JP3266830B2 - Work equipment steering system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a working machine such as a combine machine in which a continuously variable transmission for traveling and a second transmission are connected in series to a transmission system for left and right traveling devices in series. To a steering device.

[0002]

2. Description of the Related Art As a steering device for a working machine of this type, the inventor of the present invention operates in synchronism with the first continuously variable transmission when the turning operation tool is in a straight-ahead position and operates the turning operation of the turning operation tool. A continuously variable transmission for turning that decelerates with an increase in the amount is provided, and interlocked with the continuously variable transmission for traveling during traveling of the left and right traveling devices based on the turning operation of the turning operation tool. And a turning interlock means for interlocking the traveling device inside the turning with the continuously variable transmission for turning is considered first. When using the steering device of this work machine, the traveling device inside the turning can be steplessly decelerated by the continuously variable transmission for turning, so that the turning radius can be freely selected, and when traveling straight ahead, Since both the left and right traveling devices are driven via the continuously variable transmission for traveling speed change and the second transmission, for example, a continuously variable transmission is provided for each of the left and right traveling devices, and the left and right traveling devices are each There is an advantage that the straight running performance can be improved as compared with the case of driving separately. However, this type of working machine steering device is still under development, and it is necessary to solve the following problems when implementing it.

[0003]

That is, when the second transmission is in a high-speed transmission state, the continuously variable transmission for traveling transmission or the first traveling device drive unit by the second transmission and the continuously variable transmission for turning. The synchronous relationship between the continuously variable transmission for traveling and the continuously variable transmission for turning is set so that the second traveling device drive unit of the device rotates at a constant speed. The traveling speed of the traveling device inside the turning is made equal to the traveling speed of the traveling device outside the turning so that the transition from straight running to turning can be smoothly performed. However, in this case, the rotation speed of the second traveling device drive unit when the second transmission device is in the low speed transmission state becomes higher than the rotation speed of the first travel device drive unit, and thus the second transmission device is driven at a low speed. When the vehicle turns at low speed with the state, the traveling speed of the traveling device inside the turning in the initial stage of the revolution is higher than the traveling speed of the traveling device outside the turning, and conversely turns in the opposite direction.

[0004] An object of the present invention is to improve turning operability.

[0005]

The features, functions and effects of the first aspect of the present invention are as follows.

[Characteristics] In a working machine in which a continuously variable transmission for traveling and a second transmission are connected in series to a transmission system for left and right traveling devices in a state of being connected in series, a turning operation tool moves straight. A continuously variable transmission for turning that operates in synchronization with the first continuously variable transmission for traveling when in the position and decelerates with an increase in the amount of turning operation of the turning operation tool;
Based on the turning operation of the turning operation tool, interlocking of the left and right traveling devices with the continuously variable transmission for traveling speed change is performed on the inside of the turning and interlocking the traveling device inside the turning with the continuously variable transmission for turning. Turning interlock means for causing the second
The continuously variable transmission for traveling speed change by reducing the operation amount of the continuously variable transmission for turning based on the operation of the turning operation tool as the second transmission is in the low-speed transmission state based on the shift state of the transmission. Or, the interlocking relationship between the turning operation tool and the continuously variable transmission for turning such that the first traveling device drive unit of the second transmission and the second traveling device drive unit of the continuously variable transmission for rotation rotate at a constant speed. Is provided with a correcting means for correcting.

According to the first aspect of the present invention, when the turning operation tool is in the straight-ahead position, it operates in synchronism with the continuously variable transmission for traveling speed change, and with an increase in the amount of turning operation of the turning operation tool. A stepless speed change device for turning that performs deceleration operation is provided. Based on the turning operation of the turning operation tool, the interlocking of the left and right traveling devices to the continuously variable speed change device for traveling speed change is performed while the inside of the turning device is turned off. Is provided with a turning interlocking means for interlocking the traveling device with the continuously variable transmission for turning, and the traveling device inside the turning can be steplessly decelerated by the continuously variable transmission for turning. The radius can be freely selected, and when traveling straight ahead, both the left and right traveling devices are driven via the continuously variable transmission and the second transmission for traveling speed change. Nothing The left and right traveling devices are provided with a transmission as compared to the case of driving the respective other, it can be provided with excellent straightness performance.

In addition, based on the shift state of the second transmission, the operation amount of the continuously variable transmission for turning based on the operation of the turning operation tool is reduced as the second transmission is in the low-speed transmission state. A correction means for correcting the interlocking relationship between the turning operation tool and the continuously variable transmission for turning is provided to the drive unit for driving the first traveling device by the continuously variable transmission for traveling speed change or the second transmission and to the driving device for turning. Since the drive unit of the second traveling device by the stepped transmission is rotated at a constant speed, it is possible to surely prevent the vehicle from turning in the opposite direction when turning in the low-speed running state. Regardless of the shift state of the device, that is, regardless of whether the vehicle is traveling at high speed or low speed, the traveling speed of the traveling device on the inside of the turn at the start of turning is made equal to the traveling speed of the traveling device on the outside of the revolution to change from straight traveling to turning. Migration It can be carried out smoothly.

