JP3426338B2 - Operating device in hydraulically driven vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [0001] BACKGROUND OF THE INVENTION The present invention relates to a hydrostatic continuously variable transmission.
Transmission having the same and the hydrostatic continuously variable transmission
Gearshift control device that controls the gearshift characteristics of the vehicle
Gearshift control member and transformer mounted on gearshift operating device
Connection with the transmission control member provided on the transmission with a link member
Operating device in a hydraulically driven vehicle. [0002] 2. Description of the Related Art An operating device in such a hydraulically driven vehicle.
Is disclosed in Japanese Patent Publication No. 57-25428 and Japanese Utility Model Publication No. 49-38.
No. 826, Japanese Unexamined Patent Publication No. 57-950, Japanese Utility Model Publication 40
It is already known from JP-A-31219. [0003] However, such hydraulic pressure
In a driven vehicle, the gearshift operating device and the transmission
If it is not rationally arranged, weight distribution and
Not only does the balance of
Of the transmission gearshift control member
The link mechanism transmitting to the control member becomes complicated and long,
Accurate shift control may be difficult due to
You. The present invention has been made in view of the above circumstances.
The transmission operating device and the transmission of the hydraulically driven vehicle.
And the vehicle's left and right direction
To improve the balance of
To enable accurate gear shifting control.
You. [0005] [MEANS FOR SOLVING THE PROBLEMS] To achieve the above object
The present invention supports the engine and the left and right rear wheels, respectively.
DoLeft and rightAn engine drive with a pair of hydrostatic continuously variable transmissions
A transmitter that converts power into hydraulic pressure and drives the left and right rear wheels
Operation and change of steering wheel and steering wheel
Mixing lever operation before transmission
RecordLeft and rightControl shift characteristics of a pair of hydrostatic continuously variable transmissions
Hydraulically driven vehicle equipped with a shift operation device and a body frame
The operation device according to claim 1, wherein the speed change operation device is a vehicle body.
The seat is located below the seat at the center of the seat
And thatRight and left of the vehicle adjacent to the rear of the gearshift
Almost in the centerThe transmissionArrange,That tiger
Above the transmission, behind the seat
Equipped with an engine,Provided in the shift operation deviceLeft and right pair
ofA shift control member,Left and rightA pair of hydrostatic continuously variable transmissions
The gear ratio of eachLeft and right pairTransmission control members and
ToPush-pull with adjustable length in turnbuckle
Each composed ofAlong the longitudinal direction of the vehicleBe done
Left and right pairWith link membersRespectivelyIt is characterized by being connected
I do. [0006] BRIEF DESCRIPTION OF THE DRAWINGS FIG.
I do. FIGS. 1 to 20 show a first embodiment of the present invention.
FIG. 1 is an overall side view of a working vehicle, and FIG.
FIG. 3 is an enlarged view of a main part of FIG. 1, and FIG. 4 is a main view of FIG.
5 is an enlarged view of a main part of FIG. 2, and FIG. 6 is a main part of FIG.
7 is an enlarged view of a main part of FIG. 4, and FIG. 8 is 8-8 of FIG.
9 is an enlarged view of a main part of FIG. 8, and FIG. 10 is a main part of FIG.
FIG. 11 is a sectional view taken along line 11-11 of FIG. 7, FIG.
Is a hydraulic circuit diagram, and FIG. 13 is an enlarged cross-sectional view taken along line 13-13 of FIG.
FIG. 14 is a sectional view taken along line 14-14 of FIG. 13, and FIG.
13 is a view taken in the direction of arrow 15 and FIG. 16 is a line 16-16 in FIG.
FIG. 17 is a sectional view taken along line 17-17 of FIG. 13, and FIG.
Is an explanatory diagram of the operation, and FIG. 19 is the steering angle and the wheel speed.
FIG. 20 is a graph showing the relationship between the steering angle and the steering angle.
5 is a graph showing steering characteristics according to the vehicle speed and the vehicle speed. As shown in FIGS. 1 and 2, as a driven wheel
Pair of left and right front wheels Wf and a pair of right and left rear wheels as driving wheels
The riding type work vehicle 1 having the wheels Wr
A pair of extended left and right side frames 2 and 2 and the left and right sides of the vehicle
Extending between the two side frames 2 and 2
Cross frame 3₁~ 3_FiveAnd the body frame F
Prepare. At the front of the body frame F, a floor panel 4
The seat post 5 and the seat base 6 are attached, and the seat
A seat 7 on which an occupant sits is provided on a base 6. C
When the left and right front wheels Wf are steered at the upper part of the handle post 5,
Both are left and right rear through a hydrostatic continuously variable transmission described later.
Steering hand for generating a rotational speed difference between wheels Wr
A dollar 8 is provided. The left side of the handle post 5 will be described later.
Tension clutch that controls power transmission to a working machine
Clutch lever 9 for turning ON / OFF the
The work vehicle 1 is moved forward and backward on the right side of the seat 7.
Change lever 10 is provided. A single-cylinder four-cycle engine is provided on the rear upper surface of the vehicle body.
