JP2002308137A - Steering operating device of running vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a steering operating device of a running vehicle capable of turning a machine body without increase in speed above the vehicle speed in rectilinear advance in turning the machine, so that a field is not damaged as much as possible and turning feeding can be improved. SOLUTION: A running vehicle is adapted to run rectilinearly by synchronously transmitting running power of a continuously variable transmission 18 to right and left running device 3, 3 through a pair of right and left planetary reduction mechanisms 20, 21, and adapted to turn and run the machine body by selectively transmitting turning power to the right and left planetary reduction mechanisms 20, 21 by the right and left rotating operation of a steering wheel 5 to steer and drive the right and left running device 3, 3. In the above running vehicle, a turning reduction and transmission system for reducing and transmitting the turning power by rotational operation of the steering wheel 5 selectively reduces and transmits the rotating power in the same direction to ring gears 26, 27 of the right and left planetary reduction mechanisms 20, 21, whereby the running device 3 on the inside in the turning direction is decelerated to reduce and turn without increasing the speed of the running device 3 on the outside in the turning direction.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a steering operation device for a traveling vehicle such as a combine or a tractor.

[0002]

2. Description of the Related Art Conventionally, a combine having a crawler-type traveling device on the left and right has a steering operation device linked to each sun gear via a pair of left and right planetary reduction mechanisms from a transmission system on a transmission upstream side. The right and left traveling devices are simultaneously driven to drive the aircraft straight ahead, and the circular steering handle is rotated left and right to operate the steering means by the HST type hydraulic motor, and the left and right directions of the aircraft are operated. There is already known one configured to perform a turning run to a vehicle.

[0003]

A combine equipped with a left and right traveling device driven by a planetary speed reduction mechanism having the above-described conventional structure has a pair of left and right planetary speed reduction mechanisms when rotating the handle. As the amount of rotation increases, the speed of the traveling device on the outside in the turning direction is increased while the speed of the traveling device on the inside in the turning direction is differentially rotated so as to decelerate. Because the aircraft turns at speed, when turning the aircraft from straight traveling, it turns sharply and lacks steering operability and turning feeling at the time of fine adjustment of the aircraft traveling direction, and the riding comfort is low. There were drawbacks, such as the need to call attention so that they would not be shaken off badly. Further, if the speed at the time of turning is reduced in order to avoid this, a complicated deceleration adjusting mechanism is required, and there is a problem that the structure becomes complicated and the cost increases.

[0004]

In order to solve the above-mentioned conventional problems, a steering operation device for a traveling vehicle according to the present invention firstly uses a traveling power of a continuously variable transmission 18 as a pair of left and right planetary reduction mechanisms. The driving force is transmitted to the left and right planetary reduction mechanisms 20 and 21 selectively by the left and right rotation operations of the steering wheel 5 while being synchronously transmitted to the left and right traveling devices 3 and 3 via the right and left traveling devices 3 and 3. In a traveling vehicle that steers and drives the traveling devices 3 and 3 to perform a turning traveling of the body, a turning deceleration transmission system for decelerating and transmitting turning power by rotating the handle 5 is provided with ring gears of the left and right planetary reduction mechanisms 20 and 21. 26, 27, the rotational power in the same direction is selectively transmitted to reduce the speed, and the traveling device 3 inside the turning direction is decelerated without increasing the speed of the traveling device 3 outside the turning direction. It is characterized by slowing the turning Te.

Second, in the initial stage of turning based on the turning operation of the steering wheel 5, the clutch is disengaged so that the power of the traveling device 3 inside the turning direction is turned off without increasing the speed of the traveling device 3 outside the turning direction. It is characterized by providing a turn.

Third, according to the amount of rotation of the handle 5,
A clutch disengagement turn for turning the traveling device 3 inside the turning direction by turning off the power without increasing the speed of the traveling device 3 on the outside in the turning direction; a deceleration turning for turning the traveling device 3 by decelerating; The traveling device 3 is characterized in that the traveling device 3 is turned in a reverse direction and the vehicle is turned.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be specifically described below with reference to the drawings. A shown in FIGS. 1 to 3 is a combine in which the steering operation device according to the present invention is implemented. As in the conventional case, the combine A includes a pre-processing unit 1 and a threshing unit 1b having a straw processing unit 1a at the rear. A driving operation unit 1c including a handle 5 as a turning operation means and an operation seat 11 and a fir processing unit 1d for bagging threshed grains are arranged on the other side. The combine A in the illustrated example is provided at the rear of the fir processing unit 1d.
An auxiliary driving operation unit 1e provided with a multi-lever 5a as auxiliary turning operation means to be described later with reference to FIG. 6 is installed, and the operation of the body is selected from the driving operation unit 1c and the auxiliary driving operation unit 1e with convenience. So that you can do it all at once.

