JP3256850B2 - 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 a combine equipped with left and right traveling crawlers is moved along an uncut culm row in a field, and the combine is directed in a field headland. 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 and turning one of the left and right traveling crawlers by the operation, the operator needs to perform both the left and right side clutch operation and the traveling speed change operation substantially at the same time, and also changes the direction at the headland on the field There is a problem that the turning radius at the time becomes large.

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 for moving along the uncut culm row is troublesome. For example, as disclosed in Japanese Patent Application Laid-Open No. 4-260872, there is a technique in which a left and right speed change mechanism is controlled by a steering handle to change the drive speed of the left and right traveling crawlers and turn left and right. Since the traveling crawler on the inside of the turn is decelerated while maintaining the straight traveling speed, there is a problem that the traveling speed is reduced even in a minute steering operation range based on the straight traveling position of the steering wheel. In particular, when a transmission mechanism using a hydraulic pump and a motor is driven to travel straight at the maximum output, the output of the transmission mechanism should be increased by increasing the engine rotation in response to the increase in the traveling load of the traveling crawler on the outside during turning. There is a problem that the hydraulic transmission efficiency of the hydraulic pump and motor is significantly reduced due to overload, so a high-output transmission mechanism is provided for wetland work with a large running load, and the output of the transmission mechanism always has a margin. It is necessary to perform useless operation control that gives That is, in civil engineering machines such as rubber crawler loaders, most of the engine output can be used effectively as running driving force during running, and thus it is suitable for providing a high-output transmission mechanism. Since the vehicle travels while driving work machines such as the mowing unit and threshing unit, it is necessary to equip the engine with a large output, and only the engine and the traveling drive unit have a large and large output compared to the agricultural work capacity such as the threshing unit. Problem.

Further, there is provided 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. By providing it, the straight running performance is maintained well, 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 the turning radius is reduced. When performing a small spin turn operation or the like, it is necessary to perform a deceleration operation by traveling speed change, and when turning in a field headland, it is necessary to perform both a turning operation and a traveling speed change operation. For example, 4-10
No. 77, a speed change lever and a speed change mechanism for simultaneously increasing and decreasing the speed of the left and right running crawlers, a differential mechanism for transmitting the drive output of the speed change mechanism to the left and right running crawlers, and a left and right running by controlling the differential mechanism Although there is a technique of providing a steering handle and a steering mechanism that causes a difference in the driving speed of the crawler, if the differential mechanism is controlled only by operating the steering handle, the traveling crawler on the outside of the turn is significantly different from the straight traveling speed. It is driven at a high speed, and there is a problem that the course tends to be extremely unstable due to idling or the like due to a sudden increase in the running load or slip of the running crawler.

Further, the traveling speed is automatically reduced in conjunction with the turning operation for transmitting the steering mechanism, and automatically increased to the original traveling speed in conjunction with the operation for returning to straight traveling. The spinning operation can be performed at a proper traveling speed only by turning the vehicle, reducing the troublesome traveling speed change operation. Even if the directional operation is performed, the traveling speed is reduced or increased, and the traveling speed varies unevenly during the harvesting operation. There is a problem that the steering operation cannot be easily performed.

[0006]

Means for Solving the Problems] However, the present invention is, left and right
A differential mechanism with a planetary gear mechanism is included in the transmission case.
To drive the left and right traveling crawlers,
Straight running force of the engine via the continuously variable transmission mechanism
And drive the left and right traveling crawlers in the same direction at approximately the same speed.
While the hydraulic pump for turning and the oil
Running left and right by transmitting the turning power of the engine via the pressure motor
Drive the row crawler in the opposite direction at approximately the same speed, and
The output of both the speed change mechanism and the swing hydraulic pump and hydraulic motor
The force is controlled by the steering wheel, and the steering wheel is operated
The traveling speed is reduced according to the amount
Turn while changing the speed difference, and
Traveling force of speed mechanism and hydraulic pump and hydraulic pressure for turning
Both the turning power of the motor are controlled by the travel shift lever.
The steering wheel and traveling speed change
The operating member to be connected to the lever is composed of two
Provided rotatable around the axis of the two axes, and installed on one axis
Joint for steering input of operating member
About 90 degrees on the same circumference with respect to the universal joint part
The universal joint for shifting input of the operating member
Rotating about the two axes, and the continuously variable transmission
Output control unit and the hydraulic pump and hydraulic motor
Universal joint for speed change and steering output connected to the output control unit
Parts are disposed substantially on the axis of the two shafts to shift and steer.
A universal joint for shifting and steering output is installed in the universal joint for force.
In shall convey speed and steering operating force by connecting, those obtained aim to facilitate and improve and enhance the driving operation of the mobility.

