JP2002142541A - Apparatus for keeping vehicle in horizontal state when combine harvester or the like is lifted or lowering on ill-drained paddy field - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve such problems that it is difficult to carry out adequate lifting and lowering motion when raising or lowering of combine harvester or the like is carried out in a state in which a vehicle is inclined on an ill-drained paddy field and it is difficult to carry out stable spin rotation when a lever is changed over to spin rotation in a changing amount from neutral position of a power steering lever. SOLUTION: This apparatus for keeping a vehicle of combine harvester, etc. in a horizontal state when combine harvester, etc. is lifted or lowered on an ill-drained paddy field is characterized by providing a horizontal state-retaining means H for raising the vehicle 3 up to a set height by off-detection of grain culm sensor 2 when operation is carried out by ill-drained paddy field mode on the ill-drained paddy field and retaining the vehicle 3 a horizontal state when the vehicle 3 is lowered to original position by on-detection of the grain culm sensor 2. A steering rotation apparatus is characterized by detecting an operation end of tilting operation of a power steering lever 5 to left or right side by a position sensor 6, carrying out positioning of spin rotation start by changing amount using the detected value as a standard and memorizing detected value of the position sensor 6 in a nonvolatile memory 7.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a horizontal device for raising and lowering a wet field such as a combine and a steering and turning device, and more particularly to maintaining a horizontal state when the vehicle body is raised and lowered in a wet field and starting a steering and turning operation by a tilt operation angle of a power steering lever. Belonging to fields such as position determination and storage in memory.

[0002]

2. Description of the Related Art Conventionally, when performing wetland control for raising or lowering a vehicle body in a wetland, control of a horizontal state of the vehicle body is generally not considered. In addition, when performing a steering turn of the vehicle body, switching to the spin turn is generally determined by a displacement amount from a neutral position of the power steering lever.

[0003]

However, when the vehicle is raised or lowered by the wetland control in a state where the vehicle body is inclined in the wetland, it is difficult to obtain a proper lifting operation.
Further, when switching to the spin rotation is performed by the displacement amount from the neutral position of the power steering lever, it is difficult to perform a stable spin rotation because the braking force before the switching is not constant.

[0004]

According to the first aspect of the present invention, there is provided a grain culm sensor 2 for detecting ON / OFF of a grain culm disposed in a mowing apparatus 1 when working in a wetland mode in a wetland mode. In the OFF detection, the vehicle body 3 is raised to the set height, and O
In a combine or the like having the wetland control device 4 for lowering the vehicle body 3 to the original position in the N detection, horizontal holding means H for maintaining a horizontal state when the vehicle body 3 is raised or lowered is provided. The structure of the wetland lifting and lowering horizontal device is as follows.

[0005] A second aspect of the present invention is a power steering lever 5 for steering and turning the vehicle body 3, a position sensor 6 for detecting the tilting operation angle of the lever 5, a mild turning, a brake turning, and a steering turning mode. In a combine or the like having a spin turn, a tilt operation end of the power steering lever 5 to the left or right is detected by the position sensor 6, and the start of the spin turn is determined by a displacement amount based on the detected value. A configuration of the steering and turning device is characterized in that the detected value of the position sensor 6 is stored in the nonvolatile memory 7.

[0006]

According to the first aspect of the present invention, when the mowing operation is performed by switching to the wetland mode in the wetland,
When the grain stalk sensor 2 in the reaping device 1 detects grain stalk OFF, the vehicle body 3 is raised to a preset position, and when the grain stalk sensor 2 detects grain stalk ON, the body 3 is returned to the original position. Is controlled by the wetland control device 4. When the vehicle body 3 moves up and down, the inclination of the vehicle body 3 can be corrected by the control of the horizontal holding means H to maintain the horizontal state.

According to the second aspect of the present invention,
By tilting the power steering lever 5 to the left or right,
When the vehicle body 3 is steered and turned in each of the mild turning, brake turning, and spin turning modes, the spin turning is performed based on the displacement amount obtained based on the detection value detected by the position sensor 6 at the tilt operation end. By performing the positioning to start, proper spin rotation can be performed. By storing the value detected by the position sensor 6 in the non-volatile memory 7, the start of the spin rotation can be efficiently positioned.

