JP2005295932A - Traveling vehicle - Google Patents

Abstract

The present invention provides a traveling vehicle such as a combine that has a configuration in which a turning operation and a turning force-up operation can be performed with a single operation tool, and other operations can be performed safely.
A swiveling device having a swiveling device that cuts planted cereals and a turning clutch that adjusts the rotational speed of a wheel by turning braking pressure. After raising the reaping device 9 by a predetermined value or more by an operation, when the steering operation tool 21 is further operated in the backward direction and then in the horizontal direction, the left and right operation of the steering operation tool 21 is performed. It is a traveling vehicle provided with the control apparatus 100 which performs control which performs the output which further added the predetermined value to the said turning braking pressure according to direction operation amount.
[Selection] Figure 5

Description

  The present invention relates to a traveling vehicle such as a combine.

  For example, as a work vehicle using a crawler as a traveling means, a conventional technique will be described taking an agricultural combine as an example. The combine has an endless belt-like crawler, and can run freely even in a soft field such as paddy fields to enable agricultural work such as mowing.

  The combine is equipped with an engine as a power source, and the power generated by the engine is used for traveling, harvesting, threshing, etc. of the combine. The crawler drives the engine power by shifting it with a traveling transmission device. The traveling transmission is composed of a hydrostatic continuously variable transmission, a gear train mechanical transmission means, a differential gear device, a clutch means, a brake means, etc., and a gentle turning mechanism by tilting the steering operation lever to the left and right And a mechanism capable of selecting a brake turning mechanism and a sudden turning mechanism.

In order to improve the turning performance in these left and right directions, operating means such as a turning force up switch is provided as a means to increase the braking pressure of the traveling drive body inside the turning from the normal turning, and sudden turning according to the operation The structure which enables it is known (the following patent documents 1 and 2).
JP-A-7-33045 (switching operation tool 5) JP-A-9-166154 (changeover switch 48)

  However, although the structure of the combine described in the above-mentioned patent publication has an advantage that the turning force can be adjusted independently, it is necessary to use a separate operation means for increasing the turning force. There is a possibility that inconveniences such as insufficient operability and damage to the harvesting device by turning it sharply while lowering the harvesting device may occur.

  An object of the present invention is to provide a traveling vehicle such as a combine that has a configuration in which a turning operation and a turning force-up operation can be performed with a single operation tool and other operations can be performed safely.

  The invention described in claim 1 is driven by the engine provided in the vehicle body 2 and power that is obtained by shifting the driving force from the engine, and can be turned left and right in the running direction. The body 3, the harvesting device 9 that harvests the planted culm, the left / right operation for turning the traveling drive body 3 in the left / right direction, and the steering operation tool for performing the operation in the front / rear direction for raising / lowering the harvesting device 9 21, the turning device 14 that can change the rotation speed of the traveling drive body 3 inside the turning according to the operation amount of the steering operation tool 21, and the reaping device 9 in the state where the reaping device 9 is in the raised position above a predetermined value. The steering operation tool actually operated when the steering operation tool 21 is operated in the left-right direction while operating the steering control tool 21 in the rear direction or when the steering operation tool 21 is operated in the left-right direction after being operated rearward. The turning half smaller than the turning radius with respect to the left and right operation position of 21 In a traveling vehicle that includes a control device 100 for controlling to pivot.

  According to the first aspect of the present invention, in the state where the reaping device 9 is in the raised position of a predetermined value or more, the steering operation tool 21 is operated in the left-right direction after the steering operation tool 21 is operated rearward or the steering operation tool 21. When the steering wheel 21 is operated in the left-right direction after being operated to the rear side, control is performed so that the steering operation tool 21 that is actually operated turns with a turning radius smaller than the turning radius with respect to the operation position in the left-right direction.

  The invention according to claim 2 is provided with the culm detection means for detecting the culm that has been harvested in the reaping device 9, and when the culm detection means is detecting the culm, the control device 100 The traveling vehicle according to claim 1, wherein the vehicle is not controlled to turn at a turning radius smaller than a turning radius with respect to an operation position in the left-right direction of the steering operation tool 21 actually operated.

  According to the second aspect of the present invention, when the culm detection means is detecting the culm, the control device 100 determines from the turning radius with respect to the operation position in the left-right direction of the steered operation tool 21 actually operated. Also, avoid turning control with a small turning radius.

  The invention according to claim 3 is an engine provided in the vehicle body 2 and a turnable travel drive which is driven by power obtained by shifting the driving force from the engine and which is provided to the left and right in the travel direction. A body 3, a reaping device 9 for reaping the planted culm, a turning device 14 capable of changing the number of rotations of the traveling drive body 3 inside the turning according to the operation amount of the steering operation tool 21, and the reaping device 9 When the steering operation tool 21 is operated in the left-right direction after being operated in the left-right direction in a state where the steering operation tool 21 is in the ascending position of a predetermined value or more, the left-right operation position of the steering operation tool 21 actually operated is It is a traveling vehicle provided with the control apparatus 100 which controls to turn with a turning radius smaller than a turning radius.