[0007]

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 auxiliary transmission mechanism (32) and a differential mechanism (3) are connected to an output shaft (31) of the first hydraulic motor (24).
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 on a carrier (41) of a carrier shaft (40) on a coaxial line with a sun gear shaft (39), 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) are provided 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.

Furthermore, 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 second hydraulic motor (27) is stopped and the left and right ring gears (38) are stationary and driven, the driving first hydraulic motor (24) is driven. 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 transmission 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
And a steering control lever (73) operated by rotation of 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 a handle operation shaft (113) at the lower end of the steering handle (19), and a sector gear (11) attached to the rear rotation shaft (115).
6) The gear (114) meshes with the steering shaft (117) disposed below the position of the main speed change lever (68).
The first swing arm (118) and the rotating shaft (115)
A universal joint type steering first rod (12
0), and a second swing arm (121) integrated with the first swing arm (118) of the steering shaft (117),
The front end of the universal joint shaft (89) is connected to the front end of the universal joint type steering second rod (122) by 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 projection shaft (124) on the lower surface of the positioning plate (123).
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).
When the detection link (125) is returned to its original position by returning to the rectilinear position, the member (80) is returned by the spring (S1), and the stopper bolt (V1) for adjusting the position of the rotating plate (75) is adjusted. The traveling speed is returned to the original state by the steering handle (19) being brought back into contact with the member (80) and being returned straight.

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 inclined forward and backward by an angle (α1) (α2) about the first pivot (77) by the forward / reverse operation of the main shift 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 traveling first hydraulic motor (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-described forward operation, the steering wheel (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 and small on the right).
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, in the turning operation at the time of forward and backward movement, the movement of the steering arm (85) is reversed, and the turning operation direction of the steering handle (19) in both 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.

Furthermore, the speed difference between the left and right traveling crawlers larger the bending angle is large (2) of the handle (19) together becomes large, even traveling machine body center speed as the average speed of the left and right traveling crawlers (2) speed be one that is decelerated according to (fast, standard, low speed) state are those same only becomes left crawlers (2) is a reverse relationship during right turn of the machine body, a straight advance position of the is in rotating the steering wheel (19) and left (right), the length hole (125a) and axis (128) is moved, the first reduction rod by a spring (S1) (131) is straight While being kept in the same position as
The steering first rod (120) is pushed (pulled) through each gear (114) (116), and the second hydraulic pump (2) is moved.
6) and turn to the left (right) by the steering output of 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 to rotate the steering wheel (19), the first reduction rod (131) is decelerating operation is pulled in either left turn and right turn against the spring (S1),
The traveling speed output of the first hydraulic pump (23) and the motor (24) is reduced, and the left and right traveling crawlers (2) and (2) are driven to rotate (rotate) in the same direction to move forward (or reverse), so that the left and right traveling crawlers (2) The brake turn operation of turning leftward (rightward) is performed by the traveling speed difference of (2). Further, when to rotate the steering wheel (19), fuselage center speed is deceleration, the running crawler inner side of the turning (2) is reversely driven, aircraft pivots about the travel crawler inner side of the turning (2) spin turn operation Ru is carried out.

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.

[0033]