[0008]

According to the first aspect of the present invention, as described above,
At the time of mowing work in the wetland mode, when the grain stalk sensor 2 is detected to be OFF by the wetland control device 4, the vehicle body 3 is raised,
When the grain culm sensor 2 detects ON, the control to lower the vehicle body 3 is performed. When the vehicle body 3 moves up and down, the inclination of the vehicle body 3 is corrected by the control of the horizontal holding means H to maintain the horizontal state. Therefore, unlike the related art, when the vertical movement is not taken into consideration when raising and lowering the vehicle body 3 by the wetland control, it is difficult to obtain a proper vertical movement, and the horizontal state is maintained. This makes it possible to perform wetland control with good operability.

According to the second aspect of the present invention, the turning operation of the power steering lever 5 to the left or right causes the vehicle body 3 to steer and turn in each of the turning modes of mild turning, brake turning and spin turning. At this time, it is possible to perform the spin rotation by performing the positioning to start the spin rotation by the displacement amount obtained based on the detected value of the tilting operation end portion. As in the one determined by the amount of displacement from the neutral position, the spin force before switching is not constant, so the spin rotation does not become unstable, and the stable spin rotation is achieved by locking with the appropriate braking force Can be. By storing the value detected by the position sensor 6 in the non-volatile memory 7, the turning can be performed by the efficient start of spin turning.

[0010]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below with reference to the accompanying drawings. FIG. 12 shows an overall configuration of a combine, in which a traveling device 10 having a pair of left and right traveling crawlers 9 traveling on the soil surface is provided below a chassis 8 and a feed chain is provided on the chassis 8. The grain hull supplied by being nipped and conveyed to 11 is subjected to threshing, and the threshed grains are sorted and collected, and a Glen tank 12 for temporarily storing the grains and a drainage for discharging the grains stored in the tank 12 to the outside of the machine. A threshing device 13 equipped with a grain auger 12a is mounted, and a straw processing device 14 is mounted on the rear end of the threshing device 13.

In front of the threshing device 13, a weeding body 15 for weeding uncut culms and a raising part 1 for causing the weeded culms.
6, a cutting blade portion 17 for cutting the raised grain culm, and a feed adjustment for scraping the cut grain culm, and taking over the grain culm of which the handling depth has been adjusted in the course of transporting and transferring it to the feed chain 11. A transport unit 18; a grain culm sensor 2 for detecting a transported grain culm of the supply adjusting transport unit 18;
The mowing device 1 having a mowing height sensor 40 for detecting the mowing height of the mowing device 1 is provided.

An operating device for suspending the reaper 1 to the front end of the undercarriage 8 so as to be able to move up and down on the soil surface by means of a hydraulically driven reaping raising / lowering cylinder 19 and for controlling the operation of a combine on one side of the reaper 1. A cabin 22 that covers the operation device 20 and the operation seat 20a; an operation seat 20a for performing the operation is provided, and the Glen tank 12 and an engine 21 are disposed below the operation seat 20a.
Is mounted.

The traveling device 10, threshing device 13, reaper 1, operating device 20, engine 21, cabin 22
The vehicle body 3 of the combine is constituted by the above components. As shown in FIGS. 4 and 5, the traveling device 10 includes a plurality of vertical and horizontal vertical frames 8b and horizontal horizontal frames 8a at appropriate positions with respect to a substantially rectangular outer peripheral frame 8a formed by a square pipe or the like. 8c are arranged to form a chassis 8, and a support frame 23 is provided at a lower portion on the front side of left and right vertical middle frames 8b arranged at the center of the chassis 8.

Hereinafter, since the left and right configurations are substantially the same, only one side (for example, the left side) will be described. A front rolling shaft 25 is rotatably supported on a rolling metal 24 fixed to the support frame 23, and an inner end and an outer end of the front rolling shaft 25, which sandwich the metal 24, respectively have front ends. The lower rolling arm 26 is divided into an upper part and a lower part, and is axially fixed in the shape of a letter when viewed from the side.
And the front side position of the wheel frame 27 located at the outer lower side of the wheel 8b.

A pitching shaft 29 is rotatably supported on a pitching metal 28 fixed to the rear lower portion of the longitudinal middle frame 8b, and one end of a pitching arm 30 is pivotally mounted on the left end side of the pitching shaft 29. At the same time, the other end and the left end of the connecting arm 31 having an H-shape in plan view are rotatably pin-connected.