  According to the third aspect of the present invention, when the reaping device 9 is operated to the rear side after operating the steering operation tool 21 in the left-right direction in a state where the reaping device 9 is in the raised position of a predetermined value or more, the operation is actually performed. Control is performed so as to turn with a turning radius smaller than the turning radius with respect to the operation position in the left-right direction of the steering operation tool 21 that has been made.

  According to a fourth aspect of the present invention, the reaping device 9 is provided with a culm detection means for detecting the culm that has been harvested. The traveling vehicle according to claim 3, wherein the vehicle is not controlled to turn with a turning radius smaller than the turning radius with respect to the operation position in the left-right direction of the steering operation tool 21 operated in the right direction.

  According to the invention of claim 4, when the culm detection means is detecting the culm, the control device 100 determines from the turning radius with respect to the operation position in the left-right direction of the steered operation tool 21 actually operated. Also, avoid turning control with a small turning radius.

  According to the first aspect of the present invention, in the state where the reaping device 9 is raised by a predetermined value or more, the steering operation tool 21 for raising the reaping device 9 is further operated to the rear side and operated in the left-right direction. Or when the steering operation tool 21 is operated in the left-right direction after operating the steering operation tool 21 to the rear side, the turning radius smaller than the turning radius with respect to the operation position in the left-right direction of the steering operation tool 21 actually operated. Since control is performed so as to turn the vehicle, it is possible to avoid a sudden obstacle. Moreover, since the reaping device 9 that has already been lifted can be further raised by operating the steering operation tool 21 in the left-right direction, the distance between the reaping device 9 and the field scene becomes longer and safety is increased. Rise. Furthermore, there is no need to provide a separate member such as a switch in order to reduce the turning radius, and the cost of the traveling vehicle can be reduced.

  According to the invention of claim 2, in addition to the effect of the invention of claim 1, when the culm sensor detects a planted culm, the control of the turning force up is not performed, It is possible to prevent an erroneous operation during the cutting operation.

  According to the third aspect of the present invention, the turning radius is reduced by operating the steering operation tool 21 in which the reaping device 9 is raised in the left-right direction in a state where the reaping device 9 is elevated by a predetermined value or more. It is possible to avoid a sudden obstacle. Moreover, since the reaping device 9 that has already been lifted can be further lifted by operating the steering operation tool 21 in the left-right direction, the distance between the reaping device 9 and the field scene becomes longer and safety is increased. Rise. Furthermore, there is no need to provide a separate member such as a switch in order to reduce the turning radius, and the cost of the traveling vehicle can be reduced.

  According to the invention of claim 4, in addition to the effect of the invention of claim 3, if the culm sensor detects a planted culm, the control of the turning force up is not performed, It is possible to prevent an erroneous operation during the cutting operation.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a left side view of the combine of the present invention.
As shown in FIG. 1, a traveling device body 4 having a pair of left and right traveling devices (hereinafter referred to as traveling crawlers) 3 traveling on the soil surface is disposed on the lower side of the body frame 2 of the combine 1. A cutting device 9 having a weed pod 8 is provided on the front end side of 2. The reaping device 9 is supported by the reaping device support frame 7 that moves up and down around the upper fulcrum of the vehicle body frame 2, so that the operator boarding the combine 1 tilts the steering lever 21 of the cockpit 20 back and forth. It is the structure which moves up and down with the reaping device support frame 7 by operating.

  Above the body frame 2, a threshing device 10 that takes over and transports cereals that are conveyed from the reaping device 9, and a grain tank 13 that temporarily stores grains threshed and selected by the threshing device 10. The auger 15 is connected to the rear part of the grain tank 13 and the grains in the grain tank 13 are discharged to the outside of the combine 1.

  That is, in the combine 1, the operator operates the main transmission HST lever 23 and the auxiliary transmission lever 22 at the cockpit 20 to drive the power of the engine (not shown) for the main transmission in the traveling transmission case 12 shown in FIG. 2. The speed is changed via the HST 18 and the gear speed changing means of the auxiliary transmission 24, and is transmitted to the left and right traveling crawlers 3 and 3 to travel at an arbitrary speed.

  Further, the combine 1 can travel in various turns by the operator tilting the steering lever 21 left and right in the cockpit 20. That is, when the steering lever 21 is tilted in a direction to turn the combine 1, the side clutch 44 and the turning clutch 82 in the traveling mission case 12 shown in FIG. 2 are operated, and the left and right crawler drive sprockets 16L are operated. , 16R is selectively transmitted to the left and right traveling crawlers 3 and 3 so that the traveling direction is changed by giving a speed difference.