As is apparent from the above embodiment, the present invention provides a differential mechanism (3) having a left and right planetary gear mechanism (35).
Left and right running with the 3) installed inside the transmission case (22)
Drive the crawler (2) and the differential mechanism (3
3) via the continuously variable transmission mechanism (25) to the engine (2).
The right and left traveling crawlers (2) are transmitted by transmitting the straight traveling force
The differential mechanism is driven at substantially the same speed in one direction.
(33) Hydraulic pump for turning (26) and hydraulic motor
(27) to transmit the turning power of the engine (21)
To drive the left and right traveling crawlers (2) in opposite directions at approximately the same speed
The continuously variable transmission mechanism (25) and the hydraulic pump for turning
(26) and the output of both hydraulic motors (27)
Controlled by the steering wheel (19) and the steering wheel (19)
The traveling speed is reduced according to the operation amount of
Change the speed difference of the roller (2)
The straight traveling force of the continuously variable transmission mechanism (25) and the turning described above.
Running of hydraulic pump ( 26) and hydraulic motor (27)
Both running power are controlled by the traveling shift lever (68)
On a mobile agricultural machine, the steering handle (19) and running
Operating members (80) (8) to be connected to the speed lever (68)
1) is replaced by two 1 and 2 axes (77) and (79) axes that intersect
Provided to be rotatable around the core, on one axis (77) axis
A universal joint (8) for steering input of the operating member (81) to be provided
9b) and the universal joint (89b) for steering input
An operating member (8) that is displaced by approximately 90 degrees on approximately the same circumference.
0) the universal joint (88b) for speed change input
And around the two axes (79)
Output control unit of transmission mechanism (25) and hydraulic pump
(26) and the output control unit of the hydraulic motor (27).
(88a) (89)
a) is disposed substantially on the axis of the two shafts (79),
And a universal joint (88b) (89b) for steering input.
The universal joints (88a) (89a) for speed and steering output
In it shall convey speed and steering operating force by connecting, in which the like improve and enhance the driving operation of the mobility can be easily achieved.

[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.

[Explanation of symbols]

 (2) Traveling crawler (traveling part) (19) Steering handle (21) Engine (22) Transmission case (25) Continuously variable transmission mechanism (26) Second hydraulic pump for turning (27) Second hydraulic motor for turning ( 33) Differential mechanism (35) Planetary gear mechanism (68) Main speed change lever (77) 1st axis (1 axis) (79) 2nd axis (2 axis) (80) Shift operation member (81) Steering operation member (88a) Universal joint (for shift output) (88b) Universal joint (for shift input) (89a) Universal joint (for steering output) (89b) Universal joint (for steering input)

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-53-45836 (JP, A) JP-A-5-124537 (JP, A) JP-A-7-205832 (JP, A) JP-A 61-4583 244672 (JP, A) JP-A-9-221057 (JP, A) JP-A-9-221058 (JP, A) JP-A-3-574 (JP, A) JP-A-4-349076 (JP, A) JP-A-3-7664 (JP, A) JP-A 55-152914 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) B62D 11/00

Claims (1)

(57) [Claims] 1. A differential comprising a left and right planetary gear mechanism (35).
With the mechanism (33) installed inside the mission case (22)
The left and right traveling crawlers (2) are driven and the differential
Engine (33) through the continuously variable transmission mechanism (25).
Crawler traveling right and left
(2) While driving at substantially the same speed in the same direction,
Hydraulic pump for turning (26) and hydraulic pressure for differential mechanism (33)
Turning travel force of the engine (21) via the motor (27)
To the left and right traveling crawlers (2) in the opposite direction at approximately the same speed
And the continuously variable transmission mechanism (25)
Controls the output of both the pump (26) and the hydraulic motor (27).
Controlled by the steering handle (19) and the steering handle (1
9) Decrease the running speed according to the manipulated variable and move left and right
When turning with changing the speed difference of the crawler (2)
The straight traveling force of the continuously variable transmission mechanism (25) and the
Of the hydraulic pump for turning (26) and the hydraulic motor (27)
Both turning powers are controlled by the travel shift lever (68).
The steering wheel (19) and
An operating member (80) connected to the traveling speed change lever (68)
(81) is replaced by two 1 and 2 axes (77) (7
9) One axis (77) axis is provided rotatably around the axis.
Universal joint for steering input of operating member (81) provided on core
(89b) and the universal joint (89b) for steering input
An operation unit that is displaced by approximately 90 degrees on substantially the same circumference
The universal joint (88b) for inputting the speed of the material (80)
Rotate around the axis of the other two axes (79)
An output control unit of the continuously variable transmission mechanism (25) and the hydraulic pump;
To the output control unit of the pump (26) and the hydraulic motor (27).
Universal joint (88a) for shifting and steering output to be connected
(89a) is disposed substantially on the axis of the two axes (79).
And universal joints (88b) (89) for speed change and steering input.
b) a universal joint (88a) (8) for shifting and steering output;
Mobile agricultural machine which is characterized by being configured to so that convey speed and steering operating force by connecting 9a).