At the inner end and the outer end of the rear rolling shaft 32, a rear rolling arm 33 is divided into an upper part and a lower part, respectively.
2 between the upper and lower parts of the arm 33
Is rotatably supported at the other end on the left side, and the lower end of the arm 33 and the rear side position of the wheel frame 27 are rotatably pin-connected.

The other end of the right pitching arm 30 is extended upward, and the piston tip of a pitching cylinder 34 that expands and contracts by hydraulic pressure or the like is pin-connected to the rear position. Is fixedly connected to a mounting portion 35 extending upward from the horizontal middle frame 8c by a rotatable pin.

An upper end of the front rolling arm 26;
The rear rolling arm 33 is rotatably connected to a middle portion of an upper end portion thereof by a connecting rod 36 so as to form a four-point parallel link. An upper end extending further upward than the connection position of the rear rolling arm 33 and the connecting rod 36, a pin end of a piston end of a rolling cylinder 37 that expands and contracts by hydraulic pressure or the like, and a fixed side of the cylinder 37. The other end of the pitching arm 30 is rotatably pin-connected to each other by a band-shaped holding plate 38 so as to be sandwiched from both sides, and the pin connecting portion of the holding plate 38 is swingable via a link 39. Horizontal middle frame 8c
To each other.

A rear wheel bearing 42 for rotatably supporting a rear wheel 41 on a rear end upper side of the wheel frame 27, and a supporting arm 4 for holding the rear wheel bearing 42 in a front-rear adjustable manner.
3 are fixed rearward, and a plurality of grounded rolling wheels 44 are rotatably supported on the lower portion of the outer surface of the wheel frame 27 at predetermined intervals.

The rear running wheel 41 and the plurality of grounding wheels 44 and the driving wheels 46 for transmitting power from a traveling transmission case 45 mounted on the front end of the chassis 8 are connected to the traveling wheels. -The roller 9 is wound and stretched. Reference numeral 47 denotes an auxiliary wheel. A front / rear stroke sensor 48 for detecting the expansion / contraction stroke of the pitching cylinder 34 is provided at the lower side of the cylinder 34, and the working arm of this sensor 48 and the vicinity of the upper end of the pitching arm 30 are connected by a lot 49. A left / right stroke sensor 50 for detecting the expansion / contraction stroke of the 37 is provided on the upper part of the cylinder 37, and the working arm of the sensor 50 and the upper end connecting portion of the rear rolling arm 33 are connected by a lot 51.

As shown in FIG. 6, a front-rear inclination sensor 52 for detecting the front-rear inclination of the vehicle body 3 and a left-right inclination sensor 53 for detecting the left-right inclination of the vehicle body 3 are arranged on the chassis 8 in the space below the Glen tank 12. To be configured. Threshing device 1
A threshing switch 54 for detecting ON / OFF of the on / off state of the threshing clutch for 3-drive, a wetland switch 55 for turning ON / OFF the operation of the wetland control device 4 in the wetland;
And a vehicle body horizontal switch 56 for turning ON / OFF the horizontal control action of the operation device 20.

The right and left front and rear rolling arms 26 and 33 and the left and right rolling cylinders 37 actuate to move the vehicle body 3 up and down or to tilt left and right, the pitching arm 30 and the pitching cylinder 34.
, A pitching mechanism for tilting the vehicle body 3 back and forth is configured.

As shown in FIG. 3, a CPU is mainly arranged to perform arithmetic control of the rolling mechanism and the pitching mechanism, and a built-in horizontal holding means H for correcting a tilt and maintaining a horizontal state when the vehicle body 3 moves up and down. On the input side of the controller 4 as the wetland controller 4, the cereal culm sensor 2, the cutting height sensor 40, the front and rear stroke sensor 48, the left and right stroke sensor 50, the front and rear inclination sensor 52, the left and right inclination sensor 53 are provided via an input interface 4a. Threshing switch 54,
The wetland switch 55, the vehicle body horizontal switch 56, and the like are connected to each other.

The extension side pitching solenoid valve 57a for operating the pitching cylinder 34 and the shortening side pitching solenoid valve 57b for operating the pitching cylinder 34 via the output interface 4b are supplied to the output side of the controller 4 on the extension side. The left and right rolling solenoid valves 58a and the shortening left and right rolling solenoid valves 58b are connected to each other.