  FIG. 2 shows a cross-sectional view of the traveling mission device 14 of the combine 1 according to the present embodiment. FIG. 3 shows a relationship diagram of the rotation speed of the gear of the differential gear device. FIG. 4 shows an enlarged view of the clutch shaft 70 portion.

  The traveling transmission device 14 is a traveling transmission basic comprising an output shaft 17, a mission input shaft 27, a mission counter shaft 33, a side clutch shaft 41, and a wheel shaft 11 of the hydraulic continuously variable transmission (traveling HST) 18 shown in FIG. 2. The transmission system includes a traveling transmission differential transmission system (auxiliary transmission system) including a clutch shaft 70 and a differential gear mechanism support shaft 50.

First, the traveling transmission basic transmission system of the traveling mission apparatus 14 will be described mainly with reference to FIG.
A rotational driving force from an engine (not shown) is transmitted to the traveling HST 18 so that forward / reverse switching and variable speed rotational power are output from the output shaft 17. The main transmission lever 23 is configured to be capable of switching between increasing / decreasing shifting and forward / reverse (forward / reverse switching) of the traveling HST 18.
Then, the steering lever 21 is operated to shift the “on” / “off” of the side clutch 44 described later and the differential gear device 6 to perform a turning operation.

  In the traveling mission case 12, an auxiliary transmission 24, a side clutch device 25, and a differential gear device 6 are provided. The left and right wheel shafts 11L, 11R on the lower transmission side of these devices are connected via drive sprockets 16L, 16R. Thus, the left and right traveling crawlers 3 and 3 are driven.

  The power from the wide transmission gear 26 of the output shaft 17 of the traveling HST 18 is transmitted to the counter gear 61 of the HST counter shaft 60, and the power is transmitted from the counter gear 61 to the transmission gear 62 on the transmission input shaft 27 of the auxiliary transmission 24. Be transmitted.

  The large gear 28, the middle gear 29, the small gear 30, and the large transmission gear 34, the medium shifting gear 35, and the small transmission gear provided on the transmission input shaft 27 of the auxiliary transmission 24 are integrally provided. 36. Gears 28 to 30 integrally provided on the mission input shaft 27 are configured to be slidable in the axial direction of the mission input shaft 27 by operation of the auxiliary transmission lever 22 so as to be capable of shifting. The transmission input shaft 27 extends from the traveling mission case 12 to the outer side, and a cutting transmission pulley (not shown) is pivotally attached to the rotating power of the cutting device 9 and the like to rotate the rotating power synchronized with the vehicle speed. The configuration is such that input is possible.

  The mission counter shaft 33 is mounted on the lower transmission side of the mission input shaft 27, and a large transmission gear 34, a shifting gear 35, a small transmission gear 36, and a transmission gear 37 are respectively attached thereto. The gears 34 to 37 of the mission counter shaft 33 do not move, and the large gear 28, the middle gear 29, and the small gear 30 that are integrally provided on the mission input shaft 27 slide with a shifter (not shown). The transmission large gear 34 meshes with the small gear 30 of the mission input shaft 27, the shifting gear 35 meshes with the middle gear 29 of the mission input shaft 27, and the transmission small gear 36 meshes with the large gear 28 of the mission input shaft 27. Engage with each other. Further, the transmission gear 37 is always meshed with the center gear 40 of the side clutch device 25.

  The side clutch device 25 is integrally provided with a side clutch shaft 41 that extends to the left and right with the center gear 40 as a substantial center. Sleeves 42L and 42R are loosely fitted on the side clutch shaft 41, and the center gear 40 is provided with claws 40bL and 40bR to which the clutch gears 43L and 43R can be engaged and released. The clutch gears 43L and 43R are integrally provided with the sleeves 42L and 42R.

  Since the clutch gears 43L and 43R are always meshed with the transmission gears 64L and 64R that are loosely fitted to the reduction shaft 63, the power from the clutch gears 43L and 43R passes through the gears 63aL and 63aR from the transmission gears 64L and 64R. Is transmitted to the wheel shaft gears 48L and 48R, transmitted from the wheel shaft gears 48L and 48R to the left and right traveling crawlers 3 and 3 from the drive sprockets 16L and 16R via the wheel shafts 11L and 11R.

  The configurations composed of the clutch gears 43L and 43R meshed in the claw clutch type and the claw portions 40bL and 40bR of the center gear 40 will be referred to as side clutches 44L and 44R, respectively.

  In addition, springs 46L and 46R are provided between the sleeves 42L and 42R and the traveling mission case 12 via bearing spacers 45L and 45R, respectively. The center gear 40 is biased. And, when turning, the shifter 47L, 47R is operated by the hydraulic pressure, and it can move in the direction to overcome the urging force of the corresponding spring 46L, 46R. Thereby, the side clutch 44L or 44R inside the turning is disengaged.