The driving operation section 1c is provided with a handle 5 for circular rotation operation, which will be described later with reference to FIGS. 5 and 8, in front of the driving seat 11, and when the handle 5 is rotated left and right, the body turns left and right. It can be run, and a round handle / pre-processing switch 10a is provided on an arm portion within the handle 5, and the pre-processing unit 1 can be easily moved up and down by pressing the round handle / pre-processing switch 10a. Like that. Further, on the left side of the driving operation section 1c, a main shift lever 6 for shifting the body forward and backward steplessly, and a sub-shift lever 7 for setting the running speed of the body to three speed ranges of high speed, medium speed and low speed, etc. Is installed.

The handle 5 is a potentiometer (round handle / potentiometer) 8 mounted on a handle shaft.
By detecting the rotation operation amount of the steering wheel 5, the operation pattern as shown in FIG. 5 can be obtained by the configuration of FIGS. That is, when the steering wheel 5 is in the straight forward neutral position P in FIG. 5 and the steering wheel play range (dead zone) of about 10 ° to the left and right from this position, the actuators described later are not actuated based on the detection of the potentiometer 8 and the left and right The traveling devices 3 and 3 are rotated in the same direction to travel straight.

When the steering wheel 5 is rotated in one of the left and right turning directions, the amount of rotation (rotational operation amount) is detected by the potentiometer 8, and the rotation amount is approximately 10 ° to 40 °.
° (range K), the power of the traveling device 3 inside the turning direction is cut off by disengaging the clutch without changing the set speed of the traveling device 3 outside the turning direction. The clutch is disengaged and turned, in which the airframe is gently turned while turning the airbag along with the rotation of the outer traveling device 3.

When the steering wheel 5 is rotated by approximately 40 ° to 80 ° (range A), the speed of the traveling device 3 on the outside in the turning direction is not increased, and the speed of the traveling device 3 on the inner side is increased.
Is slightly decelerated, and a gentle turning during the decelerating turning is performed, in which the body is turned largely at a speed slightly faster than the clutch disengagement turning. The handle 5 is approximately 80 ° to 12 °.
When rotated about 0 ° (range B), in the same state as above, the inner traveling device 3 is further decelerated as compared with the decelerated turning, and is turned at a speed slightly higher than the gentle turning. However, a sharp turn during the deceleration turn is performed. Also, the handle 5 is about 120 ° to 150 ° (range C)
In this case, the inner traveling device 3 is decelerated in the reverse direction without increasing the speed of the traveling device 3 on the outer side in the turning direction, so that a super pivot turn, a so-called spin turn, can be performed. .

On the other hand, as shown in FIG.
Multi-lever 5 as auxiliary turning operation means installed in e
a is provided with a multi-lever / pre-processing switch 10b that, when tilted left and right, causes the body to turn left and right, and when operated back and forth, raises and lowers the pre-processing unit 1; Also, the driving operation can be performed easily and smoothly.
That is, the multi-lever 5a is provided with a multi-lever potentiometer 8a for detecting the tilt angle of the lever near its left-right rotation fulcrum.
And a range A in which a gentle turn during deceleration turning similar to that of the steering wheel 5 is set to about 5 °, and a range B in which a sharp turn during deceleration turning is set to about 5 °. However, the clutch disengagement turning pattern, the super pivot turning pattern, and the like of the turning pattern of the steering wheel 5 are omitted.