When the vehicle body 3 is pitched and tilted to the front and rear sides when performing the front / rear and left / right horizontal control of the vehicle body 3, when the vehicle body horizontal switch 56 is turned on and the front / rear tilt sensor 5
The pitching cylinder 34 is operated under the control of the controller 4 by the detection of the inclination by the controller 2, and the left and right rear rolling arms 33 are moved up and down via the connecting arm 31 by the up and down operation of the pitching arm 30.

By moving the rear side of the left and right wheel frames 27 up and down with the front rolling shaft 25 as a fulcrum by the rear rolling arm 33, the left and right traveling rollers 9 are simultaneously raised and lowered with respect to the chassis 8. , Relatively body 3
Can be adjusted to a horizontal state by tilting back and forth.

When the vehicle body 3 rolls and tilts to the left or right due to rolling, the left or right rolling cylinder 37 is controlled by the controller 4 by turning on the vehicle body horizontal switch 56 and detecting the tilt by the left and right tilt sensor 53.
To operate the front and rear rolling arms 26, 33
By moving the left or right wheel frame 27 up and down in parallel by the parallel linking action of the connecting rod 36 and the connecting rod 36, the left or right traveling crawler 9 is moved up and down with respect to the chassis 8 so that the vehicle body 3 is relatively moved. Can be adjusted to a horizontal state by inclining left and right.

When the vehicle body 3 is moved up and down in parallel with the traveling crawler 9, the left and right rolling cylinders 37 are simultaneously actuated by turning on the vehicle body horizontal switch 56, and the left and right rolling arms 26 and 33 are moved. By moving the left and right wheel frames 27 up and down in parallel by the up-and-down rotation action, the left and right traveling crawlers 9 are moved up and down in the same way with respect to the chassis 8 to move the vehicle body 3 up and down relatively in parallel. Can be.

In the above-described horizontal control of the vehicle body 3, during the mowing operation in the wetland, as shown in the flowchart of FIG. 1, the vehicle body horizontal switch 56 and the wetland switch 55 are turned on, and the threshing switch 54 is also turned on. ,
When the culm sensor 2 is in the OFF state, the cutting height is higher than a certain value, and the height (vehicle height) of the vehicle body 3 is equal to or less than a set value. By performing a right ascending output, performing a left ascending output when tilting to the right, and performing a left and right ascending output when there is no inclination on both sides,
The vehicle body 3 can be raised while maintaining the horizontal state.

Each of the switches 56, 55, 54 is turned on,
When the culm sensor 2 is also in the ON state, when the cutting height is lower than a predetermined value and the vehicle height is equal to or higher than the set value, the vehicle body 3 outputs a rightward downward output when the vehicle body 3 is tilted left, and outputs a leftward output when the vehicle body 3 is tilted rightward. By performing a descending output and performing a left and right descending output when there is no inclination in both the left and right directions, the vehicle body 3 can be lowered while maintaining the horizontal state. It should be noted that when the vehicle is moving backward, a rearward tilt output is performed, and when the reverse is stopped, a front-rear leaning output is performed. By maintaining such a horizontal state, it is possible to perform wetland control with good operability.

Further, as described above, the grain stalk sensor 2 is turned off.
In the state, when the vehicle height is increased to the set height, as shown in FIG. 2, the vehicle body 3 is inclined at a certain value or more, and the stroke sensor 50 on the inclination correction side (for example, the left side) exceeds the certain value. When a full state is detected, if the opposite side (for example, the right side) is raised, the inclination becomes conversely large, so the lifting of the vehicle body 3 is stopped. As described above, wetland control can be performed while the horizontal state of the vehicle body 3 is maintained, so that operability can be improved.

As shown in FIGS. 7 and 8, the transmission mechanism of the traveling transmission case 45 mounted on the front end of the undercarriage 8 is a double transmission that rotates around an input shaft 61 as a first shaft. A shifter groove 62 in which a shift shifter 64 that is slidably supported by a shifter stay 63 in a left-right direction is fitted into the gear 62.
and a shift arm 64a for causing the shift shifter 64 to slide.

The transmission gear 62 and a high-speed gear 66 and a low-speed gear 67, which are fixed to a counter shaft 65 as a second shaft, are respectively meshed with each other. And a steering axis 6 as a third axis
The two steering center gears 70, which are fixed to the shaft 9, mesh with each other so as to transmit the shifting power between the high speed side and the low speed side by the counter shaft 65.

