JP3174952B2 - Moving agricultural machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

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

[0002]

Conventionally, harvesting is performed while moving a combine provided with left and right traveling crawlers along an uncut culm row in a field, and the combine is directed in a headland on the field. It was shifted and moved to the unprocessed grain culm row of the next process, but the right and left traveling output of the transmission case that transmits the engine output at a variable speed is transmitted to the left and right traveling crawler via the left and right side clutch, and the left and right side clutch is disconnected By temporarily stopping one of the left and right traveling crawlers by the operation, the turning of the traveling crawler on the side to be stopped greatly changes (a so-called jerky motion), and the driving traveling force of the traveling crawler is reduced. There is a problem that the turning radius increases by half.

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

Further, a single hydraulic continuously variable transmission mechanism for transmitting the engine power to the left and right traveling crawlers and a hydraulic continuously variable steering mechanism for decelerating the traveling crawlers inside the turning and increasing the speed of the traveling crawlers outside the turning are provided. By keeping the straight running performance good, the steering operability is improved and the turning radius can be easily reduced.However, the running speed is kept substantially constant between straight running and turning, and compared to straight running. There is a problem that the engine is overloaded during turning when the traveling load increases.

Further, when performing a spin turn operation with a small turning radius on a headland or the like, it is necessary to perform a traveling deceleration operation.

[0006]

SUMMARY OF THE INVENTION The present invention provides a differential mechanism having a left and right planetary gear mechanism in a transmission case to drive a left and right traveling crawler. To drive the left and right traveling crawlers in the same direction and at the same speed while transmitting the right and left traveling crawlers to the differential mechanism via the turning hydraulic pump and hydraulic motor. In a mobile agricultural machine driven at the same speed, the output of both the continuously variable transmission mechanism and the turning hydraulic pump and hydraulic motor is adjusted by the steering handle, and the running speed is reduced according to the operation amount of the steering handle, In addition, the speed difference between the left and right traveling crawlers is continuously changed to shift to the spin turn operation, and the steering handle is mechanically moved to the traveling continuously variable transmission mechanism or the steering hydraulic motor. A link mechanism for coupling is provided, straight
Speed change gear that operates the continuously variable transmission mechanism for transmitting the forward traveling force.
When the bar is in a neutral state, the steering wheel operates to turn
Running to transmit straight running force
When the shift lever for adjusting the output of the continuously variable
Operation, the turning output of the steering wheel is proportional to the speed change.
And the steering wheel is in the straight position.
, The straight running force is linked to the tilt of the shift lever.
Only the transmission continuously variable transmission mechanism is operated for forward / reverse output,
Cancel the steering hydraulic motor output adjustment using the speed lever
When the steering handle is not in the straight position
Operating the transmission lever to adjust both the traveling speed and turning output adjustment.
While the shift lever is in a state other than neutral,
Steering handle operation for both turning output adjustment and travel shifting
Is configured to be performed. Then, when making a turn of a small radius to change the direction on the field headland, it is possible to reduce the side slip of the traveling crawler and easily move to the work start position of the next stroke, and by turning the steering wheel operation, The center movement speed of the fuselage can be reduced, and the rotation of the engine can be easily prevented from being reduced due to overload operation due to an increase in the traveling crawler driving load at the time of turning. In addition to simplifying the operation of the reciprocating farming operation, it is possible to reduce the influence of muddy water due to field work by connecting the link mechanism.
The reliability of the steering operation can be easily improved , and the steering hand
To prevent the traveling crawler from being driven by
Sealed obtained, for simplicity of the coupling structure of the differential mechanism and the oil pressure motor for steering
And driving operability can be easily improved.
Related to change of traveling speed by turning output adjustment by bar
The turning radius of the machine can be maintained almost constant, and driving operability is improved.
Etc. can be easily achieved, and the speed change lever
Can perform both rotation output control, turning regardless of running speed
Improvement of turning function such as keeping the radius almost constant, and steering
Driving operations such as making the steering wheel operation amount and turning radius approximately equal
When it is easy to improve the performance and is in a course correction state
The turning output can be increased or decreased in proportion to the traveling speed output,
The turning radius can be maintained substantially constant even if
Under running conditions, increase the speed change output in inverse proportion to the turning output.
Reduce the turning radius by increasing the turning power.
The vehicle speed can be reduced by decelerating the traveling speed by
Improvement of the work of being easy to aim obtained shall the like.