This combine A is a steering operation device according to the first embodiment of the present invention shown in FIG. The configuration is as shown in FIG. Hereinafter, each figure will be described. FIG. 4 is a transmission system diagram of the transmission.
Is a traveling HST that continuously changes the power of the engine 17
(Continuously variable transmission) 19 is an auxiliary transmission that sets the power shifted by the traveling HST 18 to three speed ranges of high speed, medium speed and low speed by switching operation of the auxiliary transmission lever 7. 20 and 21 are the above-mentioned traveling HST1.
8, right and left planetary reduction mechanisms disposed downstream of the transmission of the speed change transmission system such as the auxiliary transmission 19.
2,23, planetary gears 24,25, ring gears 26,2
7, the traveling power reduced by the auxiliary transmission 19 is constituted by the carriers 28 and 29,
Sun gear 2 connected to the left and right traveling devices 3
The transmission is always made to 2, 23.

On the upstream side of the transmission of the ring gears 26 and 27, there are provided left and right clutch brakes 31 and 32 which normally operate a brake by a spring and disengage a clutch. The gears 33 and 34 that rotate integrally with the brakes 31 and 32 and the ring gears 26 and 27 always mesh.

The left and right clutches and brakes 3
On the upstream side of the transmissions of the first and second transmissions, the gentle turning clutch 35, which is driven by the power decelerated by the auxiliary transmission 19,
A sharp turning clutch 36 and a super pivot turning clutch 37 are provided. Normally, each clutch is disconnected by a spring. By connecting the clutches by a clutch actuator described later, the left and right clutches / brake 31, 32, the rotational power in the same direction is applied to the ring gears 26 and 27, and the gentle turning clutch 35,
The turning deceleration transmission system is configured to selectively decelerate and transmit any one of the power of the sharp turning clutch 36 and the super pivot turning clutch 37. Each of the swing clutches 3
Reference numerals 5, 36 and 37 denote clutches having the same structure but different gear ratios. Each of the revolving clutches 35, 36 and 37 has the same rotation direction and different rotation speed with respect to the left and right clutches and brakes 31 and 32. Transmit power.

FIG. 8 is a block diagram of a microcomputer.
U43, the potentiometer 8 of the handle 5
And the round handle / pre-processing switch 10a, the potentiometer 8a of the multi-lever 5a, the multi-lever / pre-processing switch 10b, etc., are input connected, and the left / right clutch / brake actuators 38 and 39, the gentle turning clutch actuator 40, the sudden turning clutch The actuator 41, the pivot pivot clutch actuator 42, and the like are output-connected so that the steering operation according to the operation pattern of the handle 5 shown in FIG. 5 and the operation pattern of the multi-lever 5a shown in FIG. 6 can be smoothly performed. I have.

Next, the operation procedure and operation of the operating device of the combine constructed as described above will be described. The combine A operates the main transmission lever 6 in the forward direction in a state where the sub transmission lever 7 is set to any one of the shift ranges, so that the reduced power is transmitted via the center gear 30 to the left and right planetary reduction mechanisms. 20, 21 sun gear 22,
23. At this time, since the left and right clutches / brakes 31 and 32 are in a state where the respective clutches are disengaged and the brakes are operating, the combine A moves forward within the range of the speed selected by the sub-transmission lever 7.

When the handle 5 is in the neutral position P shown in FIG. 5 and a dead zone of about 10 ° to the left and right from the neutral position P shown in FIG.
Each actuator is not operated based on the detection of the potentiometer 8, and the right and left traveling devices 3 and 3 are rotated in the same direction to go straight. When the steering wheel 5 is rotated in one of the left and right turning directions, the position is detected by the potentiometer 8. If the rotation amount is approximately 10 ° to 40 ° (range K), the left and right planetary reduction mechanisms 20 are rotated. , 21 are constantly transmitted from the transmission transmission system on the transmission upstream side, and the right and left clutches are operated by operating the right clutch actuator 38 from a straight running state in which the respective revolving clutches 35, 36, 37 are disconnected. -The clutch inside the turning direction of the brakes 31, 32 is released. Accordingly, the traveling device 3 on the outer side in the turning direction is transmitted without changing the set speed of the speed change transmission system, and the traveling device 3 on the inner side in the turning direction is in a free state in which the transmission is cut off by disengaging the clutch. While rotating the traveling device 3 by the rotation of the outer traveling device 3, it is possible to perform clutch disengagement turning for gently turning the body, and to enable fine adjustment of the steering of the body. .