  Since the shifters 47L and 47R do not operate during straight traveling and the side clutches 44L and 44R are both engaged, the left and right traveling crawlers 3 and 3 rotate at a constant speed through a transmission path described later. Further, by operating the steering lever 21 in a desired turning direction, the shifter 47L or 47R is operated, and the engagement and release of the side clutch 44L or 44R inside the turning are selected.

  The outer peripheral gear 40 a of the center gear 40 is always meshed with a gear 72 a of a cylindrical rotating body 72 that is loosely fitted on the clutch shaft 70. A rectilinear clutch 81 comprising a multi-plate friction plate is configured between the cylindrical body 72b engaged with the cylindrical rotor 72 and a cylindrical rotor 71 splined to the clutch shaft 70. Yes.

  A cylindrical rotating body 74 is loosely fitted on the outer periphery of the cylindrical rotating body 72, and a gear 74a that is always engaged with the third gear 40c of the center gear 40 is attached to the cylindrical rotating body 74. I have. Further, a turning clutch 82 composed of a multi-plate friction plate is formed between the cylindrical rotating body 74 and the cylindrical rotating body 71. A compression spring 75 is disposed between the rectilinear clutch 81 and the turning clutch 82, and the urging force of the compression spring 75 is set so that the rectilinear clutch 81 is “on”.

  A cylindrical body 76 having disk-like plates 76a and 76b for partitioning the linearly moving clutch 81, the compression spring 75, and the turning clutch 82, respectively, is integrally provided on the outer periphery of the cylindrical rotating body 71.

  When no pressure oil is introduced from the oil port 77, the compression spring 75 urges the cylinder rotation body 71 and the cylinder rotation body 72 to always engage with the “in” direction in which the straight-traveling clutch 81 is engaged. Yes. The rectilinear clutch 81 is always kept in the “on” state, and the turning clutch 82 is always kept in the “off” state.

  When pressure oil is introduced from the oil port 77, the piston 73 and the disk-like plates 76a and 76b of the cylindrical body 76 overcome the urging force of the spring 75 and shift to the left side in FIG. “OFF” state) and the turning clutch 82 is engaged (“ON” state).

  When the straight traveling clutch 81 is “ON”, the driving force from the auxiliary transmission 24 passes through the outer peripheral gear 40 a of the center gear 40 of the side clutch shaft 41 and the gear 72 a of the cylindrical rotating body 72, and the cylindrical rotating body 72. The cylindrical body 72b, the cylindrical body 76, the cylindrical rotating body 71, the linear clutch 81 and the clutch shaft 70 are rotated, and the transmission gear 78 integral with the clutch shaft 70 is always engaged with the transmission gear 78. The ring gear 53 of the differential gear mechanism 6 is rotated. At this time, since the turning clutch 82 is “disengaged”, the rotational power of the gear 74a of the cylindrical rotating body 74 that is always meshed with the third gear 40c of the center gear 40 is not transmitted to the clutch shaft 70 but is rotated in the cylindrical shape. The body 74 is idle.

  When the turning clutch 82 is “ON”, the straight-traveling clutch 81 is “OFF”, and the cylindrical rotating body 72 loosely fitted to the clutch shaft 70 is idled. The driving force from the three gears 40c rotates the cylindrical rotating body 71 from the cylindrical rotating body 74 through the turning clutch 82 and the cylindrical body 76 via the gear 74a of the cylindrical rotating body 74, and the rotating body. The clutch shaft 70 is driven by the rotation of 71. As a result, the transmission gear 78 fixed to the clutch shaft 70 rotates, and the ring gear 53 of the differential gear device 6 that is always engaged with the transmission gear 78 is rotated.

  The differential gear device 6 is provided with a ring gear 53 integrated with a differential case 54 provided on the outer periphery of the intermediate bevel gear 52, and side bevel gears 51L and 51R are rotatably supported on the support shaft 50. The left and right side gears 55L and 55R are fixed to the outside of the side bevel gears 51L and 51R, respectively.

  The side gear 55L always meshes with the transmission gear 64L, the side gear 55R constantly meshes with the transmission gear 64R, the transmission gear 64L and the gear 63aL are integral, and the transmission gear 64R and the gear 63aR are integral.

  As can be seen from FIG. 2, since the straight clutch 81 and the turning clutch 82 are provided on the clutch shaft 70 which is the same shaft, both the clutches 81 and 82 can be operated alternatively. become. Further, since the switching timing of both clutches 81 and 82 can be mechanically adjusted, complicated control is not required.