[Effects] Therefore, according to the first aspect of the present invention, in either case of high-speed running or low-speed running, the turning device in which the traveling device inside the turning is decelerated by the continuously variable transmission for turning is turned. Can be performed smoothly.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS As shown in FIG. 1, a combine includes a self-propelled body equipped with a pair of left and right crawler-type traveling units 1, a threshing device 2 and a control unit 3, and a front part of the self-propelled body. The mowing part 4 is connected so as to be able to move up and down freely. The cutting unit 4 includes a raising device 5 for raising the planted grain culm, a clipper-type cutting device 6 for cutting the root of the raised planted grain culm, and a cut chain culm to the feed chain 2A of the threshing device 2. The apparatus is provided with a supply device 7 for conveying and supplying.

As shown in FIG. 2, the transmission system from the engine 8 mounted on the self-propelled body to the left and right traveling devices 1 is driven by a variable displacement hydraulic pump 9P and pressure oil generated by the hydraulic pump 9P. A hydrostatic continuously variable transmission 9 for traveling speed changeable between forward and backward, comprising a hydraulic motor 9M, a variable displacement hydraulic pump 10P, and a hydraulic motor 10M driven by pressure oil generated thereby. A hydrostatic continuously variable transmission 10 for turning, which is switchable between forward and backward, provided in a state where both hydraulic pumps 9P, 10P are driven by an engine 8 via a belt transmission 11; In a transmission case 12 that supports one axle 1A, a gear-type auxiliary transmission 13 that can be switched between high and low in two stages that is interlocked with a hydraulic motor 9M for traveling speed change, and is always interlocked with the auxiliary transmission 13. A center gear 14, the hydraulic motor 10M to the relay gear 15L for the swing, a pair of right and left interlocking constantly via respective 15R side gears 16L, 1
6R and a pair of left and right shift members 17L and 17R that are always gear-coupled to each of the left and right axles 1A. The shift members 17L and 17R are shifted to the center position on the side of the center gear 14 by shifting the shift members 17L and 17R.
The shift members 17L, 17R are shifted to the corresponding side gears 16L, 16R side by shifting the shift members 17L, 17R to the corresponding side gears 16L, 16R by shifting the shift members 17L, 17R to the corresponding side gears 16L, 16R. And a pair of left and right friction clutches 19L and 19R that are interlocked with each other. The auxiliary transmission 13 is a second transmission that is interposed in series with the continuously variable transmission 9 for traveling speed change in the transmission system to the left and right traveling devices 1 according to the present invention, and includes a center gear 14. But,
Second transmission (sub-transmission 13) in the present invention
Is a first traveling device drive unit by the side gear 16L,
Reference numeral 16 </ b> R denotes a second traveling device drive unit using the continuously variable transmission 10 for turning according to the present invention.

The sub-transmission 13 is provided with a small-diameter low-speed transmission gear 23L and a large-diameter high-speed transmission gear 23H on a counter shaft 22 interlocked with an output shaft 9A of a traveling speed hydraulic motor 9M via a pair of gears 20 and 21. And freely rotate only,
A large-diameter low-speed passive gear 26L and a high-speed transmission gear 2, which are always linked to the low-speed transmission gear 23L, are mounted on a sleeve 25 rotatably mounted only on the shaft 24 of the relay gears 15L and 15R.
A small-diameter high-speed passive gear 26H constantly linked to 3H is mounted so as to rotate integrally, and the counter shaft 22 is set to a low-speed position linked only to the low-speed transmission gear 23L and a high-speed position linked only to the high-speed transmission gear 23H. The shift member 27 which can be shifted is spline-fitted.
That is, the low speed transmission from the counter shaft 22 to the sleeve 25 is performed by linking the shift member 27 to the low speed transmission gear 23L, and the high speed transmission is performed from the counter shaft 22 to the sleeve 25 by linking the shift member 27 to the high speed transmission gear 23H. It has become.

The center gear 14 is linked to the auxiliary transmission 13 by meshing the center gear 14 with the low-speed passive gear 26L.

The friction clutches 19L and 19R are urged by springs 28L and 28R. When the shift members 17L and 17R are located at the center positions, only the pawl clutches 18L and 18R are engaged and the shift members 17L and 17R are operated. , 17R are located at the side positions, only the friction clutches 19L, 19R are engaged.

The sleeve 25 is provided with a parking gear 31 interlocking with a gear 30 mounted on a shaft 29A of a parking brake 29 so as to rotate integrally therewith.

The shift members 17L and 17R are arranged as shown in FIG.
As shown in the figure, shifters 33 driven separately by left and right pistons 32L, 32R of the hydraulic actuator 32, respectively.
The shift operation is performed with L and 33R.