E turns the crankshaft 11 in the left-right direction of the vehicle body, and
Is mounted with the cylinder 12 facing obliquely rearward and upward.
You. A fuel tank 13 and an air filter are provided above the engine E.
14A and muffler 14M are supported. engine
In the lower part of E, the driving force of the engine E is converted into hydraulic pressure
Equipped with transmission T that drives left and right rear wheels Wr
Is done. Transmission operating device M mounted under seat 7
Are used to independently control the rotational speeds of the left and right rear wheels Wr.
Operation of tearing handle 8 and change lever 10
Mix operation and transmit to transmission T
You. At the rear end of the body is a rotary driven by engine E
The work implement R is connected. As is apparent from FIGS. 3 and 5, the steering
Steering shaft 2 connected to ring handle 8
1 has a pinion 22 fixed to the lower end thereof,
The sector gear 24, which is more axially supported, meshes with the pinion 22.
Combine. Left and right knuckles 25 that support left and right front wheels Wf
_L, 25_RIs formed in an L-shape, and the cross frame
3_TwoCan be swung right and left via a stepped bolt 39 at the bottom of the
Guide cylinders provided at left and right ends of a pivotally supported plate 40
26, 26 swingably supported. Knuckle 2
5_L, 25_RLeft and right knuckle arms 2 fixed to each other
7_L, 27_RAre interconnected by tie rods 28
The left knuckle arm 27_LAnd the sector gear 2
4 are connected to each other by a steering rod 29. Then, the steering handle 8 is operated.
Then, the steering shaft 21, pinion 22, section
Tagear 24, steering rod 29, left knuckle
Arm 27_LAnd left knuckle 25_LThrough the left side
The front wheel Wf is steered, and the left knuckle arm 27_L
Tie rod 28, right knuckle arm 27_Ras well as
Knuckle 25 on the right_RThe right front wheel Wf is steered through
It is. The steering wheel 8 is out of steering
The maximum value of the angle is 200 ° each on the left and right, and the steering is off
Steering angle of front wheel Wf outside turning when angle is 200 °
Is set to be 50 °. As is apparent from FIGS. 4 and 6, the chain
The gilever 10 is connected via a pivot 30 extending in the lateral direction of the vehicle body.
It is pivoted back and forth and left and right. Change lever 10
When the vehicle 1 is in the neutral position N, the work vehicle 1 is stopped.
And move the change lever 10 forward from the neutral position.
When swinging, the work vehicle 1 is moved from 0 km / h to +7.5 km / h.
h. Chain when forward swing angle is 14 °
Gilever 10 is at the top position F during operation₁Become +
2.5 km / h and the front swing angle is 42 °
The end lever 10 is at the top position F during running._TwoBecome the vehicle speed
Becomes +7.5 km / h. Change lever 10
When swinging backward from the neutral position, the work vehicle 1
The vehicle travels backward at m / h to -3.5 km / h, and the backward swing angle is
At 20 °, the change lever 10 is at the top position when moving backward
It becomes R and the vehicle speed becomes -3.5 km / h. Next, the engine E will be described with reference to FIGS.
That transmits the driving force of the vehicle to the left and right rear wheels Wr
The structure of the component T will be described. Referring to FIG. 7 and FIG.
T is the mission case 102 and this mission case
A pair of static oils attached to the left and right sides of
Pressure type continuously variable transmission 103_L, 103_RAnd the mission case
Speed reduction device 104 disposed in the
A pair of axles respectively penetrating the left and right side walls of the case 102
106_L, 106_RAnd these axles 106_L, 1
06_RThe left and right rear wheels Wr are attached to the outer ends of
You. The transmission case 102 includes an axle 10
6_L, 106_RLeft divided on a plane perpendicular to the axis of
Case half 102_LAnd right case half 102_ROpen end of
They are connected to each other by bolts 105.
It is. Left case half 102_LThe outer side of the upper half
The lower half of the bridge protrudes greatly outward, and the step 109
And the right case half 102_ROutside
The side surface is formed substantially flat throughout. Like this
The transmission case 102 is
Narrow part 102 toward_A, Downward wide portion 102_BWith
Narrow part 102 of_AA pair of hydrostatic stepless transmissions on the left and right sides of the
Machine 103_L, 103_RIs attached. Left and right axles 106_L, 106_RThe Missis
Wide part 102 of the case 102_BAttached to both left and right side walls of
Axes are formed by the bearings 155 and 155
Le case 154_L, 154_RIt is supported inside. As shown in FIG. 7 and FIG.
Type continuously variable transmission 103_L, 103_RAre the same
They are symmetrically arranged. Each hydrostatic continuously variable transmission 10
3_L, 103_RIs the same case half 102_L, 102
_RDistribution plate 110 separably bolted to the outer surface of the
And the housing 1 bolted to the distribution plate 110
11 and a hydraulic pump disposed in the housing 111.
And a hydraulic motor 113. Hydraulic port
The pump 112 has a pump shaft 114 penetrating the distribution plate 110.