[0007]

[0008]

[0009]

[0010]

[0011]

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

As is apparent from the above description, the driving force of the engine (21) is shifted to the left and right traveling crawlers (2) and (2) by the traveling speed change operation of the main speed change lever (68) as the speed changing operation member. Transmission continuously variable transmission mechanism (2
5) a first hydraulic pump (23) and a first hydraulic motor (24), and a steering handle (19) as a steering operation member.
In a mobile agricultural machine provided with a second hydraulic pump (26) and a second hydraulic motor (27), which are steering members that cause a difference in the driving speed of the left and right traveling crawlers (2) and (2) by the steering operation, The travel speed is reduced according to the operation amount of the steering wheel (19), and the speed difference between the left and right traveling crawlers (2) and (2) is continuously changed so that the operation amount of the steering handle (19) exceeds a predetermined amount. When the operation is changed to the spin turn operation, the operation is decelerated only by operating the steering handle (19), the direction is changed at the field headland, the operation is moved to the next operation process and the operation is returned to the straight traveling, and the operation speed is returned to the operation speed of the previous process. The operation is restarted by increasing the speed, the traveling speed change operation accompanying the steering operation is omitted, the straight traveling and the course correcting operation during the agricultural operation, and the spin turn operation for changing the direction to the next work process position at the field headland. , A continuous series of operations Smooth operation is performed only by operation, and when the steering handle (19) is operated at the maximum steering operation, the traveling speed is reduced to about one-fourth, and the straight traveling speed for performing the agricultural work and the direction is changed at the field headland. The difference in spin-turn running speed is greater in high-speed running work than in low-speed running work in proportion to the running speed. Stable performance, and even when performing low-speed running work, the direction can be quickly changed on the headland as in the case of high-speed operation. The rear running speed range is reduced to improve mobility and steering operability.

Further, the output of the steering members (26) and (27) is maximized when the steering handle (19) is maximally steered, and the running load is increased in comparison with the farming work in which the vehicle is traveling straight. Traveling crawler necessary for changing direction at the airport (2)
While ensuring the driving force, it is possible to prevent troubles such as stopping the engine (21) due to traveling overload at the time of turning, and to improve driving operability at the time of turning by eliminating the operation of the engine (21) accelerator. Steering handle (19)
When a predetermined amount of left / right turning operation is performed based on the straight traveling position,
A left and right traveling crawler (2) is relatively accelerated and decelerated by substantially the same amount to provide a dead zone of traveling speed deceleration that keeps the aircraft center speed substantially constant, and makes the aircraft follow a crop row or ridge during agricultural work. Even if the steering operation is performed, it is possible to prevent the running speed from changing unevenly and to correct the course during the agricultural work while maintaining the substantially same running speed, so that the driving feeling of the operator and the running operation of the aircraft are substantially reduced. It is possible to perform a proper steering operation by matching them. Further, the turning radius of the steering handle (19) is changed by the sub-shift operation for switching the shift reference value of the main shift lever (68), and the first hydraulic motor (2) for traveling speed change which is the continuously variable transmission mechanism (25).
4) and reduction ratio between the traveling crawler (2) and the second steering
The reduction ratio between the hydraulic motor (27) and the traveling crawler (2) is set, the traveling driving force required for the small radius turning required for the spin turn operation is secured, and the shifting operation of the main transmission lever (68) is performed. By changing the turning speed while keeping the turning radius substantially constant, it is possible to perform a driving operation according to the skill level of the operator, etc., thereby improving mobility and driving operability. .

Further, a differential mechanism (33) having a left and right planetary gear mechanism (35) is installed in the transmission case (22) to drive the left and right traveling crawlers (2), and to the differential mechanism (33). The right and left traveling crawlers (2) are driven at the same speed in the same direction by transmitting the straight traveling force of the engine (21) through the traveling continuously variable transmission mechanism (25), and the turning hydraulic pressure is applied to the differential mechanism (33). A continuously variable transmission mechanism (2) for a mobile agricultural machine that transmits the turning power of the engine (21) via a pump (26) and a hydraulic motor (27) to drive the left and right traveling crawlers (2) in opposite directions at the same speed.
5), turning hydraulic pump (26) and hydraulic motor (2)
7) Both outputs are controlled by the steering handle (19), the traveling speed is reduced according to the operation amount of the steering handle (19), and the speed difference between the left and right traveling crawlers (2) is continuously changed. Then, a link mechanism for mechanically connecting the steering handle (19) to the traveling continuously variable transmission mechanism (25) or the steering hydraulic motor (27) is provided. When the steering wheel (19) is operated, the traveling speed of the traveling crawler (2) on the outside of the turning is maintained at the speed at the time of straight traveling, and the driving speed of the left and right traveling crawler (2) is simultaneously steplessly changed in the opposite direction. Eliminating the problem that the traveling crawler (2) on the outer side of the turn is driven at a higher speed than when traveling straight, and when making a turn with a small radius for turning in a field headland, the skid of the traveling crawler (2) can be reduced, and It is easily moved to the work start position, and the center movement speed of the body at the time of turning is reduced by operating the steering handle (19) with respect to the straight running without the operator performing the operation of lowering the running speed. Traveling crawler (2)
It is possible to easily prevent the rotation of the engine (21) from being reduced due to the overload operation due to the increase in the driving load, and to easily improve the turning performance on the headland on the field and simplify the driving operation of the reciprocating farming operation. At the same time, the reliability of the steering operation is improved by connecting the link mechanisms (70) and (71) in which the turning and traveling speed change control operations and functions hardly deteriorate over time.