As shown in FIG. 3, an operating device for the two continuously variable transmissions 9, 10 and the auxiliary transmission 13 includes a main transmission lever 34 and a swing lever 35 which is a swing operation tool and can swing left and right. A sub-transmission lever 36 is provided to operate both the continuously variable transmissions 9 and 10 based on the operation of the main transmission lever 34 and the turning lever 35, and to operate the sub-transmission 13 and the turning transmission based on the operation of the sub-transmission lever 36. And a linkage operating means for operating the continuously variable transmission 10 for use in the vehicle.

The linkage operation means operates a main transmission for actuating a trunnion shaft (hereinafter referred to as a transmission trunnion shaft) 9a for changing the capacity of the traveling speed hydraulic pump 9P in conjunction with the operation of the main transmission lever 34. A push-pull wire 37 is provided, which is interlocked with the swivel lever 35 via a release wire 38 for swivel, and is also interlocked with a trunnion shaft 9a for shifting via a tuning rod 39 and swivel via a push-pull wire 41 for swivel. Hydraulic pump 10
The continuously variable transmissions 9 and 10 are synchronized with each other in a state in which the turning lever 35 is in a “straight-ahead” position in conjunction with a trunnion shaft (hereinafter, referred to as a turning trunnion shaft) 10 a for changing the capacity at P. A tuning means 40 is provided, and the operation amount transmitted from the tuning means 40 to the turning trunnion shaft 10a via the turning push-pull wire 41 is corrected by the shift state of the auxiliary transmission 13 transmitted via the correcting wire 42. When the turning lever 35 is in the "straight forward" position both when the auxiliary transmission 13 is in the low-speed transmission state and in the high-speed transmission state, the center gear 1
4 and the side gears 16L and 16R are provided with a correction means 43 for correcting the tuning state so as to have the same speed.

When the turning lever 35 is in the "straight forward" position and the auxiliary transmission 13 is in the high-speed transmission state, the synchronizing means 40 controls the center gear 14 and the side gear 16L,
16R is rotated in the same direction at the same rotational speed, the synchronizing relationship between the two continuously variable transmissions 9 and 10 is set, and the maximum operating position of the turning lever 35 when the auxiliary transmission 13 is in the high-speed transmission state. Gears 16L and 16R with turning operation
Is a means for associating the two continuously variable transmissions 9 and 10 such that the rotation speed in the direction opposite to that of the center gear 14 becomes the rotation speed of the center gear 14. Specifically, as shown in FIGS. 4 to 14, the first axis P
A swing arm 44 swinging around the arm 1 is provided, and a rod-shaped slide member 45 reciprocating along a linear path in conjunction with the swing of the swing arm 44 is provided.
In addition, the swing push-pull wire 41 is fixed to the tip and a swing lever 46 rotatably supporting the guide roller 47 is swingably mounted around a second axis P2 parallel to the first axis P1. A guide rail 48 for moving and guiding the guide roller 47 is swingably mounted on a fixed portion around a third axis P3 parallel to the second axis P2, and a pulling operation is performed on the guide rail 48 by a release wire 38 for rotation. Then, a pull operation arm 49 for swinging the guide rail 48 is fixed.

When the gearshift trunnion shaft 9a is at the gearshift neutral position N, as shown in FIG.
7 is located on the third shaft center P3 of the guide rail 48 and the transmission trunnion shaft 9a is in the forward movement range F, the guide roller 47 is moved to the third shaft center P3 of the guide rail 48 as shown in FIG. When the transmission trunnion shaft 9a is located in the reverse region R, the guide roller 47 is located at the other side of the third rail P3 of the guide rail 48, as shown in FIG. The positional relationship between the slide member 45 and the guide rail 48 is set so as to perform the operation.

Further, the guide rail 48 swings around the third axis P3 to swing the guide roller 47, that is, the swing lever 46, to operate the turning push-pull wire 41. The pulling operation by the turning release wire 38 causes the turning end of the turning trunnion shaft 10a to be moved from the first inclined position in which one end is positioned closer to one side than the position in parallel with the slide member 45. The second side of which one end is located on the other side
The swinging operation is performed to the inclined posture against the urging force of the spring 50, and the parallel posture is such that the swing lever 46 is positioned at the neutral position for shifting and the turning trunnion shaft 10 a is moved to the neutral position N for shifting. It is set to the position to be located at. More specifically, as shown in FIGS. 7, 10, and 11, when the guide roller 47 is positioned on one side and in a posture between the first inclined posture and a posture parallel to the first inclined posture, the swing lever 46 is moved. Is positioned in the forward posture, and by positioning the rocking lever 46 in the parallel posture, the rocking lever 46 is positioned in the neutral position for shifting. By positioning the rocking lever 46 in the posture between the parallel posture and the second inclined posture, the rocking lever 46 is moved. 9, 12, and 13, the guide roller 47 is swung by being in a posture between the first inclined posture and a posture parallel to the first inclined posture in a state in which the guide roller 47 is located on the other side, as shown in FIGS. The moving lever 46 is positioned in the reverse position, and is positioned in the parallel position, whereby the rocking lever 46 is positioned in the neutral position for shifting, and is rocked by being positioned between the parallel position and the second inclined position. Lever 4 The one in which is positioned in a forward posture.