And a distribution plate spline-coupled to the pump shaft 114.
Pump cylinder 115 rotatably slidably in contact with 110
… And the pump system in an annular arrangement surrounding the pump shaft 114.
A number of pumps slidably fitted to the cylinders 115.
The lancers 116 ... and the pump plungers 116 ...
The pump swash plate 117 that contacts the outer end of the
Swash plate holder 11 supported via strike bearing 118
9, the swash plate holder 119 has an axis
A pair of trunnion shafts 12 orthogonal to the axis of the pump shaft 114
0 and is mounted on the housing 111 via the pump
Place the swash plate 117 in the upright position perpendicular to the pump shaft 114 (new
The maximum tilt position (top position when moving forward)
Position) and the other maximum tilt position (top position when reversing)
Can be tilted between. Left and right swash plate
A transmission arm is provided at the outer end of the trunnion shaft 120 of the rudder 119.
249_L, 249_R(Shift control member) is fixed.
Speed change arm 249_L, 249_RBy rotating
The angle of each pump swash plate 117 can be adjusted. On the other hand, the hydraulic motor 113
And a motor shaft 121 penetrating the motor shaft 121.
It is connected to the distribution plate 110 in a rotationally slidable manner.
And surrounding the motor shaft 121
Slidably on the motor cylinders 122 in an annular arrangement
A number of fitted motor plungers 123.
Motor swash plate abutting on the outer end of motor plungers 123 ...
And the back of the motor swash plate 124
The housing is inclined at a certain angle with respect to the motor shaft 121.
That is supported by a thrust bearing 125
You. The left and right pump shafts 114, 114
02a is coaxially connected by a joint 138.
On the other hand, the left and right motor shafts 121, 121
It is arranged so that it can be rolled. As shown in FIG. 12, each hydrostatic stepless speed change
Machine 103_L, 103_RIn, the hydraulic pump 112 and
The hydraulic motors 113 are mutually connected by a hydraulic closed circuit 126.
Continued. The high pressure side and the low pressure
A bypass path 127 connecting the sides is provided.
A release valve 128 that is opened and closed by manual operation
You. The hydraulic pump 112 has a pump shaft 114
The driven hydraulic oil supply pump 129 is connected. this
Hydraulic oil supply pump 129 pumps hydraulic oil from oil reservoir 130
To feed the oil to the refueling passage 131.
Are on the high and low pressure sides of the hydraulic closed circuit 126, respectively.
It is connected via the direction valves 132 and 133. Refueling channel 1
31 is a relief valve 1 having a parallel relationship with each other as necessary.
34 and an oil reservoir 130 via a suction valve 135.
You. When the release valve 128 is closed,
When the pump swash plate 117 is inclined forward, the hydraulic pump 1
12, the hydraulic oil closes the hydraulic closed circuit 126 with the solid arrow.
Flows in the direction of the arrow, and the capacity and oil of the hydraulic pump 112 at this time.
Hydraulic motor with the ratio to the capacity of the pressure motor 113 as the gear ratio
The motor shaft 121 of 113 rotates forward, and
17 is inclined to the reverse side, the hydraulic closed circuit 126 is activated.
Fluid flows in the direction of the dotted arrow, and the motor shaft 121 reverses.
You. During this time, if oil leaks in the hydraulic closed circuit 126,
One-way valve 132 or one-way valve 1 corresponding to low pressure side
33 is opened and the hydraulic oil supply pump 129 sends the hydraulic closed circuit 1
At 26, the supply of hydraulic oil is performed. Refueling path 131 is constant
When the pressure rises above, the relief valve 134 opens to supply
Prevents excessive pressure increase in the oil passage 131 and also prevents engine braking.
Between the high pressure side and the low pressure side in the hydraulic closed circuit 126
In case of severe reversal, the hydraulic oil supply pump 1 to the low pressure side
When the supply of hydraulic oil by the fuel pump 29 is insufficient, the suction valve 1
35 is opened and the oil in the oil reservoir 130 is sucked into the low pressure side.
As a result, it is possible to prevent the suction of air from the hydraulic closed circuit 126.
it can. Referring again to FIG. 9, the oil reservoir 130 is
Half case 102 of the case 102_L, 102_R
Is defined in between. And inside each distribution plate 110,
Follow the suction ports of the hydraulic oil supply pump 129 and the suction valve 135
Oil filter 136 immersed in oil reservoir 130
And supplied to the hydraulic oil supply pump 129 and the suction valve 135.
The hydraulic oil to be supplied is filtered. As shown in FIG. 9 and FIG.
