of a main shift sensor (96) for detecting an operation angle of the main shift lever (73), a control output of a steering motor (104) output from a controller (100) based on a steering angle sensor (95) is used. When the swash plate of the second hydraulic pump (26) having a low volumetric efficiency is small and the vehicle speed is low, the swash plate is greatly changed by slightly turning the steering handle (19). The characteristics of the hydraulic pump (26) and the hydraulic motor (27) are electrically corrected and the turning of the second hydraulic pump (26) is controlled by the steering motor (104) sensitively even at a low vehicle speed. The turning radius of the traveling crawler (2) is maintained substantially the same with the turning angle of the steering handle (19) throughout the shift range of (73), and when the speed of the main shift lever (73) is lower than when the speed is high. Steering handle (19) The second hydraulic pump to the amount (26)
The ratio of the control amount is increased, and even when the vehicle speed is low in a low-speed region where the output of the second hydraulic pump (26) is low, an appropriate turning operation is performed by a small amount of operation of the steering handle (19). The steering operability and the steering function are improved to make the operation amount of the steering handle (19) and the turning radius of the traveling crawler (2) coincide with each other, and the neutralization of the main transmission lever (73) is performed by the main transmission sensor (96). , The second hydraulic pump (26) is maintained at a neutral position, the turning performance of the traveling crawler (2) at the time of stop is prevented, the turning performance in the low speed range is improved, and the operation of the steering handle (19) is performed. Improve operability and simplify driving operation.

FIG. 9 shows the relationship between the turning angle of the steering handle (19) and the speed of the left and right traveling crawlers (2) when the body turns right and left, and the turning angle of the handle (19) becomes large. The difference between the speeds of the left and right traveling crawlers (2) becomes larger, and the body center speed, which is the average speed of the left and right traveling crawlers (2), also depends on the traveling speed (high speed / standard speed / low speed) of the auxiliary transmission lever (74). Slow down. Move the steering handle (19) in the straight-ahead position to the left (right) about 15
In the reaping course correction range where the gears are rotated by degrees, the shift output is maintained at substantially the same position as that of straight traveling, and the second hydraulic pump (2
In step 6), the second hydraulic motor (27) is turned leftward (rightward) by the steering output to rotate forward (reversely), and the course is adjusted to match the curvature of the uncut corn (crop) row. At this time, the deceleration amount of the traveling crawler (2) inside the turning is substantially equal to the speed increasing amount of the traveling crawler (2) outside the turning,
The center speed of the fuselage is maintained at approximately the same speed as straight ahead. Further, when the steering handle (19) is rotated by 15 degrees or more from the straight traveling position, the speed change output is decelerated and changed in both the left turn and the right turn, and the traveling speed of the first hydraulic pump (23) and the motor (24) is changed. The output is decelerated and the crawler travels left and right (2) (2)
Are driven in the same direction to advance (or reverse),
The left and right traveling crawlers (2) perform a brake turn operation to turn leftward (rightward) due to a traveling speed difference between the two (2),
Make a course correction to return to the original row or move to the next row when it comes off the uncut culm (crop) row. Further, when the steering handle (19) is rotated by about 116 degrees, the turning output is maintained at the maximum output, and the center speed of the aircraft is reduced to about one-fourth of the straight traveling speed in the range of 135 degrees, and the inside of the turning is reduced. The traveling crawler (2) is driven in reverse rotation to perform a spin turn operation in which the body turns around the center of rotation between the left and right traveling crawlers (2), and is shifted in the turning direction by the left and right width of the left and right traveling crawler (2). The steering wheel (19) is rotated in the range of 0 to 135 degrees to perform a left or right turning operation, and the left and right around the straight traveling position 15-degree handle (19) A correction of the alignment path moving along the uncut culm (crop) row in the rotation range while maintaining the traveling speed when traveling straight, and a handle of 116-135 degrees left and right (1
9) The spin-turn operation of turning the aircraft on the field headland and moving to the next work step while maintaining the maximum output of the turning member (28) by rotation is performed at a traveling speed of about one-fourth when traveling straight. (The deceleration rate is 25%).