Therefore, if the main shift lever 34 is now located at the shift neutral position N and the turning lever 35 is located at the "straight forward" position, the gear shifting trunnion shaft 9a is shifted as shown in FIG. While the hydraulic motor 9M for traveling speed is stopped at the neutral position N and the guide rail 48 is in the first inclined posture, the guide roller 47 is in the third shaft center P3 position and the swing lever 46 is Is located in the shift neutral position, the turning trunnion shaft 10a is located at the shift neutral position N, and the turning hydraulic motor 10M is also stopped. When the main shift lever 34 is operated in the forward range F in this state, the traveling trunnion shaft 9a is operated to the shift position in the forward range F corresponding to the operated position of the main shift lever 34 as shown in FIG. The shift hydraulic motor 9M rotates forward at a rotation speed corresponding to the operation position of the main shift lever 34, and the guide roller 47 moves to one side of the guide rail 48, so that the swing lever 46 moves forward. When the swinging operation is performed, the turning trunnion shaft 10a is operated to the shift position in the forward range F corresponding to the operating position of the main shift lever 34, and the turning hydraulic motor 10M is operated in accordance with the operating position of the main shift lever 34. That is, it rotates forward at a rotation speed proportional to the rotation speed of the traveling speed hydraulic motor 9M. On the other hand, when the main transmission lever 34 is operated in the reverse range R in the above state, the transmission trunnion shaft 9a is moved to the reverse position R corresponding to the operation position of the main transmission lever 34 as shown in FIG. As a result, the traveling speed hydraulic motor 9M reversely rotates at a rotation speed corresponding to the operation position of the main speed change lever 34, and the swing lever 46 is moved by the guide roller 47 moving to the other side of the guide rail 48. By being swung to the reverse side, the turning trunnion shaft 10a is operated to the shift position in the reverse region R corresponding to the operating position of the main shift lever 34, and the turning hydraulic motor 10M corresponds to the operating position, that is, The reverse rotation is performed at a rotation speed proportional to the rotation speed of the traveling speed hydraulic motor 9M. In addition, when the turning lever 35 is tilted to the left or right while the main shift lever 34 is located at the shift neutral position N, that is, when the turning operation is performed, (a), (b), and (c) of FIG. As shown in FIG. 7, although the guide rail 48 is operated to swing, the guide roller 37
Is in the third shaft center P3 and does not move, so that the swing lever 46 is maintained in the neutral position for shifting, and the turning trunnion shaft 10a is maintained in the neutral position for shifting and the hydraulic motor 10M for turning regardless of the turning operation. Is stopped and maintained. Then, when the turning lever 35 is turned to the left or right in the forward running state in which the main shift lever 34 is operated in the forward range F, the guide rail 48 is turned as shown in FIGS. The swinging trunnion shaft 10a is operated to the deceleration side in the forward range F until the swinging lever 46 is operated to the neutral position for shifting by the swinging operation of the guide rail 48. Hydraulic motor for turning 10M
When the swing lever 46 is operated to the neutral position for shifting, the turning trunnion shaft 10a is operated to the neutral position N for shifting. The hydraulic motor 10 for turning
When the swing lever 46 is operated beyond the neutral position for shifting, the turning trunnion shaft 10a is operated to the speed increasing side in the reverse region R, and the turning hydraulic motor 10M is operated.
Is steplessly increased, and reversely rotates at a rotation speed corresponding to the operation position of the turning lever 35. Then, when the turning lever 35 is returned to the "straight forward" position, the guide rail 48 returns to the first inclined posture, and the turning hydraulic motor 10M rotates forward at the original rotation speed. On the other hand, the main shift lever 34
Is operated in the reverse range R and the turning lever 35
When the is turned to the left or right, the guide rail 48 is pulled and rocked as shown in FIGS. 9, 12, and 13, and the rocking lever is Until 46 is operated to the neutral position for shifting, the turning hydraulic motor 10M is steplessly decelerated by operating the turning trunnion shaft 10a to the deceleration side in the reverse region R, and according to the operating position of the turning lever 35. When the swing lever 46 is operated to the neutral position for shifting and the swinging trunnion shaft 10a is operated to the neutral position N for shifting, the hydraulic motor 10M for swing is stopped, and the swing is rotated. When the lever 46 is operated beyond the shift neutral position, the turning hydraulic motor 10M is steplessly increased in speed by operating the turning trunnion shaft 10a to the speed increasing side in the forward movement range F, and the turning lever 35 is turned on. of To move forward rotated at a rotational speed corresponding to the work position. Then, when the turning lever 35 is returned to the "straight forward" position, the guide rail 48 returns to the first inclined posture, and the turning hydraulic motor 10M rotates backward at the original rotation speed.