  In the gear mechanism of the traveling mission device 14 configured as described above, the left and right side clutches 44L and 44R of the side clutch device 25 remain engaged when the combine is traveling straight, and the engine power is transmitted to the mission counter shaft of the auxiliary transmission 24. 33 and transmitted to the center gear 40 via the output gear 37 of the mission counter shaft 33. Since the side clutch shaft 41 is engaged with the center gear 40, the rotational force of the center gear 40 is transmitted to the clutch gears 43L and 43R via the clutches 44L and 44R, and is constantly transmitted to the clutch gears 43L and 43R. The transmission gears 64L and 64R are engaged, and the left and right traveling crawlers 3 are rotated from the transmission gears 64L and 64R through the gears 63aL and 63aR of the reduction shaft 63 and the wheel gears 48L and 48R, respectively.

  By operating the auxiliary transmission lever 22, the auxiliary transmission shifter stay 32 corresponds to the gears 28, 29, 30 of the transmission input shaft 27 of the auxiliary transmission 24 and the gear 34, 35, 36 of the gear of the mission counter shaft 33, respectively. By engaging each other, it is possible to travel straight at an appropriate speed stage.

At this time, the rectilinear clutch 81 is “on” and the turning clutch 82 is “disengaged”, and the state of the differential gear device 6 during rectilinear advance is as follows.
(A) The driving force of the transmission counter shaft 33 is transmitted via the side clutches 44L and 44R of the side clutch device 25 and the clutch gears 43L and 43R of the side clutch shaft 41 via the pawl gears 40bL and 40bR of the center gear 40. Since both the gears 64L and 64R are rotating, the side gears 55L and 55R of the differential gear device 6 with which the transmission gears 64L and 64R are respectively meshed rotate at the same speed in the same direction. Accordingly, the differential case 54 and the ring gear 53 integrated with the differential case 54 rotate in the same direction via the side bevel gears 51L and 51R that rotate integrally with the side gears 55L and 55R, respectively, and mesh with the side bevel gears 51L and 51R. The intermediate bevel gears 52 and 52 a rotate around the support shaft 50.

  (B) The driving force of the mission counter shaft 33 is transmitted from the outer peripheral gear 40a of the center gear 40 to the rotating cylindrical body 72, and the cylindrical body 72b engaging with the rotating cylindrical body 72, the linear clutch 81, and the plate 76a of the cylindrical body 76 The power is sequentially transmitted to the cylindrical rotating body 71, the clutch shaft 70, the transmission gear 78, and the ring gear 53, and the bevel gear 52 also rotates in the same rotational direction as the ring gear 53.

  Since the ring gear 53 is thus rotated from the two systems (A) and (B), the gear ratios from the two systems (A) and (B) to the ring gear 53 are set to be the same. Accordingly, when the side clutch 44L or 44R is turned off, the power from the transmission system (b) is transmitted from the ring gear 53 to the side gears 55L and 55R, the transmission gears 64L and 64R, the counter gears 63aL and 63aR, and the wheel shaft gear 48L. , 48R, the shock is prevented. Further, the turning power transmitted from the third gear 40 c integrated with the center gear 40 to the gear 74 a and the cylindrical rotating body 74 is rotated by the turning clutch 82.

Next, the operation of the gear mechanism when turning left will be described.
By tilting the steering lever 21 to the left, the shifter 47L is operated and the side clutch 44L is turned off, pressure oil is introduced from the oil port 77 by a mechanism (not shown), and the piston 73 and the cylindrical body 76 are shown in FIG. Move to the left of 2. By this movement, the straight traveling clutch 81 is set to “disengaged” and the turning clutch 82 is set to “on”. The rotational force of the center gear 40 and the third gear 40c integrally formed by welding is the corresponding gear 74a provided on the outer periphery of the cylindrical rotating body 74 of the turning clutch 82, the turning clutch 82, the cylindrical body 76, and the cylinder. Via the rotary member 71, clutch shaft 70, transmission gear 78, ring gear 53, side bevel gear 51L, side gear 55L, transmission gear 64L of the reduction shaft 63, gear 63aL, wheel shaft gear 48L, and crawler drive sprocket 16L. The left traveling crawler 3 is driven. At this time, the power of the center gear 40 drives the right traveling crawler 3 on the outer side of the turn from the clutch gear 43R through the transmission gear 64R, the gear 63aR, the wheel gear 48R, and the crawler drive sprocket 16R of the reduction shaft 63, respectively.

  The turning clutch 82 can control the multi-plate friction plate to a turning mode in which the oil pressure is set steplessly (continuously). The hydraulic pressure of the friction plate of the turning clutch 82 can be controlled by controlling the tilt angle detected by a potentiometer (not shown) attached to the steering lever 21 provided in the cockpit 20.