Clutches 70b for meshing connection are provided on both side surfaces of the steering center gear 70, and the clutches are meshed and connected with the clutch claws 70b on the side surfaces of the gear portion 71a in close proximity to the left and right clutch claws 70b. Left and right steering clutches 71 having pawls 71b are provided on the steering shaft 69 so as to freely rotate. On the left and right steering clutches 71, left and right traveling brakes 72 are respectively engaged with extended portions opposite to the clutch pawls 71b, and return springs 60 of the steering clutch 71 are stretched at ends of the extended portions. Configuration.

A shifter groove 71c for inserting left and right steering shifters 73 for sliding the steering clutch 71 left and right is provided between the gear portion 71a of the steering clutch 71 and the extended portion. The steering shifter 73 is actuated by the rotation of the shifter shaft 74 so that the two clutch claws 70b and 71b are engaged with each other, and the two clutch claws 70b and 71b are oppositely engaged with each other. And the steering clutch 71 is disengaged and at the same time acts on the side on which the traveling brake 72 is braked.

One small diameter gear 70a of the two steering center gears 70, a mild revolving gear 76 rotatably mounted on a revolving shaft 75 as a sixth shaft, and a reduction shaft 7 as a fourth shaft.
7 and one small-diameter gear 78a of a pair of spin intermediate gears 78 that are idlely mounted on the rotating shaft 7, and the other large-diameter gear 78b of the spin intermediate gear 78 and the rotary shaft 7
5 and the spin revolving gear 79, which is idlely supported, is interlocked and configured. A switching clutch 80 having clutch claws 80a on both sides is disposed between the mild turning gear 76 and the spin turning gear 79, and the clutch 80 is slid left and right by a shifter stay 81 on the switching clutch 80. A shifter groove 80b into which the switching shifter 82 is inserted is provided, and a shifter inner arm 83 for sliding the switching shifter 82.
a and the outer gear 83b, the clutch pawl 80a and the revolving gear 76
And claws 76a and 79a provided on each side of
And one of them is engaged and connected separately.

Each gear 7 of the left and right steering clutches 71
1a and two left and right steering transmission gears 84, which are idle bearings on the deceleration shaft 77, are respectively meshed and interlocked, and the left and right turning transmission gears 85 are idlely supported on the turning shaft 75, respectively. The left and right revolving clutches 86 for rotating the transmission gear 85 around the shaft are respectively stopped.

The left and right turning transmission gears 85 and the left and right two turning intermediate gears 88 respectively rotatably supported on a turning intermediate shaft 87 as a seventh shaft are engaged with each other. One of the small-diameter gears 88a and the left and right steering transmission gears 84 mesh with each other.

One small diameter gear 84a of the left and right double steering transmission gears 84 and the left and right wheel shafts 89 as a fifth shaft
The left and right wheel gears 90 fixed to one end are meshed with each other, and the left and right drive wheels 46 for driving the left and right traveling crawlers 9 are fixed to the other end of the left and right wheel shafts 89, respectively. Configure.

As shown in FIG. 9, the transmission case 4
5. A shifter shaft 74 of a steering shifter 73 for operating left and right steering clutches 71 protruding outward from a front wall 45a of the fifth shifter 73.
The left and right clutch arms 91 are fixed to the front wall 45.
The left and right clutch sensors 93 which are rotated by the operation of the left and right steering cylinders 92 disposed at a.
Are arranged and configured.

As shown in FIG. 10, a power steering lever 5 for raising and lowering the reaper 1 by a forward and backward tilting operation and performing left and right steering and turning in the traveling direction of the vehicle body 3 by a left and right tilting operation is provided on one side of the operating device 20. A position sensor 6 such as a potentiometer for detecting the left or right tilt angle of the power steering lever 5 is engaged and arranged below the power steering lever 5, and the respective turning modes of mild turning, brake turning, and spin turning are set. The turning mode sensor 94 is arranged and configured.

As shown in FIG. 11, a CPU 95 is mainly arranged to perform arithmetic control of each turning mode, and a controller 95 including a nonvolatile memory 7 for storing a detection value of the position sensor 6 is provided. On the input side of the controller 95, position sensors 6 and 6 are connected via an input interface 95a.
The left and right clutch sensors 93, the turning mode sensor 94 and the like are connected to each other.