The rotational speed of the turning hydraulic motor 10M in proportion to the traveling speed hydraulic motor 9M is such that the turning lever 35 is located at the "straight forward" position and the auxiliary transmission 13 is in a high-speed transmission state. At times, the rotation speed of the center gear 14 and the rotation speeds of the side gears 16L and 16R are set to the same rotation speed.

The means for pulling the guide rail 48 through the turning release wire 38 by the turning operation of the turning lever 35, as shown in FIGS. Bracket 5 for swinging support
The two operating arms 52L, 52R are pivoted to one
Are pivotally mounted around the pivot axis P4, respectively, and below the pivot lever 35, the left operation arm 52L pivots counterclockwise from the neutral position as the pivot lever 35 pivots to the left. At the same time, an operating pin 53 is provided for swinging the right operating arm 52R clockwise from the neutral position in accordance with the swinging of the turning lever 35 to the “right”, and the bracket 51 is attached to the bracket 51 from the neutral position of the left operating arm 52L. A positioning pin 54 for restricting the clockwise swing of the right arm and the clockwise swing of the right operating arm 52R from the neutral position is attached.
A spring 55 is provided to urge the two operation arms 52L, 52R to the neutral position over 2R, and the end of the inner wire 38a of the release release wire 38 is fixed to the left operation arm 52L. Of the outer wire 38b is fixed to the right operation arm 52R. That is, the swing lever 35 is urged to swing to the “straight-ahead” position by the spring 55, and the swing lever 35 is tilted to the left to swing the left operating arm 52 </ b> L with the spring 55. By swinging counterclockwise against the power, the inner wire 38a
By pulling the release wire 38 to pull the release rail 38, the guide rail 48 is rocked, and the swing lever 35 is tilted to the right to perform the rocking operation, so that the right operation arm 52R is biased by the spring 55. By oscillating clockwise, the end of the outer wire 38b is moved away from the end of the inner wire 38a, and the release wire 38 is pulled to actuate the guide rail 48.

The correcting means 43 is provided as shown in FIG.
(B) As shown in FIG. 18, the mounting position of the push-pull wire 41 for turning to the operating lever 10 b of the turning trunnion shaft 10 a is determined in the longitudinal direction of the operating lever 10 b according to the shift state of the auxiliary transmission 13. By making changes,
Means for preventing the rotational speed of the center gear 14 from changing due to the shift by the auxiliary transmission device 13 and differing from the rotational speeds of the side gears 16L and 16R even if the rotational speed of the traveling speed hydraulic motor 9M is the same. The auxiliary transmission 1 operated by the auxiliary transmission lever 36 via the auxiliary transmission operation wire 56
The swing of the operating lever 36a from the low position L to the high position H of the third operating lever 36a causes the operating lever 10 of the push-pull wire 41 for turning.
A correction wire 42 is provided so as to pull the attachment pin 41a to the second position PH from a first position PL far from the turning trunnion shaft 10a to a second position PH near the turning trunnion shaft 10a against the urging force of the spring 57. The first position P
L indicates the number of rotations of the center gear 14 and the side gears 16L, 1 when the sub-transmission 13 is switched to the low-speed transmission state while the turning lever 35 is in the “straight forward” position.
Operating lever 10b so as to make the rotation speed equal to that of 6R.
The second position PH is a position where the auxiliary transmission 13 is switched to the high-speed transmission state with the turning lever in the “straight-ahead” position. Speed and side gear 1
This is a position where the turning push-pull wire 41 is linked to the operating lever 10b so as to make the rotation speeds of 6L and 16R equal. That is, when the main transmission lever 34 is operated in a state where the turning lever 35 is in the “straight forward” position and the sub transmission 13 is in the high-speed transmission state, the main transmission lever 34 is operated.
The rotational speed of the hydraulic motor 10M for turning is increased by increasing the swing amount of the operating lever 10b with respect to the operation amount of, so that the rotational speed of the center gear 14 and the rotational speeds of the side gears 16L and 16R are equalized, and the auxiliary transmission 13 is in the low-speed transmission state, the swing amount of the operating lever 10b with respect to the operation amount of the main shift lever 34 is reduced, and the hydraulic motor 10 for turning is reduced.
By reducing the rotation speed of M, the rotation speed of the center gear 14 and the rotation speeds of the side gears 16L and 16R are made equal.

As shown in FIGS. 19 and 20, when the maximum forward rotation speed and the maximum reverse rotation speed of the center gear 14 are set to be equal to each other and the subtransmission 13 is in a high speed transmission state. The maximum forward rotation speed and the maximum reverse rotation speed of the side gears 16L and 16R are set to be equal to the maximum forward rotation speed and the maximum reverse rotation speed of the center gear 14 when the auxiliary transmission 13 is in the high-speed transmission state. The maximum forward rotation speed and the maximum reverse rotation speed of the side gears 16L and 16R when the auxiliary transmission 13 is in the low-speed transmission state are determined by the maximum forward rotation of the center gear 14 when the auxiliary transmission 13 is in the low-speed transmission state. The rotation speed is set to be equal to the rotation speed and the maximum reverse rotation speed.