04 is a narrow portion 102 of the mission case 102_Aas well as
Wide section 102_BEach axle 106_L, 106_RTodaira
First and second intermediate shafts 14 rotatably supported in rows
0₁, 140_TwoOf the left and right motor shafts 121, 121
A pair of left and right first small gears 141 respectively fixed to end portions
_L, 141_RAnd the first intermediate shaft 140₁Each turn
Supported by the first small gear 141_L, 141_RMesh with
Left and right pair of first gears 142_L, 142_RAnd these
First large gear 142_L, 142_ROne at the opposite end of the
A pair of left and right second small gears 143 formed on the_L, 143_R
And the second intermediate shaft 140_TwoOf the narrow portion 102_ARight end facing
Key or spline connected to the right second small gear 14
3_RSecond large gear 144 meshing with_RAnd this second big right
Gear 144_RSecond intermediate shaft 140 adjacent to the left side of_TwoTwice
Rollably supported, left second small gear 143_LLeft to mesh with
Second large gear 144_LAnd the left second large gear 144_LLeft of
The second intermediate shaft 1 is connected to the end via a dog clutch 145.
40_TwoRight final small gear 146 rotatably supported
_RAnd this right final small gear 146_ROn the left side of the second intermediate shaft 1
40_TwoBody 14 keyed or splined to the clutch
7 and a dog clutch 14 at the left end of the clutch body 147.
8 and the second intermediate shaft 140_TwoRotatably supported
Left last small gear 146 accepted_LAnd the left and right axles 10
6_L, 106_RTo the last left and right small gears
146_L, 146_RA pair of left and right final
Large gear 149_L, 149_RIt is composed of Oil on the right
The driving force of the pressure motor 113 is the left axle 106 _LConveyed to
The driving force of the left hydraulic motor 113 is
6_RIs transmitted to As shown in FIG. 7 and FIG.
Narrow part 102 of case 102_AHas a first intermediate shaft 140
₁And a pair of left and right brake shafts 1 parallel to and coaxial with each other
50 _L, 150_RAre supported so that they can rotate relative to each other.
Rake shaft 150_L, 150_RThe first large gear 14
2_L, 142_RA pair of brake gears meshing with each other
151_L, 151_RIs fixed. Left and right brake shaft 1
50_L, 150_RIs the narrow portion 102_ALeft and right outside
Each of them protrudes, and the rotation of the brake lever 153 is
Brake device 152 that operates by movement_L, 152_RBut
Each is provided. As shown in FIGS. 4 and 6, the left case half
102_LPump shaft 114 protrudes outside from the front of
I do. Transmission drive provided on crankshaft 11 of engine E
Transmission provided on pulley 32 and one of pump shafts 114
An endless belt 34 is wound around the driven pulley 33.
Pivoted by a pivot 36 and urged by a spring 36
A tension pulley is attached to the tip of the tension pulley support arm 37.
38, and the tension pulley 38 is
A predetermined tension is generated by contacting the endless belt 34.
Let Thus, the driving force of the engine E is transmitted to the transmission.
Pulley 32, endless belt 34 and transmission driven pulley 33
Through the left and right hydrostatic continuously variable transmission 103_L, 103_Rof
Distributed to pump shafts 114, 114, and appropriately shifted
Then, the speed reduction gears are
Output to the device 104. Right hydrostatic continuously variable transmission 10
3_ROutput from the motor shaft 121 to the reduction gear 104
The driving force is on the left axle 106_LTransmitted to the left hydrostatic
Type continuously variable transmission 103_LFrom the motor shaft 121 to the reduction gear 1
The driving force output to the right axle 106_RConveyed to
As a result, the left and right rear wheels Wr are driven, and the work vehicle 1
Can be run. In this case, the left and right hydrostatic continuously variable transmissions 10
3_L, 103_R, Both pump swash plates 117, 1
17 is tilted forward, both motor shafts 121,
121 rotates forward to advance the work vehicle 1, and both pumps
By tilting the swash plates 117, 117 toward the reverse direction,
The motor shafts 121 and 121 rotate in reverse to move the work vehicle 1 backward.
Can be Also, the left and right pump swash plates 117, 11
7 with a difference in inclination angle of the left and right hydrostatic continuously variable transmission 1
03_L, 103_RIf the gear ratios of the left and right
The difference between the rotational speeds of the shafts 121, 121 causes the work vehicle 1
The rotation speed of the engine E can be adjusted.
Can be adjusted, but under normal use conditions
Fixed. As is clear from FIG. 7 and FIG.
The transmission T is a pair of left and right hydraulic pumps 112, 112.
Rear left and right hydraulic motors 113, 113
And a structure in which a speed reducer 104 is arranged further behind.
The vertical dimension is extremely small by using
And within the projected area of the rear wheel Wr in side view
(See Fig. 1)
It is necessary to secure enough to prevent the body from being stuck
Not only can the transmission T
Axis 106_L, 106_RTo improve work stability
And the axle 106_L, 106_RNeighborhood
Pace can be used effectively. Also, the transmitter
Because the vertical dimension of the cushion T is small,
Lower the position of the engine E to be mounted and lower the center of gravity of the vehicle body.
Work stability can be further improved. Next, based on FIGS.
Power transmission to the rotary work machine R will be described. The last cross frame 3_FiveThrust backwards from
Work equipment lift extending in the left-right direction of the vehicle on the bracket 61 installed
The descending shaft 62 is rotatably supported. Engine Clan
Work machine drive pulley 63 and work machine elevating shaft
The work machine driven pulley 64 provided at 62 and the endless belt 65
Through the endless belt 65.