  Due to the relationship between the gear ratio of the third gear 40c of the center gear 40 and the gear 74a of the cylindrical rotating body 74, for example, when the turning clutch 82 is completely connected, the rotational speed of the side gear 55L is the side gear on the side clutch 44R side. Since it is set to be -1/3 of the rotational speed of 55R and a sudden turn (spin turn) state is established, it is possible to shift from a gentle turn to a brake turn and a sudden turn.

  That is, as shown in FIG. 2, when turning left, the side clutch 44R outside the turn is in the “on” state, so that the rotation of the wheel shaft gear 48R is transmitted from the clutch gear 43R at a constant rotation, and the clutch gear 43R The rotation transmits the side gear 55R at a constant rotation. On the other hand, when the rotational speed of the ring gear 53 is decelerated as the frictional force of the turning clutch 82 increases, the rotational speed of the side gear 55L decreases in proportion thereto. When the rotation speed of the ring gear 53 becomes 1/2 of the side gear 55R, the side gear 55L becomes zero rotation, the rotation speed from the side gear 55L via the wheel shaft gear 48L becomes zero, and the left traveling crawler 3 is braked. Although it is not, the so-called brake turning, in which the left traveling crawler 3 does not rotate, is performed.

  When the ring gear 53 further decelerates, the side gear 55L rotates in the reverse direction with respect to the rotation direction of the side gear 55R, and the left traveling crawler 3 rotates in the reverse direction, so that a so-called sharp turn is performed.

The reverse rotation speed of the side gear 55L with respect to the rotation speed of the side gear 55R is such that when the gear ratio of the gear 40c and the gear 74a is set to the point X in FIG. 3, the side gear 55L is −1/3 spin relative to the side gear 55R. It is possible to set up to the reverse rotation speed that can be executed until the turn.
Further, when the right turn is selected, the side transmission 44R is set to “OFF”, so that the traveling mission device 14 performs an operation completely opposite to the left turn.

  A gear transmission 19 having a relatively simple configuration is interposed between the auxiliary transmission 24 and the turning clutch 82 as described above, and the engagement pressure of the friction plate of the turning clutch 82 is adjusted, thereby reducing the speed. It is possible to switch to a state in which execution is possible from turning to braking turning and -1/3 sudden turning. The mission input shaft 27 is spline-engaged with an output shaft 65 to the reaping device.

  FIG. 5 is a control block diagram showing a combine turning control device 100 of this embodiment provided with a transmission having the differential gear mechanism 6.

  The present embodiment is provided with a known mechanism that can raise and lower the reaping device 9 by tilting a steering operation tool (hereinafter referred to as a power steering lever 21) back and forth, but the power steering raising switch 68 and the power steering lowering switch 69 are provided with a cutting mechanism. It is a sensor that detects the tilting operation of the power steering lever 21 forward and backward when the device 9 is controlled to be lifted and lowered.

  In addition, the present embodiment has a known configuration in which the power steering lever 21 can be turned left and right by tilting the power steering lever 21 leftward and rightward. A power steering left and right sensor 101 composed of a potentiometer is provided.

The cereal sensor (front left) 102 and the cereal sensor (front right) 103 detect the presence or absence of the left end or right end portion of the cereal when the planted culm is subjected to multi-row cutting. Only when the cocoon sensors 102 and 103 do not detect the cereal planted in the field, the turning force described later is increased. In addition, the cereal sensors 102 and 103 are provided at the left conveyance start end and the right conveyance start end of the reaping device 9, respectively.
Moreover, the raising / lowering control operation | movement can be adjusted using the cutting raising / lowering position sensor 105 which detects the raising / lowering position of the cutting device 9. FIG.

  Further, when the power steering lever 21 is tilted to the left or right, the control device 100 outputs to the clutch switching valves 108 and 109 so as to disengage the side clutch inside the turning corresponding to either the left or right side clutch 44L or 44R. At the time of brake turning and sudden turning, the linear clutch 81 is simultaneously disconnected and output to the proportional solenoid 110 which turns on the turning clutch 82.

  In this embodiment, a switch 104 for selecting the gentle turning mode is provided. When the slow turning mode switch 104 is on, the power steering lever 21 is restricted to turn only in the slow turning mode when the power steering lever 21 is tilted to the left or right.

  The feature of the present embodiment is that when the power steering lever 21 is tilted backward and the cutting device 9 is raised by a predetermined height or more, the power steering lever 21 is further pulled backward or the power steering lever 21 is pulled backward. Thus, when the power steering lever 21 is tilted to the left or right, the turning force up to the brake turning can be increased according to the tilting angle of the power steering lever 21.

  Further, when the slow turning mode is selected by turning on the switch 104 for selecting the slow turning mode, the turning force up control is not performed. A control flowchart in this case is shown in FIG.