As shown in FIG. 16, the hydraulic actuator 32 has a linear operation state in which both shifters 33L and 33R are positioned in a position where the shift members 17L and 17R are positioned at the center position, and only the left shift member 17L is The operation valve 58 is in a left turning operation state in which the left shifter 33L is positioned in the position where the right shift member 33R is positioned in the side position in which only the right shift member 17R is positioned in the side position. The control valve 59 controls the hydraulic actuator 32 to move straight when the control device 59 detects that the turning lever 35 is at the “straight” position by the turning switch 60. In the "straight ahead" position to be activated, the swivel lever 35 is in the "left" swivel position by the swivel switch 60. Cause the hydraulic actuator 35 to the left turning operation state when it is detected is in the "left turn" position, in turn switch 60 pivot lever 35 is "right"
When it is detected that the hydraulic actuator 35 is located at the turning position, the hydraulic actuator 35 is operated so as to be at the "right turning" position for bringing the hydraulic actuator 35 into the right turning operation state. That is, the operation valve 58
Is operated in accordance with the operation state of the turning lever 35. Then, the turning switch 60, the shift members 17L and 17R, the friction clutches 19L and 19R, the hydraulic actuator 32,
From the shifters 33L, 33R, the operation valve 58, and the control device 59, based on the turning operation of the turning lever 35, the interlocking of the left and right traveling devices 1 with the continuously variable transmission 9 for traveling speed change is performed while turning. Turning interlocking means for interlocking the inner traveling device 1 with the turning continuously variable transmission 10 is configured. As shown in FIG. 15, the turning switch 60 is pressed by an operation arm 60 a connected to the turning lever 35 in accordance with the turning operation of the turning lever 35 to the “left” turning position, and turns on the left turning switch unit. With the turning operation of the turning lever to the “right” turning position, the operation arm 60 is moved.
a to turn on the right turning switch unit.

Therefore, by operating the turning lever 35 to the "straight forward" position to position both the shift members 17L and 17R at the center position, the center gear 14, the pawl clutches 18L and 18R, and the shift members 17L and 17R are interposed. In this way, the left and right traveling devices 1 are driven by the continuously variable transmission 9 for traveling speed change, whereby it is possible to obtain a straight traveling state by operating the left and right traveling devices 1 at the same speed in the same direction. In this state, by operating the continuously variable transmission 9 for traveling speed change with the main transmission lever 34, continuously variable transmission and neutral stop in the straight forward traveling state and continuously variable transmission in the straight forward traveling state can be performed. By operating the device 13 with the auxiliary transmission lever 36, the traveling speed can be switched between high and low.

The thick solid lines a and b in FIGS.
As shown by b, when the sub-transmission 13 is switched to the high-speed transmission state, the vehicle is traveling straight forward at high speed and the sub-transmission
When the turning lever 35 is turned to the "left" in the straight forward forward low-speed running state for work with the 3 being switched to the low-speed transmission state, the left shift member 17L is located at the side position, and the right running device 1 As described above, while being driven forward by the continuously variable transmission 9 for traveling speed change, the left relay gear 15L,
The left traveling device 1 is driven by the turning continuously variable transmission 10 via the left side gear 16L, the left friction clutch 19L, and the left shift member 17L.
5, the forward drive speed of the continuously variable transmission 10 for turning is gradually reduced with an increase in the operation amount to the "left" of 5,
With the speed difference between the left and right traveling devices 1 accompanying this, a forward slow turning with the left turning inside can be performed, and the operation amount of the turning lever 35 to the “left” is still increased, so that the continuously variable transmission for turning. By setting 10 to the neutral position for shifting, the left traveling device 1 is stopped, and a forward left pivot turn (forward left pivot turn) with the left turning inside can be performed, and the turning lever 35 is set to the maximum left position. When the vehicle is operated to the operation position, the reverse drive speed of the continuously variable transmission 10 for turning is increased, so that the left traveling device 1 travels backward at the same speed as the right traveling device 1 traveling forward. You can make a left spin turn (left spin turn). Note that a thick solid line c in FIG. 19 indicates the traveling speed of the right traveling device 1 traveling forward and high speed, and a thick solid line d in FIG. 20 indicates the traveling speed of the right traveling device 1 traveling forward and low speed.