A tension clutch C for controlling the
The clutch pivotally supported via a shaft 66 so as to be swingable back and forth.
Connected to lever 9. That is, the bracket provided on the left side frame 2
A transmission shaft 68 extending vertically in the racket 67 is rotatable.
Arm 6 fixed to the transmission shaft 68.
9 and the lower end of the clutch lever 9
Continued. L-shape with the middle part pivoted via pivot 71
The tension pulley 73 provided at one end of the support arm 72
Abutting on the endless belt 65, the other end of the support arm 72 and the transmission
The other arm 60 fixed to the shaft 68 is a buffer spring.
The connection is made by a Bowden wire 75 interposed therebetween. Transmission
The shaft 68 is a return spring 76 in the counterclockwise direction in FIG.
(I.e., in the OFF direction of the tension clutch C).
It is. Therefore, the tension clutch C should be turned on.
When the clutch lever 9 is pushed forward, the transmission shaft 68
From the OFF position to the ON position against the spring 76
And rotate clockwise to pull the Bowden wire 75
When the holding arm 72 swings, the tension pulley 73 is
It is pressed against the endless belt 65. This allows the tension
The clutch C is turned on, and the crankshaft 11 of the engine E
The rotation is transmitted to the work implement elevating shaft 62. Transmission shaft 68 is O
Passing a thought point when turning from the FF position to the ON position
Therefore, the buffer spring 7 interposed in the Bowden wire 75
The transmission shaft 68 is stably held at the ON position by the tension of 4.
It is. Also, the clutch is turned off to turn off the tension clutch C.
When the switch lever 9 is pulled backward, the return spring 76
The transmission shaft 68 is rotated to the OFF position by the elastic force of
It is kept constant. The work machine elevating shaft 62 is pivotally supported to be vertically swingable.
At the rear end of the front chain case 77
The rear chain case 79 is connected via
Front chain case 77, intermediate case 78 and rear chain
The rotary work machine R including the chain case 79 is
Work machine lifting cylinder 80 mounted between the
Driven up and down. That is, the first bracket is
The bracket 85 and the second bracket 86 swing up and down, respectively.
The first bracket 85 is freely pivoted, and the first bracket 85 is a connecting member.
When it is connected to the rear chain case 79 via 87
In addition, the second bracket 86 is attached to the working machine lifting cylinder 80.
Connected. The second bracket 86 is the first bracket 85
Of the work implement lifting cylinder 80
When the second bracket 86 is swung upward by the
The first bracket 85 pressed by the bracket 86 is
It swings upward together with the tally work machine R. In addition, the work machine
Even if the Linda 80 does not operate, the rotor will
The re-working machine R freely swings upward around the working machine elevating shaft 62.
can do. The rear chain case 79 is provided at the rear end.
The plurality of tilling blades 81...
Stored in the inner case 78 and the rear chain case 79
Lifting and lowering the work equipment by a chain transmission mechanism (not shown)
It is connected to the shaft 62 and driven to rotate. Incidentally, reference numeral 8 in the figure
2 is the cover of the tilling blade 81, 83 is a resistance rod, 8 is
4 is a flat plate. As described above, at the rear of the body frame F
Turn the cylinder 12 of the mounted engine E upward
The engine E in the space below the cylinder 12 in side view.
Since the industrial machine elevating shaft 62 is arranged,
Not only can dead space be used effectively,
Bring the rotary work machine R closer to the vehicle body and
The moment transmitted to the vehicle body as much as possible
Weight can be reduced by eliminating the need for body reinforcement. I
The ability of the rotary working machine R to follow the vehicle body is improved.
Cultivation of headlands will be easier and uncultivated land will decrease.
In addition, the stability of the work vehicle 1 is also improved. Next, the operation of the steering handle 8 and
Work vehicle 1 by mixing the operation of change lever 10
Of the shift operating device M for moving the vehicle forward and backward and turning left and right.
The structure will be described in detail with reference to FIGS. The speed change device M has left and right side walls and a bottom wall.
To provide a base member 201 having a C-shaped cross section with an open upper surface.
The base member 201 is overlapped on the lower surface.
A pair of left and right stays 2 in which the support plate 202 has an L shape in a front view.
03, 203, hanging support on side frames 2, 2
Be held. The front view of the base member 201 welded before and after
To a pair of brackets 204,
Bibots 205, 205 extending in the front-rear direction
These bibots 205 have an inverted U-shape in side view.
The front and rear lower ends of the guide member 206 that makes
Be pivoted. A pair of guide members provided at the upper end of the guide member 206
Wire joint 207_L, 207_ROne end connected to
Pair of Bowden wires 208_L, 208_RIs that
The other end of which is rotated by a steering handle 8
It is connected to tag gear 24 (see FIG. 5). Therefore, the working vehicle
Operate the steering handle 8 to turn both 1
Then, Bowden Wire 208_L, 208_RGuy through
The door member 206 swings right and left around the pivots 205 and 205.