Also, the turning output by operating the steering handle (19) is kept off when the transmission lever (68) for operating the continuously variable transmission mechanism (25) for transmitting the straight traveling force is in the neutral state. The driving crawler (2) is prevented from being driven by a single operation of the steering handle (19), and the connection structure of the differential mechanism (33) and the steering hydraulic motor (27) is simplified and operated. In addition to improving the operability, the shift lever (68) for operating the continuously variable transmission mechanism (25) for transmitting the straight traveling force is operated by an operation other than neutral.
The left and right turning output directions of the steering handle (19) are switched in conjunction with the forward / reverse switching, and the turning output of the steering handle (19) is changed in proportion to the traveling speed change. By changing the turning output direction, the turning operation direction of the steering handle (19) and the turning direction of the machine are always made to coincide with each other as in the case of the four-wheeled vehicle, and the shift lever (68)
The turning output control of the vehicle keeps the turning radius of the machine substantially constant irrespective of the change of the traveling speed to improve the driving operability.

When the steering handle (19) is in the straight-ahead position, only the traveling continuously variable transmission mechanism (25) for transmitting the straight traveling force is operated in forward and backward output in conjunction with the tilting of the shift lever (68). The output control of the steering hydraulic motor (27) by the shift lever (68) is stopped, and both the traveling speed change and the turning output control are performed by the shift lever (68). In addition to improving the turning function such as maintaining the steering wheel constant, and improving the driving operability such as always making the operation amount substantially equal to the turning radius, the steering handle (19) is moved to a position other than the straight traveling position. At one time, both the traveling speed change and the turning output control are performed by operating the shift lever (68), while the shift lever (6) is operated.
8) In a state other than the neutral state, the steering handle (19) is operated to perform both the turning output control and the traveling speed change by operating the steering handle (19). By changing the vehicle speed, the turning radius is maintained constant even when the vehicle speed is changed, while the traveling speed output is increased or decreased in inverse proportion to the turning output under forward and backward traveling conditions, and the turning output is increased to reduce the turning radius. The driving speed will be reduced to reduce the vehicle speed to improve driving operability.

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

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

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

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

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

[0045]