  In the control flowchart of FIG. 6, in the step “cutting position> predetermined or higher”, the cutting lift position sensor 105 detects that the cutting device 9 is raised by a predetermined height or more. In FIG. 6, when the culm sensor (front left) 102 and the culm sensor (front right) 103 do not detect the planted culm, it is determined that the reaping device 9 is not performing the reaping operation and the above-mentioned turning is performed. You can get into the power up control. Further, when the culm sensor (front left) 102 and the culm sensor (front right) 103 detect the planted culm, the reaping device 9 is performing the reaping operation. Even if it rises more than this, the above-mentioned turning force up control is not performed.

  In the step “post-power steering operation”, a turning force output corresponding to the left and right tilt angles of the power steering lever 21 is further added by a predetermined amount (increasing the turning force), and the turning radius is reduced to make a small turn. It can be so. As a secondary effect of this operation, the reaping device 9 is further raised.

  As described above, the turning radius can be reduced by using the single power steering lever 21, the avoidance operation from the steep obstacle can be performed, and the rising reaping device 9 can be further raised. In addition, the distance between the reaping device 9 and the farm scene is increased, and safety is increased. Further, there is no need to provide a switch for reducing the turning radius, and the cost can be reduced.

  Further, when turning control is performed according to the flow of FIG. 6, the lift position sensor 105 of the reaping device 9 is not operating, that is, the signal from the sensor 105 is not sent to the controller 100 due to disconnection (0V). In addition, for the input of only 5 V), the control for increasing the turning force is preferentially performed regardless of the lift position of the cutting device 9.

  The control at the time of the disconnection is performed in order to give priority to turning, so as not to hinder the work travel. When the turning for reducing the turning radius is expanded to the region of the sudden turning, the turning performance is further improved.

  The feature of the present embodiment is that when the power steering lever 21 is operated rearward after the power steering lever 21 is operated in either the left or right direction when the cutting device 9 is raised by a predetermined height or more, the power steering lever 21 is operated. Control is performed to make the turning radius smaller than the turning radius corresponding to the operation amount when the button is operated to the left or right. However, at this time, when the switch 104 for selecting the slow turning mode is turned on, the turning force is not controlled as described above, and the gentle turning is performed.

  A control flowchart in this case is shown in FIG. The flow in FIG. 7 is the same as the flow in FIG. 6 except that the power steering lever 21 is tilted in the left-right direction and the backward direction in the order in which the power steering lever 21 is tilted backward. That is, also in the flow of FIG. 7, even when the signal from the lifting position sensor 105 of the reaping device 9 is in a disconnected state, priority is given to controlling the turning force up regardless of the lifting position of the reaping device 9, The turning force can be increased under the condition that the culm sensor (front left) 102 and the culm sensor (front right) 103 do not detect the planted culm. Further, when the culm sensor (front left) 102 and the culm sensor (front right) 103 detect the planted culm, the turning force is increased even if the reaping device 9 is raised by a predetermined height or more. Is not controlled.

In this case, similarly to the first embodiment, the turning radius can be reduced by the single power steering lever 21, the avoidance operation from the steep obstacle can be performed, and the rising reaping device 9 can be Since the distance can be further increased, the distance between the reaping device 9 and the field scene is increased, and the safety is improved.
Further, when the turning radius is reduced, the turning performance is further improved by extending the turning range to the region of sudden turning.

  The feature of this embodiment is that when the turning control is performed according to the flow of FIG. 7, the lift position sensor 105 of the reaping device 9 is not operating, that is, the signal from the sensor 105 is sent to the controller 100 by disconnection. If it is not (input of 0V or 5V only), the turning force up control is not performed regardless of the raising / lowering position of the cutting device 9. Since this is dangerous if the signal from the lift position sensor 105 of the reaping device 9 is broken, the turning force is not increased. This flow is shown in step 6 of FIG.

  In the turning control methods of the first and second embodiments, if the gentle turning mode 104 that weakens the turning output is set even if the condition for increasing the turning force is satisfied, the turning force up output should not be performed. Also good. This is to prevent the operator from performing an operation contrary to the intention when he / she wants to turn in the gentle turning mode which is the intention of the operator (step 6 in FIG. 6, step 5 in FIG. 7, and step 5 in FIG. 8).

  The present invention can be provided for a traveling mission device of a traveling vehicle such as a combine.