The thick solid lines e and f in FIGS.
As shown by the arrow, in the above-described traveling straight forward high-speed traveling state for work and the straight traveling forward low-speed traveling state for work,
5, the right shift member 17R is located at the side position, and the left traveling device 1 is driven forward by the continuously variable transmission 9 for traveling speed, while the right traveling member 17R is moved to the right position. The right traveling device 1 is driven by the continuously variable transmission 10 for turning via the relay gear 15R, the right side gear 16R, the right friction clutch 19R, and the right shift member 17R. As the operation amount to the “right” is increased, the forward drive speed of the continuously variable transmission 10 for turning is gradually reduced, and the speed difference between the left and right traveling devices 1 is accompanied by the slow forward driving with the right turning inside. You can make a turn,
By further increasing the operation amount of the turning lever 35 to the “right” to bring the continuously variable transmission 10 for turning into the neutral state of shifting, the right traveling device 1 is stopped and the right is turned inside the turning. A right pivot turn (forward right pivot turn) can be performed. When the turning lever 35 is operated to the maximum operation position of “right”, the reverse drive speed of the continuously variable transmission 10 for turning is increased. It is possible to perform a right super pivot turn (right spin turn) by moving the right traveling device 1 backward and traveling at the same speed as the left traveling device 1 traveling forward. FIG.
9, a thick solid line g indicates the left traveling device 1 traveling forward and at high speed.
The thick solid line h in FIG. 20 indicates the traveling speed of the left traveling device 1 traveling forward and at low speed.

On the other hand, the thick broken lines i and j in FIGS.
As shown by the arrow, the sub-transmission 13 is switched to the high-speed transmission state, and the vehicle is traveling straight forward and backward at a high speed.
When the turning lever 35 is turned to the “left” in a working straight-ahead low-speed running state while switching to the low-speed transmission state, the left shift member 17L is located at the side position,
The right traveling device 1 is driven backward by the continuously variable transmission 9 for traveling speed change, as described above, while being driven via the left relay gear 15L, the left side gear 16L, the left friction clutch 19L, and the left shift member 17L. The traveling device 1 on the left is driven by the continuously variable transmission 10 for turning, and the reverse drive by the continuously variable transmission 10 for turning is performed with an increase in the operation amount of the turning lever 35 to the left. The drive speed is gradually reduced, and the speed difference between the left and right traveling devices 1 can cause a slow reverse turning with the left turning inside.
Continuously variable transmission 1 for turning by further increasing the operation amount to
By setting 0 to the shift neutral state, it is possible to stop the left traveling device 1 and perform a reverse left pivot turn (reverse left pivot turn) with the left turning inside, and set the turning lever 35 to the maximum left position. When the vehicle is operated to the operation position, the forward drive speed of the continuously variable transmission 10 for turning is increased, so that the left traveling device 1 travels forward at the same speed as the right traveling device 1 traveling backward. Turn left super turn (left spin turn)
You can do it. Note that a thick broken line k in FIG. 19 indicates the traveling speed of the right traveling device 1 that travels at a high speed in the reverse direction.
A thick broken line m in 0 indicates the right traveling device 1 that travels backward at low speed.
Shows the running speed of the vehicle.

The thick broken lines n and p in FIGS.
As shown by the arrow, in the above-mentioned traveling straight backward high-speed traveling state for work or the straight traveling backward low-speed traveling state for work,
When the vehicle 5 is turned to the right, the right shift member 17R is located at the side position, and the left traveling device 1 is driven backward by the continuously variable transmission 9 for traveling speed, while The right traveling device 1 is driven by the continuously variable transmission 10 for turning via the relay gear 15R, the right side gear 16R, the right friction clutch 19R, and the right shift member 17R. As the amount of operation to the “right” is increased, the reverse drive speed of the continuously variable transmission 10 for turning is gradually reduced, and the speed difference between the left and right traveling devices 1 causes the right side to turn inside the vehicle slowly. You can make a turn,
The amount of operation of the turning lever 35 to the “right” is still increased, and the continuously variable transmission 10 for turning is brought into the neutral state for shifting, so that the right traveling device 1 is stopped and the right is turned inside the reverse. A right pivot turn (reverse right pivot turn) can be performed. When the turning lever 35 is operated to the maximum operation position of “right”, the forward drive speed of the continuously variable transmission 10 for turning is increased. It is possible to perform a right super pivot turn (right spin turn) by running the right traveling device 1 forward at the same speed as the left traveling device 1 traveling backward. FIG.
9, a thick solid line q indicates the traveling device 1 on the left that travels at a high speed in reverse.
The thick solid line r in FIG. 20 indicates the traveling speed of the left traveling device 1 that travels backward at low speed.

As shown in FIGS. 14 (a), (b) and (c), the link operation means is provided with the turning lever 35.
The pull operation arm when the continuously variable transmission 10 for turning is brought into the neutral state for shifting in accordance with the forward rotation deceleration operation (forward speed deceleration operation during forward traveling and reverse speed deceleration operation during reverse traveling) among the turning operations of Shaft 7 linked to 49
In addition to increasing the operating resistance by contacting the pusher 71 provided at 0, the reverse rotation speed increasing operation of the turning lever 35 (the reverse speed increasing operation during forward running and the forward speed increasing operation during reverse running) is performed. Accordingly, a compression spring 72 is provided which is pushed and compressed by the pull operation arm 49 to increase the operation resistance as the operation amount increases.
The shaft 70 is inserted into the compression spring 72 and also serves as a deformation guide for the compression spring 72.