As is apparent from the above embodiment, the present invention provides a differential mechanism (3) having a left and right planetary gear mechanism (35).
3) is installed inside the transmission case (22) to drive the left and right traveling crawlers (2), and the differential mechanism (3) is driven.
3) The right and left traveling crawlers (2) are driven at the same speed in the same direction by transmitting the straight traveling force to the differential mechanism (33) via the continuously variable transmission mechanism (25), and the turning hydraulic pump ( 26) and a continuously variable transmission mechanism (2) in a mobile agricultural machine that transmits the turning power through the hydraulic motor (27) to drive the left and right traveling crawlers (2) in the opposite direction at the same speed.
5), turning hydraulic pump (26) and hydraulic motor (2)
7) Both outputs are adjusted by the steering handle (19), the traveling speed is reduced according to the operation amount of the steering handle (19), and the speed difference between the left and right traveling crawlers (2) is continuously changed. And a link mechanism for mechanically connecting the steering handle (19) to the traveling continuously variable transmission mechanism (25) or the steering hydraulic motor (27) . Continuously variable transmission mechanism (2
5) The gear shift lever (68) for output operation is in a neutral state.
Turn off the turning output by operating the steering handle (19).
Continuously variable transmission for transmitting straight traveling force
The shifting lever (68) for adjusting the output of the mechanism (25) is neutral
Running the turning output of the steering handle (19) by outside operation
It is configured to change in proportion to the
When the dollar (19) is in the straight traveling position, the shift lever (6
8) Continuously variable traveling speed for transmitting straight traveling power in conjunction with the tilting of 8)
Only the mechanism (25) is operated to output forward and backward, and the shift lever
(68) Steering hydraulic motor (27) Output adjustment in progress
The steering handle (19) moves straight ahead
When the gear is not in the position, the vehicle is driven by operating the shift lever (68).
Shift gear and turning output adjustment
When the steering handle (19) is in a state other than neutral (68)
The operation allows both turning output adjustment and travel shifting to be performed.
Be configured as follows. And when making a small radius turn to change the direction on the field headland, it is possible to reduce the side slip of the traveling crawler (2) and easily move to the work start position of the next stroke,
By operating the steering handle (19), the center moving speed of the body during turning can be reduced with respect to the straight running, and the engine (21) becomes overloaded due to an increase in the driving load of the traveling crawler (2) during turning. It is possible to easily prevent the rotation from dropping, improve the turning performance on the headland on the field, simplify the driving operation of the reciprocating traveling farming operation, etc., and connect the link mechanisms (70) (71). By this, the effect of mud adhesion due to field work can be reduced,
And reliability of the steering operation can easily be achieved, Misao
Traveling crawler by independent operation of the direction handle (19)
(2) can be prevented from being driven, and the differential mechanism (33)
Simplification and operation of the connecting structure of the steering hydraulic motor (27)
It is possible to easily improve
-Change of running speed by turning output adjustment by (68)
The turning radius of this machine can be maintained almost constant regardless of
The shift lever (6) can be easily improved.
8) causes both traveling speed change and turning output control to be performed.
And maintains a substantially constant turning radius regardless of running speed
Improvement of the turning function such as to perform, and the steering handle (19)
Improvement of driving operability such as making the operation amount and turning radius approximately equal
When the vehicle is in a course correction state
The turning output can be increased or decreased in proportion to
The turning radius can be maintained almost constant even if
Under running conditions, increase the speed change output in inverse proportion to the turning output.
To reduce the turning radius by increasing the turning output.
With this, the traveling speed can be reduced and the vehicle speed can be reduced.
It can, is shall be able to easily achieve such improvement in driving operability.

[0046]

[0047]

[0048]

[0049]

[Brief description of the drawings]

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

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

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

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

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

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

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

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

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

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

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

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

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

FIG. 14 is a hydraulic circuit diagram.

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

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

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

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

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

[Explanation of symbols]

 (2) Crawler for traveling (19) Steering handle (22) Transmission case (25) Continuously variable traveling mechanism (26) Second hydraulic pump for steering (27) Second hydraulic motor for steering (33) Differential mechanism (35) Planetary gear mechanism (68) Main speed change lever (70) (71) Link mechanism

Claims (1)

(57) [Claims] 1. A differential mechanism (33) including a left and right planetary gear mechanism (35) is installed in a transmission case (22) to drive a left and right traveling crawler (2). The right and left traveling crawlers (2) are driven at the same speed in the same direction by transmitting the straight traveling force via the continuously variable traveling mechanism (25), and the differential mechanism (33) is provided with a turning hydraulic pump (26) and In a mobile agricultural machine that transmits turning power through a hydraulic motor (27) to drive the left and right traveling crawlers (2) in the opposite direction at the same speed, a continuously variable traveling mechanism (25), a turning hydraulic pump (26) and Both outputs of the hydraulic motor (27) are adjusted by the steering handle (19), the traveling speed is reduced according to the operation amount of the steering handle (19), and the speed difference between the left and right traveling crawlers (2) is continuously adjusted. Change The operation is shifted to the pin-turn operation, and the steering handle (19) is moved to the continuously variable transmission mechanism (25).
Alternatively, a link mechanism mechanically connected to the steering hydraulic motor (27) is provided, and a traveling continuously variable transmission mechanism for transmitting a straight traveling force.
The gearshift lever (68) that outputs (25) is in a neutral state
Under the condition, turning output by operating the steering handle (19) is turned off.
Continuously variable for traveling force transmission
The speed change lever (68) for adjusting the output of the speed mechanism (25) is in the middle.
Turning output of the steering handle (19) by operation other than standing
Is changed in proportion to the speed change,
When the handle (19) is in the straight traveling position, the shift lever
Stepless running for transmitting straight running force in conjunction with the inclination of (68)
Only the speed change mechanism (25) is operated to output forward and backward, and the speed change lever is operated.
-(68) to adjust the output of the steering hydraulic motor (27)
The steering wheel (19) is configured to stop and the steering handle (19) goes straight
When the gear is at a position other than the position,
While performing both line shifting and turning output adjustment,
-(68) is in a state other than neutral, the steering wheel (1
9) Perform both turning output adjustment and traveling speed change by operation.
A mobile agricultural machine characterized in that it is configured as follows.