Next, when the steering wheel 5 is rotated by approximately 40 ° to 80 ° (range A), in a state where the set speed of the traveling device 3 outside the turning direction is not changed,
Among the deceleration turns in which the inner traveling device 3 is slightly decelerated, a gentle turn is performed. When the steering wheel 5 is rotated by approximately 80 ° to 120 ° (range B), the inner traveling device 3 is further decelerated in a state similar to the decelerated turning, and the speed is higher than the gentle turning. Make a sharp turn. Also,
When the steering wheel 5 is rotated by approximately 120 ° to 150 ° (range C), the inner traveling device 3 is kept in a state in which the set speed of the traveling device 3 on the outer side in the turning direction is not changed.
And reverse rotation and decelerate to perform a pivot turn.

Here, when turning the combine A to the right, the handle 5 is moved to the clutch disengagement turning K shown in FIG.
An example in the case where the operation is performed to the positions A, B, and C beyond the position will be sequentially and specifically described. First, when the handle 5 is operated to the position A in FIG. 5 and the potentiometer 8 detects the position, the right clutch actuator 38 is operated to release the brake of the right clutch / brake 32 and to connect the clutch. Further, since the gentle turning clutch actuator 40 is operated to connect the gentle turning clutch 35, the traveling device 3 on the left side keeps rotating in the straight running state, and the traveling device 3 on the right side is decelerated by the gentle turning clutch 35. The transmitted power is input to the ring gear 27 via the clutch of the right clutch / brake 32, so that the straight-line power transmitted to the sun gear 23 is reduced. At this time, the ratio of the rotation speeds of the traveling devices 3 and 3 on the outside of the turn and the inside of the turn is about 7: 3, and the combine turns slowly to the right while minimizing the roughness of the field during the combine operation. .

Then, in order to turn the combine A further to the right, the steering wheel 5 must be moved beyond the position A to
When the position is operated and the potentiometer 8 detects the position, the sharp turning clutch actuator 41 is actuated to connect the sudden turning clutch 36, so that the right traveling device 3 is decelerated by the sudden turning clutch 36. Since the power is input to the ring gear 27 via the clutch of the right clutch / brake 32, the straight-line power transmitted to the sun gear 23 is further reduced. At this time, the ratio of the rotation speeds of the traveling devices 3 and 3 on the outside and inside of the turn is 9: 1.
And turn sharply to the right. However, since the traveling device 3 on the inside of the turn is also rotating, the roughening of the field can be reduced as compared with the pivot turn in which the traveling device 3 on the inside of the turn is braked and fixed during the combine operation.

Next, in order to further turn the combine A to the right, the handle 5 is rotated to the position C beyond the position B, and when the position is detected by the potentiometer 8, the super pivot swing clutch actuator 42 is turned on. When activated, the super pivot turning clutch 37 is connected, so that the right traveling device 3 inputs the power reduced by the super pivot turning clutch 37 to the ring gear 27 via the clutch of the right clutch / brake 32. Therefore, the straight-line power transmitted to the sun gear 23 is further reduced.
The traveling device 3 inside the turning at this time rotates in a direction opposite to the rotation of the traveling device 3 outside the turning and turns sharply. Therefore, the airframe can quickly perform the spin turn of the super pivot turn on the spot. At this time, it is preferable that the ratio of the rotation speeds of the traveling devices 3 and 3 on the outside of the turn and on the inside of the turn is about 10: -3.

Therefore, the combine A having the steering operation device constructed as described above transmits the traveling power of the transmission system to the left and right traveling devices 3 and 3 via the pair of left and right planetary reduction mechanisms 20 and 21 in synchronization. In addition, the turning deceleration transmission system, which allows the vehicle to travel straight ahead and decelerates and transmits the turning power by the left and right rotation operation of the handle 5, is applied to the ring gears 26 and 27 of the left and right planetary reduction mechanisms 20 and 21 in the same direction as the traveling power of the speed change transmission system. Is selectively transmitted in a decelerating manner, and the traveling device 3 inside the turning direction is decelerated and turned without deceleration without increasing the speed of the traveling device 3 outside the turning direction. During turning, a gentle turning can be accurately performed without increasing the speed of the vehicle when traveling straight ahead, and the steering operation can be easily performed.