In this way, the combine travels straight by driving the right and left traveling devices 1 by the continuously variable transmission 9 for traveling speed change by operating the turning lever 35 to the "straight ahead" position. The traveling device 1 on the inside of the turn is driven by the continuously variable transmission 10 for turning by turning operation of the lever 35 to the turning operation area, and with the increase in the amount of operation of the turning lever 35 to the turning operation area, the non-turning operation is performed. The speed change device 10 is configured to perform various forms of turning by performing a deceleration operation, a neutral state, and a reverse rotation acceleration operation.

Further, the output shaft 9 of the hydraulic motor 9M for traveling speed is interlocked with the transmission system to the traveling device 1.
In the transmission system to the reaping unit 4 branched from A, a reaping clutch 61 and a reaping transmission 62 for intermittently transmitting power to the reaping unit 4 are interposed.

The reaping clutch 61 includes a reaping transmission 62.
Is also used. That is, the reaper transmission 6
When the transmission 2 is in the non-transmission state, the clutch is released, and when the cutting transmission 62 is in the transmission state, the clutch is engaged.

[Alternative Embodiment] In the above embodiment, the turning lever is shown as the turning operation tool 35.
Reference numeral 5 may be a steering handle.

In the above embodiment, a combine is shown as a working machine, but the present invention can be applied to various working machines.

In the above embodiment, the traveling device 1 is
Although the crawler type is shown, the traveling device 1 may be a multi-wheel type having three or more wheels.

[Brief description of the drawings]

FIG. 1 is a side view of a combine.

FIG. 2 Transmission system diagram

FIG. 3 is a system diagram of an operation linking mechanism.

FIG. 4 is a cross-sectional plan view of the tuning means.

FIG. 5 is a perspective view of a tuning means.

FIG. 6 is a longitudinal sectional front view of the tuning means.

FIG. 7 is a longitudinal sectional side view of the tuning means in a state in which the continuously variable transmission for traveling transmission is switched to forward.

FIG. 8 is a longitudinal sectional side view of the tuning means in a state where the continuously variable transmission for traveling speed is switched to neutral.

FIG. 9 is a longitudinal sectional side view of the tuning means in a state where the continuously variable transmission for traveling speed is switched to reverse.

FIG. 10 is a longitudinal sectional side view of the tuning means in a state where the continuously variable transmission for traveling is switched to the forward direction and the continuously variable transmission for turning is switched to the neutral position.

FIG. 11 is a longitudinal sectional side view of the tuning means in a state where the continuously variable transmission for traveling speed is switched to the forward direction and the continuously variable transmission for turning is switched to the reverse direction.

FIG. 12 is a longitudinal sectional side view of the tuning means in a state where the continuously variable transmission for traveling speed is switched to reverse and the continuously variable transmission for turning is switched to neutral.

FIG. 13 is a longitudinal sectional side view of the tuning means in a state where the continuously variable transmission for traveling speed is switched to reverse and the continuously variable transmission for turning is switched to reverse.

FIG. 14 is an explanatory diagram of the operation of the pull operation arm.

FIG. 15 is an explanatory diagram of the operation of the pulling operation means.

FIG. 16 is an operation system diagram of a shift member.

FIG. 17 is an explanatory diagram of the operation of the correction means.

FIG. 18 is a longitudinal sectional view of a correction unit.

FIG. 19 is an explanatory diagram showing a relationship between a turning operation amount in a high-speed running state and a speed of a traveling device inside a turn.

FIG. 20 is an explanatory diagram showing a relationship between a turning operation amount in a low-speed running state and a speed of a traveling device inside the turning;

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 traveling device 9 stepless transmission for traveling speed change 10 continuously variable transmission for turning 13 second speed change device for traveling speed change 14 first traveling device driving unit 16L, 16R second traveling device driving unit 35 turning operation tool

Claims (1)

(57) [Claims] In a working machine in which a continuously variable transmission for traveling and a second transmission are connected in series to a transmission system for left and right traveling devices in a state of being connected in series, a turning operation tool is in a straight-forward position. And a stepless transmission for turning which operates in synchronization with the first continuously variable transmission for traveling speed and decelerates with an increase in the amount of turning operation of the turning operation tool is provided. Turning interlocking means for interrupting the interlocking of the inner left and right traveling devices to the continuously variable transmission for traveling shift based on the turning operation of the left and right and interlocking the inner traveling traveling device with the continuously variable transmission for turning. The traveling speed is reduced by reducing the operation amount of the continuously variable transmission for turning based on the operation of the turning operation tool as the second transmission is in the low-speed transmission state based on the transmission state of the second transmission. Continuously variable transmission or second transmission Correction for correcting the interlocking relationship between the turning operation tool and the continuously variable transmission for turning such that the first traveling device drive unit for driving and the second traveling device drive unit for the continuously variable transmission for turning rotate at the same speed. A steering device for a working machine provided with a means.