Further, when the sub-shift is maintained at a standard speed (1.5 m / s) and the steering handle (19) is rotated by 90 degrees, the main shift lever (68) operates to change the main shift output to high speed and 3 minutes. Even if it is changed to one-third and one-third, only the turning speed (body center speed) is changed while the turning radius of the aircraft is kept substantially constant. Further, the first hydraulic pump (23) and the first hydraulic motor (24) are maintained in a straight traveling state within a steering operation range of about 15 degrees of the steering handle (19) with respect to the straight traveling position, so that the crop train is Or, even if you perform a steering operation to make the aircraft follow a ridge or the like, the running speed is prevented from changing unevenly, the course can be corrected during agricultural work while maintaining the almost same running speed, and the operator's driving feeling and An appropriate steering operation can be performed by substantially matching the running operation of the aircraft. The sub-transmission lever (74) for switching the transmission reference value of the main transmission lever (73) changes the turning radius from a small diameter to a large diameter in proportion to the low-speed, standard and high-speed switching of the sub-transmission operation. 23) and motor (24) and traveling crawler (2)
Setting of the reduction ratio between the second hydraulic pump (26) and the motor (27) and the traveling crawler (2), or securing the traveling driving force necessary for the small radius turning required for the spin turn operation. At the same time, by operating the main shift lever (73) at the same sub-shift operation position, the traveling speed during turning is changed while the turning radius is kept substantially constant.

Further, as shown in FIG. 10, when the detection change rate of the steering angle sensor (95) suddenly increases or decreases due to the rapid steering operation of the steering handle (19), the shift steering controller (100). Left and right turning circuit (10
9) The steering input to (110) is compressed to prevent abrupt movement of the steering motor (104), and to change the steering input while maintaining the previous rate of change, to change the steering input (104). Is operated to gradually change the speed difference between the left and right traveling crawlers (2) caused by the steering member (28).
In addition, the overload operation of the traveling speed change member (25) and the slip and side slip of the traveling crawler (2) are prevented beforehand.

When the rate of change of the detection of the main transmission sensor (96) suddenly increases or decreases due to the abrupt running shift operation of the main transmission lever (73), the speed increasing and deceleration circuit from the transmission steering controller (100). (107) (10
8) The main speed change input to the speed change motor (103) is compressed.
The driving speed of the left and right traveling crawlers (2) by the traveling transmission member (25) is gently changed to overload the traveling transmission member (25) and to slip and skid the traveling crawler (2). Is prevented beforehand.

Further, as shown in FIG. 11, a steering angle sensor (9) for detecting an operation amount of the steering handle (19) is provided.
5) When the operation amount of the steering wheel (19) is small (in the range of about 0 to 10 degrees) with respect to the input, based on the straight traveling position,
Based on the detection results of the hydraulic pressure sensors (112) (113) and the condition sensor (102), the controller (1)
00), the steering input to the steering motor (104) is changed more than usual in dry field work and smaller than usual in wet field work, and the steering wheel (19) operation amount is large. The steering input is changed to be smaller than usual in dry field work, and to be larger than usual in wet field work. Further, the main shift lever (73)
In response to the input of the main speed change sensor (96) for detecting the operation amount of
A shift motor output from the controller (100) based on the detection results of the hydraulic sensors (112) and (113) and the condition sensor (102) when the operation amount of the main shift lever (73) is small with respect to the neutral position. The shift input to (103) is changed more than usual in dry field work and smaller than usual in wet field work, and when the operation amount of the main shift lever (73) is large, the shift input is normally changed in dry field work. Smaller than normal, and larger than usual in wetland operations.