I do. The lower part of the base member 201 extends in the left-right direction.
The rotating shaft 209 is rotatably supported. Changele
Arm 210 fixed to pivot 30 of bar 10 and pivot 2
An arm 211 fixed to the right end of the
And swing the change lever 10 back and forth.
Accordingly, the rotation shaft 209 rotates. A first swing member formed in a U-shape in side view
221 are fitted so that the center of the rotating shaft 209 is sandwiched.
And a lower pivot pin 222 penetrating the rotation shaft 209.
It is pivotally supported to swing right and left. Left of lower pivot pin 222
Two bolts 2 penetrating the rotation shaft 209 on both right sides
23 and 223 are loosely fitted to the first swing member 221. Follow
The first swing member 221 is connected to the bolts 223 and 223 by
1 lower pivot pin 22 by the gap between the first pivot member 221
It is possible to fine-tune the left-right angle around 2
By tightening the bolts 223 and 223
Can be fixed. The upper end of the first swinging member 221 is mixed.
The lower end of the lever 224 is left and right via the upper pivot pin 225
It is pivoted freely. Mixing lever 224 is a guy
Guide groove 20 formed in the front-rear direction on the upper surface of
6a. Therefore, operating the change lever 10
Swings the first swing member 221 forward and backward together with the rotation shaft 209.
Then, the mixing lever 224 is moved to the guide groove 206a.
Rock back and forth along. Also, the steering wheel
8 to move the guide member 206 to the pivots 205, 20.
Swing right and left around 5 to abut on guide groove 206a
The pressing of the mixing lever 224 is performed by the upper pivot pin.
Swing left and right around 225. Mixin Greba
-224 and the edge of the guide groove 206a.
Due to the gap δ (see FIG. 14), the mixing lever 224
Is between 0 ° and ± 100 °
In the range of ± 100 ° to ± 200 °
And rock. The right and left sides implanted on the upper surface of the base member 201
A pair of left and right control
Room 227_L, 227_R(Shift control member)
228, 228 so as to be swingable back and forth.
Each of the pivots 226 has two upper and lower neutral plates 22.
9,230 is pivoted and neutral spring 231
Are biased in the direction of approaching each other.
Control arm 2 between the control plates 229 and 230
27_L, 227_RNeutral pin fixed downward
Nut fixed upward to 232 and base member 201
Lalpin 233 is clamped. Therefore, control
Arm 227_L, 227_RIs in neutral position, ie left
It is urged toward a position extending straight to the right. On the other hand, on the left and right sides of the first swinging member 221,
And a pair of second swing members 241_L, 241_RThe lower end of
The pivot shaft 209 swings left and right through the pins 242 and 242, respectively.
It is pivoted freely. A pair of second swing members 241_L, 2
41_RIs a pair of front and rear neutral biasing springs 243 and 243
Biased towards each other by
The arc-shaped concave portions 241a, 241a formed at the inner end
Abutting against the outer periphery of the mixing lever 224, and
The facing surfaces contact the left and right outer surfaces of the first swinging member 221
By this, it is stably held in the neutral position. A pair of second swing members 241_L, 241_Rof
Inner ball joints 244 and 244 at the outer end
Is provided. Control arm 227_L, 22
7_RAt the end of the control arm 227_L, 227
_RElongated holes 227a, 227a extending along the longitudinal direction of
A pin 2 is formed in the long holes 227a, 227a.
45, 245 through the outer ball joints 246, 2
46 is slidably supported. Inner ball joint 2
44,244 and outer ball joints 246,246
Is a pair of push buckles with adjustable length
Double rod 247_L, 247_RAre linked by Mixi
The lever 224 is in the vertical neutral position
Come, push-pull rod 247_L, 247_RIs a control
Arm 227_L, 227_ROn top of
At this time, the pin 2 of the outer ball joint 246, 246
45 and 245 are control arms 227_L, 227_R
In contact with the inner ends of the long holes 227a. Left and right control arms 227_L, 22
7_RPair of front ball joints 24 provided in the middle of
8,248 and a pair of trunnions of the transmission T
The shifting arm 2 fixed to the upper ends of the shafts 120, 120
49_L, 249_RA pair of rear ball joints
Int 250, 250 and turnbuckle length
Adjustable pair of push-pull rods 251_L, 251
_R(Link members). Therefore, change lever
-10 and the steering handle 8 are operated,
Control arm 227 of operating device M_L, 227_Rof
The shifting arm 24 of the transmission T in conjunction with the swing.
9_L, 249_RSwings, and the rotational speeds of the left and right rear wheels Wr increase.
Reduce. As described above, the front-rear direction and the left-right direction of the vehicle body
The gearshift operating device M is located below the seat 7 provided at the center in the direction
And at the same time,
With the transmission T in place, and
Control arm 227_L, 227_RAnd transmission
Hydraulic continuously variable transmission 103_L, 103_RSpeed change
Transmission arm 249 for controlling the ratio_L, 249_RAnd the car body
A pair of push-pull rods 251 extending in the front-rear direction_L,
251_RThrough the lower part of the seat 7
Not only can use space effectively, but also weight
Left and right balance in vehicle distribution and space distribution
And the push-pull rod 251_L, 25
1_RTo a minimum length to prevent bending and backlash.