Further, in response to an increase in the amount of rotation of the steering wheel 5, a clutch disengagement turning operation in which the power of the traveling device 3 inside the turning direction is cut off and turning, a deceleration turning operation in which the traveling device 3 is turned at a reduced speed, and Since the turning operation is performed by performing the turning operation by turning the traveling device 3 in the reverse direction, it is possible to easily select a turning pattern adapted to the condition of the field and the necessity of the turning degree, The turning speed can be suppressed as the turning operation of the is increased.
Further, the planetary reduction mechanisms 20 and 21 constantly rotate the center gear 30 from the transmission transmission system on the transmission upstream side, and
Since the left and right clutches / brakes 31 and 32 always engaged with the ring gears 26 and 27 are turned on and off to switch the respective turning patterns, the turning is smoothly performed without a shock when switching the turning patterns. It has features such as improved turning feeling.

In this case, in the initial stage of turning based on the turning operation of the steering wheel 5, the clutch disengagement for turning without running the power of the traveling device 3 inside the turning direction without increasing the speed of the traveling device 3 outside the turning direction. Since the turning is provided, the transition from the straight running to the decelerating turning is smoothly performed, and the fine adjustment of the steering can be easily performed. Although the handle 5 has a round shape in the illustrated example, the handle 5 is not limited to this and may have an arbitrary shape.

Next, a case where the operator shifts from the driving operation section 1c to the auxiliary driving operation section 1e to perform a driving operation will be described. In this case, when the operator walks with the running of the airframe and steers the multi-lever 5a while tilting the multi-lever 5a left and right, the multi-lever potentiometer 8a
5 detects the tilt angle of the lever, and when the multi-lever 5a reaches the range A beyond the dead zone from the straight forward neutral position P, FIG.
Since the slow deceleration turning similar to that of the handle 5 is performed and the deceleration turning is rapidly performed when the range B is reached, a desired steering operation can be easily performed.

At this time, the operation pattern of the multi-lever 5a omits the clutch disengagement turning pattern and the super turning pattern which the operation pattern of the handle 5 has as described above. Since the configuration of the operation unit 1e can be simplified, and the aircraft does not turn sharply and sharply as in the case of a super-revolution,
The follow-up operation behind the body can be favorably performed without the walking operator being swung around. Therefore, there is an advantage that the driving operation can be performed easily and smoothly even on a slope or a steep slope of a rice terrace.

Next, FIG. 7 showing a second embodiment of the present invention will be described. The description of the same configuration and operation as those described above is omitted. First, a difference from the first embodiment is that a turning HST 61 as a turning deceleration transmission system is provided in place of various turning clutches, and the output rotation of the turning HST 61 according to the amount of turning operation of the steering wheel 5. By changing the number arbitrarily, the left and right traveling devices 3, 3
In this state, the turning can be performed with a turning radius corresponding to the reduction ratio of the turning HST 61, and the turning feeling can be improved while minimizing the field during the combine operation.

When finely adjusting the left and right traveling directions, one of the left and right clutches and brakes 31 and 32 is released from the brake and the clutch is disengaged at the beginning of the turning operation of the steering wheel operation. Accordingly, as in the first embodiment, no power is transmitted, so that the traveling device 3 runs out without driving force and can easily make fine adjustments in the aircraft traveling direction.

In the case of this embodiment, the turning operation of the handle 5 is performed at about 10 times at the beginning of the turning operation beyond the dead zone.
About 30 ° is defined as the clutch disengagement turning range.
When the range of 0 ° to 150 ° is rotated, the HS
Since the speed is steplessly decelerated depending on the degree of the supply of the pressure oil by T61, the turning operation can be performed smoothly and the turning structure can be simplified. still,
Also in this case, the multi-lever 5a can freely perform gentle turning and sharp turning similarly to the above-described one.

[0031]

According to the present invention, the following effects can be obtained by adopting the steering operation device for a traveling vehicle as described above. The traveling power of the continuously variable transmission is synchronously transmitted to the left and right traveling devices via the pair of left and right planetary reduction mechanisms to cause the vehicle to travel straight, and the turning power is selectively transmitted to the left and right planetary reduction mechanisms by rotating the steering wheel left and right. In a traveling vehicle that steers and drives the left and right traveling devices to perform turning movement of the fuselage, a turning reduction transmission system that reduces the transmission of turning power by rotating the handle is provided to a ring gear of the left and right planetary reduction mechanisms. It is configured to selectively transmit the rotational power in the same direction by deceleration, and the traveling device inside the turning direction is decelerated and decelerated and turned without increasing the speed of the traveling device outside the turning direction. In some cases, the vehicle can make a gentle turn without increasing the speed of the vehicle when traveling straight ahead, and it is possible to improve the turning feeling without damaging the field as much as possible.