As described above, in the dry field work, the hydraulic pumps (23) and (26) and the motors (24) and (27)
The steering input and the shift input for controlling the transmission are electrically corrected, and the control of the shift motor (103) and the steering motor (104) in the low rotation output range of the shift member (25) and the steering member (28) is made sensitive. In a low-power range, the traveling crawler (2) is promptly driven by the members (25) and (28), and the amount of subsidence of the traveling crawler (2) is small and slip or skidding (drift) is small in dry fields. While improving running speed and turning performance during straight running during agricultural work, it also prevents excessive correction of the course of the steering handle (19) and abrupt acceleration / deceleration of the main speed change lever (73) in a high-power range, thereby increasing the speed. Improve driving performance. In the wetland work, the hydraulic pump (2
3) The steering input and the shift input for controlling (26) and the motors (24) and (27) are electrically corrected and the transmission member (2) is corrected.
5) The control of the speed change motor (103) and the steering motor (104) in the low rotation output range of the steering member (28) is made insensitive, and the traveling crawlers (25) and (28) by the members (25) and (28) in the low output range. 2) Slowly change the speed at the beginning of driving to improve the traveling speed and turning performance during straight running during farming in wetlands where the amount of settlement of the traveling crawler (2) is large and slip or skidding (drift) is small. On the other hand, the path of the steering handle (19) is corrected in the high-power range and the speed change of the main shift lever (73) is performed promptly to improve high-speed traveling performance.

As is apparent from the above description, the steering member (2) that changes the speed difference between the left and right traveling crawlers (2) in a stepless manner.
8) and in a mobile agricultural machine provided with a steering handle (19) which is a steering operation tool for controlling the steering member (28), the steering operation is automatically switched by judging a traveling road surface condition,
An operation suitable for a traveling road surface, such as a dry field where the traveling crawler (2) has a small amount of settlement and a small traveling resistance and a small slip, or a wet field where the traveling crawler (2) has a large amount of settlement and a large traveling resistance and easily slips. Direction operation is easily obtained, eliminating the problem that incorrect turning operation is performed due to erroneous judgment of the operator, and improving the turning performance in work where the field conditions are significantly different, such as dry or wet fields. The response of the steering member (28) is automatically changed by judging the steering change situation of (19), and the steering handle (1) is changed.
Even if 9) is suddenly largely displaced due to an erroneous operation, the disadvantage that the turning operation is performed under a remarkably overloaded state is eliminated, and the turning operation is performed within an appropriate range to improve the turning performance.

A traveling speed change member (25) for simultaneously increasing or decreasing the speed of the left and right traveling crawlers (2) and a main speed change lever (73) as a traveling speed change operation tool for controlling the traveling speed changing member (25) are provided. The traveling speed change operation is automatically switched based on the judgment of the traveling road surface condition, and the traveling crawler (2) travels in a dry field with a small amount of sinking and low traveling resistance and little slip, or in a large amount of settlement of the traveling crawler (2). A speed increase or deceleration operation suitable for the traveling road surface, such as a wet field with a large resistance and easy to slip, can be easily obtained, and the problem that an inappropriate traveling speed change operation is performed by an erroneous judgment of the operator is eliminated, and a dry field or a wet field such as a wet field is eliminated. The purpose of this is to improve the running performance in work where the conditions are significantly different.
The traveling speed change member (2) is determined by judging the traveling speed change state of (3).
The response of 5) is automatically changed, and the main shift lever (73) is changed.
Even if the gear is suddenly largely displaced due to an erroneous operation, the disadvantage that the gear shifting operation is performed under a remarkably overloaded state is eliminated, and the gear shifting operation is performed within an appropriate range to improve the traveling performance.

The traveling speed change member (25) is automatically decelerated by turning the steering handle (19).
A dry field operation that changes the direction in a headland on a field only by steering operation of a steering handle (19) by decelerating it to an appropriate vehicle speed by a spin turn operation, and can save troublesome traveling speed change operation and obtain agile turning operation. It is designed to improve the turning performance in the wet field work where spin turns are not required, improve the turning performance and running performance, and improve the handling operability. .