Can be Next, an embodiment of the present invention having the above-described configuration will be described.
The operation of will be described. The left and right control arms 227_L, 22
7_RWhen both swing forward from the neutral position,
Hydrostatic continuously variable transmission 103_L, 103_RIn the forward direction of
The rotation speed increases, and the work vehicle 1 moves from 0 km / h to +7.5 k.
The vehicle travels forward at a vehicle speed of m / h. Left and right control arms
227_L, 227_RAre both behind the neutral position
And the hydrostatic continuously variable transmission 103 on the left and right_L, 10
3_RThe rotation speed in the reverse direction increases, and the work vehicle 1
/H~-3.5km/h. Work vehicle
The left and right control arms 227 during the turning of both 1_L,
227_RThe swing angle from the neutral position of the
The turning inner wheel speed is lower than the turning outer wheel speed. The result
As a result, the operation of the front wheel Wf by the operation of the steering handle 8 is performed.
The work vehicle 1 can be turned in conjunction with the direction. Ma
Also, drive only the turning outer wheel to stop driving the turning inner wheel.
Thus, the work vehicle 1 can be pivoted. Hereinafter, the steering handle 8 and the chain
FIG. 4 is a diagram showing the relationship between the operation of the giver 10 and the behavior of the work vehicle 1.
This will be described in detail with reference to FIG. When the change lever 10 is in the neutral position
At some point, the work vehicle 1 is stopped,
Right and left control arms 227_L,
227_RLeft and right push-pull rods 247_L,
247_RAre overlapped, and push-pull rods 2 on the left and right
47_L, 247_ROuter ball joint provided at the tip of
Pins 245 and 245 of 246 and 246
Roll arm 227_L, 227_RLong holes 227a, 22
A at the inner end of 7a₀Point (see FIG. 18A).
See). At this time, the steering handle 8 is illustrated.
For example, when operated in the left turning direction, the guide member 206 pivots.
Starts swinging to the right around the points 205 and 205. Steari
When the cutting angle reaches 100 °, the guide member 206
The groove 206a comes into contact with the mixing lever 224,
Rocking lever 224 around upper pivot pin 225
Let it. The mixing lever 224 is connected to the upper pivot pin 225.
When swinging right around, the second swinging member 241 on the right side
_RPin 2 against the neutral biasing springs 243, 243
It swings to the right around 42. At this time, the second swing on the left
Member 241_LAbuts on the first swinging member 221 and returns to the original position.
Will be retained. As described above, the second swinging member 24 on the right side
1_RFalls to the right and push-pull rod 247 on the right_R
The outer ball join at the tip of the
246 is formed in the elongated hole 227a by A in FIG.₀From a point
A₁Just slide to the point and the right control arm
227_RIs held in the neutral position. To move the work vehicle 1 forward,
Jilever 10 swings forward from neutral position
And the rotating shaft 209 connected to the change lever 10 is forward.
To the left and right second shafts supported by the rotation shaft 209.
Swing member 241_L, 241_RAlso swings forward. The result
As a result, the left and right second swing members 241_L, 241_RAt the top
Girder inner ball joints 244 and 244 move forward
And push the inner ball joints 244 and 244
Double rod 247_L, 247_ROutside connected via
Side ball joints 246 and 246 pull forward inward
Can be As a result, the outer ball joint 246,
Slots 227a, 227a
Left and right control arms 227 with their inner ends pulled_L,
227_RBut the neutral springs 231 and 231
Swing forward by the same angle against each other (see FIG. 18B).
See). Thus, the left and right control arms 227_L,
227_RSwings forward by the same amount,
Work vehicle 1 at the same vehicle speed (for example, +5.0 km / h)
Drive forward. At this time, the steering angle θ = 100
For example, the steering wheel 8 is
When operated in the left turning direction, the second swing member 241_RRocking
With the right push-pull rod 247_RTo the right
Moving. As a result, the push-pull rod 247_RAhead of
The outer ball joint 246 at the end is denoted by B in FIG. ₀
B from the point₁By moving to a point,
227_RThe swing angle of the front of the vehicle decreases to the position of the chain line.
As a result, the right hydrostatic continuously variable transmission 103 _RNo m
The rotational speed of the shaft 121 decreases and the rear wheel Wr on the left side has a low speed.
Down or stop, a smooth left turn becomes possible. When the change lever 10 is
Swinging backward from the position will cause the left and right control arms
227_L, 227_RIs symmetrical to the front and rear
The work vehicle 1 is controlled by the control arm 2
27_L, 227_RThe vehicle speed (for example,
-3.5 km / h) (see Fig. 18 (C)).
See). Also in the case of this reverse running, the steering wheel
The steering angle θ = 100 ° ~ 200 °
Operate the steering handle 8 in the left turning direction within the range
Then, the outer ball joint 246 is positioned at C in FIG.