Also, in the initial stage of turning based on the turning operation of the steering wheel, a clutch disengagement turn is provided in which the power of the traveling device inside the turning direction is turned off without increasing the speed of the traveling device outside the turning direction. During the initial turning operation of the steering wheel, the aircraft is not driven straight ahead while rotating the traveling device inside the turning direction by the rotation of the outer traveling device without increasing the speed of the traveling device outside the turning direction. Since it is possible to make a gentle turn, it is possible to make a turn without damaging the field as much as possible, and it is possible to easily and smoothly perform fine adjustment of the aircraft steering.

In addition, a clutch disengagement turning operation in which the power of the traveling device on the inner side in the turning direction is turned off without increasing the speed of the traveling device on the outer side in the turning direction in accordance with the rotation operation amount of the steering wheel, and By performing decelerating turning that decelerates and turning, and super turning that turns the traveling device in reverse and turning, and turning, the turning pattern according to the conditions of the field and the necessity of turning can be simplified. The planetary reduction mechanism involves a large switching shock because the center gear is constantly rotating, and the turning pattern is switched by turning on and off the left and right clutches and brakes constantly engaged with the ring gear. This makes it possible to perform a smooth turn without any trouble and to improve steering operability.

[Brief description of the drawings]

FIG. 1 is a side view of a combine embodying the present invention.

FIG. 2 is a front view of FIG. 1;

FIG. 3 is a rear view of FIG. 1;

FIG. 4 is a transmission system diagram of the transmission according to the first embodiment.

FIG. 5 is a plan view showing an operation pattern of the steering wheel.

FIG. 6 is a front view showing an operation pattern of the multi-lever.

FIG. 7 is a transmission system diagram of a transmission according to a second embodiment.

FIG. 8 is a block diagram of a microcomputer.

[Explanation of symbols]

 Reference Signs List 3 Traveling device 5 Handle (turning operation means) 5a Multi-lever (auxiliary turning operation means) 20, 21 Planetary reduction mechanism 26, 27 Ring gear 39 Center gear 31, 32 Left and right clutch / brake 35 Slow turning clutch 36 Rapid turning clutch 37 Super Shinchi turning clutch 83 Left side clutch 84 Right side clutch

Claims (3)

[Claims] 1. The power of the continuously variable transmission 18 is synchronously transmitted to the left and right traveling devices (3) and (3) via a pair of left and right planetary reduction mechanisms (20) and (21) so as to travel straight. The turning power is selectively transmitted to the left and right planetary speed reduction mechanisms (20) and (21) by the left and right rotation operation of the handle (5), and the left and right traveling devices (3) and (3) are steered and driven. In the traveling vehicle that performs the turning travel of the vehicle, the turning deceleration transmission system that causes the turning power to be decelerated and transmitted by the rotation operation of the handle (5) is connected to the left and right planetary reduction mechanisms (20) and (2).
1) The rotational gears in the same direction are selectively reduced and transmitted to the ring gears (26) and (27) of the ring gear (26) without turning the traveling device (3) outside the turning direction to increase the speed. A steering operation device for a traveling vehicle that decelerates the traveling device (3) on the inner side in the direction and turns at a reduced speed. 2. In the initial stage of turning based on the turning operation of the steering wheel (5), the speed of the traveling device (3) on the inner side in the turning direction is increased without increasing the speed of the traveling device (3) on the outer side in the turning direction from the straight traveling speed. 2. The steering operation device for a traveling vehicle according to claim 1, wherein a clutch disengagement turning operation for turning the vehicle without power is provided. 3. Turning off the power of the traveling device (3) inside the turning direction without increasing the traveling speed of the traveling device (3) outside the turning direction in accordance with the amount of rotation operation of the steering wheel (5). The clutch is disengaged for turning, the deceleration turning for decelerating and turning the traveling device (3) inside the turning direction, and the super pivot turning for reversing and turning the traveling device (3) to perform turning traveling. The steering operation device for a traveling vehicle according to claim 1 or 2.