Then, as shown in the flowchart of FIG. 12, the main speed change sensor (296), the auxiliary speed change sensor (97),
The controller (100) is inputted from the steering angle sensor (95), the condition sensor (102), the feeling setting device (99), the straight traveling sensor (101), the shift oil pressure sensor (112), and the steering oil pressure sensor (113). . When the auxiliary transmission lever (74) is in the neutral position, the turning output disconnection control is performed to disengage the steering output clutch (62) and the second hydraulic motor (2).
7) is stopped, the turning output cutoff control is performed when the main shift lever (73) is in the neutral position, and the steering handle (1) is turned off.
When 9) is the straight-ahead position, the output of the second hydraulic motor (27) is stopped by the steering output clutch (62) disconnection control. Also, when the sub shift lever (74) is located at the middle speed or low speed and the main shift lever (73) is located at a position other than the neutral position,
The condition sensor (102) input and the feeling setting device (9
9) Based on the input and the input of the shift hydraulic pressure sensor (112),
The traveling road surface condition (dry, normal, wetland) is automatically determined, and the shift input value to the shift motor (103) is corrected as shown in FIG. 11, and the rate of change of the corrected shift input value is constant as shown in FIG. At this time, the corrected shift input value is compressed, and the speed change motor (10) is controlled by the main shift control based on the corrected shift input value.
3) is operated to change the driving speed of the left and right traveling crawlers (2).

Further, when the steering handle (19) is in the straight running position, the steering clutch (62) is disengaged to control the second position.
The steering braking control for stopping the output of the hydraulic motor (27) is performed. Further, when the steering handle (19) is operated to a position other than straight ahead, traveling is performed based on the input of the condition sensor (102), the input of the feeling setting device (99), and the input of the steering oil pressure sensor (113). The road surface condition (dry field, normal, wetland) is automatically determined, the steering input value to the steering motor (104) is corrected as shown in FIG. 11, and the rate of change of the corrected steering input value as shown in FIG. When the correction steering input value is equal to or greater than a certain value, the steering amount and the steering direction are calculated and determined based on the correction steering input value.
The steering motor (104) is operated to cause a difference in the driving speed of the left and right traveling crawlers (2) to change the course, and the main shift sensor (96) input and the steering angle sensor (9) are used.
5) The main transmission deceleration amount is calculated and determined according to the input,
The speed change motor (103) is operated by the main speed reduction control to change the drive speed of the left and right traveling crawlers (2) and (2). And the harvesting operation of continuously cutting and threshing grain stalks. Further, the final speed of the vehicle speed decelerated according to the operation angle of the steering handle (19) is determined by a hand operation member (98).
When the feeling setting device (99) is operated to change the speed continuously, for example, in road running or dry field work, if the vehicle speed deceleration amount is increased with respect to the operation amount of the steering wheel (19), a sensitive turn becomes possible, and the vehicle speed is increased. By reducing the amount of deceleration, a smooth turning feeling is achieved,
Reducing vehicle speed deceleration when working in wetlands or when spin turns are not required can improve wetland driving performance and increase the steering wheel (1
Even if 9) is largely operated, a sharp turn due to a spin turn is prevented.

[0037]

As is apparent from the above embodiment, the present invention controls the steering member (28) for continuously changing the speed difference between the left and right traveling crawlers (2) and the steering member (28). In a mobile agricultural machine provided with a steering operation tool (19), the steering operation is automatically switched by judging a traveling road surface condition. The traveling crawler (2) has a small sinking amount, a small traveling resistance and It is possible to easily obtain a steering operation suitable for the traveling road surface, such as a dry field with a small slip or a wet field where the traveling crawler has a large amount of settlement and a large running resistance and slips easily. The problem that the turning operation is performed can be easily eliminated, and the turning performance can be easily improved in an operation such as a dry field or a wet field where field conditions are significantly different.

The response of the steering member (28) is automatically changed by judging a steering change state of the steering operation tool (19). Even if a sudden large displacement is caused due to an erroneous operation, the problem that the turning operation is performed under a remarkably overloaded state can be easily eliminated, and the turning operation can be performed within an appropriate range to easily improve the turning performance. Is what you can do.