It is a left view of the combine of embodiment of this invention. It is a figure which shows a part of expanded sectional view of the traveling transmission apparatus of the combine of FIG. It is a related figure of the rotation speed of the gear of the differential gear apparatus of the traveling mission apparatus of FIG. FIG. 3 is an enlarged view of a clutch shaft 70 portion of the traveling transmission device of FIG. 2. It is a control block diagram for steering control of the combine of FIG. It is a flowchart in the case of carrying out raising / lowering and right-and-left turning operation of a cutting device with the power steering lever of Example 1. FIG. It is a flowchart in the case of carrying out raising / lowering and right-and-left turning operation of a cutting device with the power steering lever of Example 2. FIG. It is a flowchart in the case of carrying out raising / lowering and right-and-left turning operation of a cutting device with the power steering lever of Example 3.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Combine 2 Body frame 3 Traveling device (traveling crawler) 4 Traveling device main body 6 Differential gear mechanism 7 Mowing device support frame 8 Weeding shear 9 Mowing device 10 Threshing device 11L, 11R Wheel shaft 12 Traveling transmission case 13 Glen tank 14 Traveling Mission device 15 Auger 16L, 16R Crawler drive sprocket 17 Output shaft 18 Traveling HST
DESCRIPTION OF SYMBOLS 19 Slow turning transmission device 20 Pilot seat 21 Steering lever 22 Sub transmission lever 23 Main transmission lever 24 Sub transmission device 25 Side clutch device 26 Wide transmission gear 27 First sub transmission shaft 28 Large gear 29 Medium gear 30 Small gear 32 Sub transmission Shifter stay 33 Transmission counter shaft 34 Large gear 35 Shifting gear 36 Small gear 37 Transmission gear 40 Center gear 40a Outer gear 40b, 40bL, 40bR Claw gear 40c Third gear 41L, 41R Side clutch shaft 42L, 42R Sleeve 43L, 43R Clutch gear 44L, 44R Side clutch 46L, 46R Spring 47L, 47R Shifter 48L, 48R Wheel shaft gear 50 Differential gear mechanism support shaft 51L, 51R Side bevel gear 52, 52a Intermediate bevel gear 53 Ring gear 54 Differential 55L, 55R Side gear 60 Counter shaft 61 Counter gear 62 Transmission gear 63 Reduction shaft 63aL, 63aR Counter gear 64L, 64R Transmission gear 65 Mowing output shaft 68 Power steering raising sensor 69 Power steering lowering sensor 70 Clutch shaft 71, 72, 74 Cylindrical rotating body 72a Cylindrical rotator gear 72b Cylindrical body 73 Piston 74a Gear 75 Compression spring 76 Cylindrical bodies 76a, 76b Plate 78 Transmission gear 77 Oil port 81 Clutch for rectilinear movement 82 Clutch for turning 100 Control device 101 Power steering left and right sensor 102 Wheat grain sensor (front left)
103 Grain basket sensor (front right) 104 Slow turn mode switch 105 Cutting lift position sensors 108, 109 Left and right side clutch switching outputs (valves)
110 Brake force output proportional pressure solenoid

Claims (4)

An engine provided in the vehicle body 2;
A travelable driving body 3 that is driven by power obtained by shifting the driving force from the engine and is provided on the left and right in the traveling direction;
Reaping device 9 for cutting planted cereals,
A steering operation tool 21 for performing an operation in the left-right direction for turning the travel drive body 3 in the left-right direction and an operation in the front-rear direction for raising and lowering the reaping device 9;
A turning device 14 capable of changing the rotational speed of the traveling drive body 3 inside the turning according to the operation amount of the steering operation tool 21;
When the reaping device 9 is in the raised position of a predetermined value or more and the steering operation tool 21 is operated to the left and right while operating the rear side, or the steering operation tool 21 is operated to the rear and the left and right directions A control device 100 that performs control to turn with a turning radius smaller than the turning radius with respect to the operation position in the left-right direction of the steering operation tool 21 that is actually operated,
A traveling vehicle comprising: The reaping device 9 is provided with a culm detection means for detecting the harvested culm,
When the cereal detection means is detecting the cereal, the control device 100 performs control to turn with a turning radius smaller than the turning radius with respect to the operation position in the left-right direction of the steering operation tool 21 actually operated. The traveling vehicle according to claim 1, wherein there is no vehicle. An engine provided in the vehicle body 2;
A travelable driving body 3 that is driven by power obtained by shifting the driving force from the engine and is provided on the left and right in the traveling direction;
Reaping device 9 for cutting planted cereals,
A turning device 14 capable of changing the rotational speed of the traveling drive body 3 inside the turning according to the operation amount of the steering operation tool 21;
In the state where the reaping device 9 is in the raised position of a predetermined value or more, when the steering operation tool 21 is operated in the left-right direction and then operated backward, the left-right direction of the steering operation tool 21 actually operated A control device 100 that performs control to turn with a turning radius smaller than the turning radius with respect to the operation position of
A traveling vehicle comprising: The reaping device 9 is provided with a culm detection means for detecting the culm that has been harvested,
When the cereal detection means is detecting the cereal, the control device 100 performs control to turn with a turning radius smaller than the turning radius with respect to the operation position in the left-right direction of the steering operation tool 21 actually operated. The traveling vehicle according to claim 3, wherein there is no vehicle.

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