On the output side of the controller 95, a steering clutch solenoid valve 96 for operating a steering cylinder 92 of the left and right steering clutch 71 via an output interface 95b,
A swing clutch solenoid valve 97 for operating the left and right swing clutches 86, a pressure release solenoid valve 98 for suppressing the braking pressure of the traveling brake 72 accompanying the disengagement of the left and right steering clutch 71, and the like are connected to each other.

In the transmission of the gears in the traveling transmission case 45, power is transmitted to an input shaft 61.
The left and right double transmission gears 62 are slid left and right, and the counter shaft 6
5, when it is linked to the high-speed gear 66 which rotates around the shaft,
When linked to the low-speed gear 67, the speed is changed to a low speed, and the shifted power is linked to the steering center gear 70, which also rotates about the steering shaft 69, by the transmission gear 68, which also rotates about the counter shaft 65. .

At the time of this interlock, for example, the power steering lever 5
When the tilting operation of the lever 5 is performed to the left, as shown in FIG. Is set.

The starting angle position a for this mild turning mode
With the setting described above, the clutch pawl 76a of the mild revolving gear 76 interlocked with one of the small diameter gears 70a of the steering center gear 70 and the clutch pawl 80a of the switching clutch 80 that rotates in the axial direction are meshed and connected by the switching shifter 82 for mild The rotation gear 76 is rotated.

The clutch pawl 70b of the steering center gear 70 and the clutch pawl 71b of the left steering clutch 71 are connected by the operation of the left steering shifter 73 via the left steering cylinder 92 by the steering clutch solenoid valve 96. Separation, steering axis 69
The steering clutch 71, which is rotating around its axis, is held idle, the traveling brake 72 is not braked by the pressure release solenoid valve 98, the left swing clutch 86 is engaged by the swing clutch solenoid valve 97, and the mild swing gear is set. 76
The left revolving transmission gear 85 that rotates idle from the shaft is rotated.

From the turning transmission gear 85 to the turning intermediate shaft 87
The steering transmission gear 84 is interlocked with the left dual steering transmission gear 84 which idles by disengaging the steering clutch 71 as described above via the left double intermediate rotation gear 88 which idles. 84
By driving the left driving wheel 46 via the left wheel gear 90 from the small-diameter gear 84a through the left wheel gear 90a to reduce the driving speed of the left traveling crawler 9 relative to the right traveling crawler 9, a mild leftward movement is achieved. Make a turn.

Next, when the power steering lever 5 is tilted leftward during the interlocking operation from the transmission gear 68 to the steering center gear 70, as shown in FIG. 10, the tilting operation of the lever 5 is performed. Starting angle position b of the brake turning mode based on the angle storage value m whose end is detected by the position sensor 6 and the displacement amount by the turning mode sensor 94.
Is set.

The start angle position b of this brake swing mode
Setting, the clutch pawl 70b of the steering center gear 70
And the clutch pawl 71b of the left steering clutch 71 are separated by the action of the left steering shifter 73 via the left steering cylinder 92 by the steering clutch solenoid valve 96, and the steering shaft 6
At the same time, the steering clutch 71 rotating around the shaft is idled, and at the same time, the braking state in which the brake is locked from the half brake by the braking of the left traveling brake 72 is maintained.

By this braking, the rotation of the two left steering transmission gears 84 idled on the reduction shaft 77 interlocked with the gear portion 71a of the steering clutch 71 is stopped, and the steering center gear 70 The right steering clutch 71, which is continuously transmitting power, is linked to the right steering transmission gear 84, and further from one small-diameter gear 84a of the steering transmission gear 84 to the right drive wheel 46 via the right wheel gear 90. Let it. The driving of the right traveling crawler 9 by the right driving wheel 46 and the braking of the left steering clutch 71 cause the left traveling crawler 9 in the braking state to turn the brake to the left. Let it do.

Next, when the power steering lever 5 is tilted leftward during the interlocking operation from the transmission gear 68 to the steering center gear 70, as shown in FIG. 10, the tilting operation of the lever 5 is performed. Based on the angle storage value m whose end is detected by the position sensor 6, the start angular position c of the spin rotation mode is set by the amount of displacement by the rotation mode sensor 94.