A traveling speed change member (25) for simultaneously increasing or decreasing the speed of the left and right traveling crawlers (2) and a traveling speed change operation tool (73) for controlling the traveling speed member (25) are provided. The traveling speed change operation is automatically switched according to the judgment.
Speeding up or decelerating operation suitable for a running road surface, such as a dry field with a small amount of settlement and a small running resistance and a small slip, or a wet field with a large setting amount of the running crawler (2) and a large running resistance and easy slipping. It can be easily obtained, and it is possible to easily eliminate a problem that an improper traveling shift operation is performed due to an erroneous judgment of an operator, and it is easy to improve traveling performance in work where field conditions such as dry or wet fields are significantly different. It can be planned.

The response of the traveling speed change member (25) is automatically changed by judging the traveling speed change state of the traveling speed operation device (73). Even if it is suddenly greatly displaced due to erroneous operation,
The disadvantage that the shifting operation is performed under a remarkably overloaded state can be easily eliminated, and the shifting operation can be performed within an appropriate range to easily improve the traveling performance.

The traveling speed change member (25) is automatically decelerated by turning operation of the steering operation tool (19). The direction change on the headland can be performed by decelerating to the appropriate vehicle speed by the spin turn operation, which can save troublesome traveling speed change operation and easy turning performance in dry field work that can obtain agile turning operation It can easily improve the turning performance in wetland work that does not require a spin turn, and can easily improve the turning performance and traveling performance and the handling operability Can be done.

[Brief description of the drawings]

FIG. 1 is an overall side view of a combine.

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

FIG. 3 is an explanatory diagram of a mission drive system.

FIG. 4 is an explanatory plan view of a steering handle.

FIG. 5 is a circuit diagram of a shift and steering control circuit.

FIG. 6 is a diagram showing a steering handle and a turning output.

FIG. 7 is a diagram showing a steering handle and a shift output.

FIG. 8 is a diagram showing a main shift lever and a turning output.

FIG. 9 is a diagram showing main shifting and steering handle operation.

FIG. 10 is a diagram showing a steering handle and a steering input, and a main shift lever and a main shift input.

FIG. 11 is a diagram showing a steering handle, a main shift lever, a steering input, and a shift input.

FIG. 12 is a shift steering control flowchart.

[Explanation of symbols]

 (2) Traveling crawler (19) Steering handle (steering operation tool) (25) Travel shifting member (28) Steering member (73) Main transmission lever (travel transmission operating tool)

Continued on front page F-term (reference) 2B043 AA04 AB08 AB11 AB17 BA02 BA05 BB14 DA04 EA02 EA13 EA33 EB01 EB08 EB09 EB14 EC12 EC13 EC14 EC16 EC18 ED02 ED12 2B076 AA03 DA03 DB08 DC03 3D052 AA02 AA01 BB01 DDB GG03 HH01 HH02 HH03 JJ00 JJ03 JJ10 JJ21 JJ22 JJ31 JJ35 JJ37

Claims (5)

[Claims] 1. A mobile agricultural machine provided with a steering member for continuously changing a speed difference between left and right traveling crawlers and a steering operation tool for controlling the steering member. A mobile agricultural machine characterized in that it is configured to be switched selectively. 2. The mobile agricultural machine according to claim 1, wherein a response of the steering member is automatically changed by judging a steering change state of the steering operation tool. 3. A traveling speed change member for simultaneously increasing or decreasing the speed of the left and right traveling crawlers, and a traveling speed change operation tool for controlling the traveling speed changing member, and the traveling speed change operation is automatically switched according to the judgment of the traveling road surface condition. The mobile agricultural machine according to claim 2, wherein the mobile agricultural machine is configured. 4. The mobile agricultural machine according to claim 3, wherein a response of the traveling speed change member is automatically changed by judging a traveling speed change state of the traveling speed change operation tool. 5. The mobile agricultural machine according to claim 3, wherein the traveling speed change member is automatically decelerated by turning the steering operation tool.