By setting the start angle position c of the spin rotation mode, one small-diameter gear 7 of the steering center gear 70 is set.
0a, interlocked with the small diameter gear 78a of the dual spin intermediate gear 78 that idles on the reduction shaft 77, and also linked with the spin rotation gear 79 that reverses from the large diameter gear 78b and idles on the rotation shaft 75, The clutch pawl 79a of the spin revolving gear 79, which rotates in the reverse direction with respect to the mild revolving gear 76 by this reversal, and the clutch pawl 80a of the switching clutch 80, which rotates in the axial direction, rotate the spin revolving gear 79 by the meshing connection of the switching shifter 82. Let it.

The clutch pawl 70b of the steering center gear 70 and the clutch pawl 71b of the left steering clutch 71 are connected by the operation of the left steering shifter 73 via the left steering cylinder 92 by the steering clutch solenoid valve 96. Separation, steering axis 69
The steering clutch 71, which is rotating around its axis, is kept idle, the traveling brake 72 is not braked by the pressure relief solenoid valve 98, the left swing clutch 86 is engaged by the swing clutch solenoid valve 97, and the spin The left revolving transmission gear 85, which rotates idle from 79, is rotated.

From the turning transmission gear 85 to the turning intermediate shaft 87
The steering transmission gear 84 is interlocked with the left dual steering transmission gear 84 which idles by disengaging the steering clutch 71 as described above via the left double intermediate rotation gear 88 which idles. 84
By driving the left driving wheel 46 from the small diameter gear 84a through the left wheel gear 90 to drive the left traveling crawler 9 in reverse rotation with respect to the right traveling crawler 9, Make a spin turn.

As described above, the tilting operation of the power steering lever 5 to the left or right causes a mild turning, a brake turning,
When the turning of the vehicle body 3 is performed in the order of the spin turning, the starting angular positions a, b, and c of each turning mode are determined by the displacement amount obtained based on the angle storage value m of the tilting operation end. , Each can perform a stable turn. In particular, before switching in spin turning, accurate locking of the braking force is possible, and stable and efficient turning can be performed.

[Brief description of the drawings]

FIG. 1 is a flowchart showing a procedure for performing horizontal control when a vehicle body moves up and down in a wet field.

FIG. 2 is an operation diagram showing a state in which the vehicle is lifted and stopped in a wet field when the inclination state is excessive when the vehicle body is moved up and down.

FIG. 3 is a block diagram showing an electric circuit for performing horizontal control when the vehicle body moves up and down in a wet field.

FIG. 4 is a side view showing an elevating mechanism of a traveling crawler in the traveling device.

FIG. 5 is a plan view showing an elevating mechanism of a traveling crawler in the traveling device.

FIG. 6 is a perspective view showing an attached state of front and rear and left and right inclination sensors.

FIG. 7 is a front development view showing a gear transmission mechanism of the traveling transmission case.

FIG. 8 is a side view showing a gear transmission mechanism of the traveling transmission case.

FIG. 9 is a partial front view showing an arrangement state of a steering cylinder that operates a steering clutch.

FIG. 10 is a front view showing a start angle position of each turning mode by a tilting operation of the power steering lever.

FIG. 11 is a block diagram showing an electric circuit for performing arithmetic control during a turning operation in each turning mode.

FIG. 12 is a side view showing the overall configuration of the combine.

[Explanation of symbols]

 1. Reaper 2. Grain culm sensor 3. Body 4. Wet field control device 5. Power steering lever 6. Position sensor 7. Non-volatile memory H. Horizontal holding means

Claims (2)

[Claims] 1. When performing work in a wetland mode in a wetland, ON / OFF of presence / absence of a grain stalk arranged in the reaper 1 is set.
In the OFF detection of the culm sensor 2 to be detected, the vehicle body 3 is raised to a set height, and in the ON detection, the vehicle body 3 is raised or lowered in a combine or the like having a wetland control device 4 that lowers the vehicle body 3 to its original position. A wetland raising / lowering horizontal device, wherein horizontal holding means H for holding a horizontal state at each time are provided. 2. A power steering lever 5 for steering and turning the vehicle body 3, a position sensor 6 for detecting a tilt operation angle of the lever 5, and mild turning, brake turning and spin turning as steering turning modes. In combine etc.,
The position of the tilting operation end of the power steering lever 5 to the left or right is detected by the position sensor 6, and the start of spin rotation is determined based on the amount of displacement based on the detected value. A steering and turning device characterized in that the steering and turning device is stored in a memory for stability (7).