₀C from the point₁Move to the point and the right control arm 2
27_RSwing angle to the back of the chain
The hydrostatic continuously variable transmission 103 on the right_RMotor shaft 1
21 decreases the rotation speed of the left rear wheel Wr
Stops and a smooth left turn is possible. As described above, the steering wheel 8 is turned leftward.
The case where the steering wheel is operated in the
The operation when the wheel 8 is operated in the right turning direction is also substantially
Are identical. The control arm 227_L, 227
_RChanging the length of the long holes 227a, 227a
The gear shifting characteristics when the steering wheel 8 is operated
The characteristics can be easily adjusted. As described above, a simple structure having high durability
Of the steering handle 8 by the speed change operation device M
Mixing the operation and the operation of the change lever 10
The transmission T can be controlled. Only
Of the steering handle 8 and the change lever 10
One operation does not interfere with the other.
Simplifies the operation of workers and reduces fatigue
be able to. By the way, when the change lever 10 is moved forward or
When swinging backward to make the work vehicle 1 travel straight,
Between the right hydraulic motors 113, 113 or the left and right hydraulic motors.
Left and right due to slight differences in characteristics between
Difference in the rotational speed of the rear wheel Wr, contrary to the driver's intention
There is a case where the course of the work vehicle 1 is shifted left and right. This
In such a case, the turning tendency of the work vehicle 1 is corrected as follows.
It is possible to correct. That is, a state where the bolts 223 and 223 are loosened.
And the work vehicle 1 travels straight in this state.
To travel, for example, push-pull rod 251_L,
251_RFine-tune the length of. Thus, the bolt 22
3 and 223 to fasten the first swinging member 221 to the rotating shaft 2
09, then the mixing lever 224
It swings right and left around the upper pivot pin 225. Next, based on FIG. 19 and FIG.
Inner wheel speed based on the turning angle θ and the vehicle speed V;
The change of the turning outer wheel speed will be described in more detail. When the steering angle θ = 0 ° -100 °
In the region, the turning inner wheel speed Vi with respect to the turning outer wheel speed Vo
Wheel speed ratio Vi / Vo is always 1.0 regardless of vehicle speed V
Is set. As a result, the steering angle θ = 0 °-
In the region of 100 °, the turning outer wheel speed Vo and the turning inner wheel speed V
i is in the differential lock state, and
The straight running stability can be improved. . Stearin
When the turning angle θ exceeds 100 °, the wheel speed ratio Vi / Vo
Is smaller than 1.0 and the turning outer wheel speed Vo is constant.
As the turning inner wheel speed Vi gradually decreases,
State, neutral steer state, oversteer state
Alternatively, the state shifts to the pivot turn state. Note that the wheel speed ratio Vi / Vo is 1.0
Steering angle smaller than θ = 100 °
It is not limited, and is suitable in a range of 60 ° to 120 °.
It can be changed as needed. In FIG. 19, when the vehicle speed V is relatively low,
(That is, vehicle speed V = 0 km / h to ± 2.5 km / h)
If the steering angle θ exceeds 100 °, the wheel
The speed ratio Vi / Vo decreases relatively sharply from 1.0,
Crossing neutral steer line N on the way to
Crosses the pivot turn line P with the wheel speed ratio Vi / Vo = 0
You. The neutral steer line N is
At neutral steering angle θ
The wheel speed ratio Vi / Vo is given. Neutral
The value of the wheel speed ratio Vi / Vo on the tear line N is
Turning from the turning center determined by the tearing angle θ
The distance to the outer wheel is Lo, and the distance to the inner wheel is L.
Assuming i, Vi / Vo = Li / Lo
You. Therefore, in FIG. 20, for example, the vehicle speed V = ±
Considering the case of 1.0km / h, the steering angle
In the differential lock range of θ = 0 ° to 100 °, the wheel speed ratio Vi
/Vo=1.0, turning outer wheel speed Vo and turning inner wheel speed
The degree Vi coincides with the virtual differential lock state. S
Anders with tearing angle θ = 100 ° -105 °
In the tear region, the wheel speed ratio becomes Vi / Vo ≦ 1.0 and the turning
Although the inward wheel speed Vi gradually decreases, it still remains under
-Steering state. Steering angle θ = 105 °
Crosses the neutral steer line N
The vehicle enters the neutral steer state. Steering angle θ =
In the oversteer range of 105 ° to 115 °, the wheel speed
The ratio Vi / Vo further decreases and enters an oversteer state.
Turn at steering angle θ = 115 °
After crossing the line P, the wheel speed ratio Vi / Vo = 0.
As a result, a pivot turning state with the turning inner wheel speed Vi = 0 is realized.
You. When the vehicle speed V = ± 2.5 km / h, the speed
Deflock region with tearing angle θ = 0 ° -100 °
And steering angle θ = 100 ° -147 °
Through the steering area, steering angle θ = 147
Cross the neutral steer line N at ° and neutral
The vehicle is in a steer state, and the steering angle θ = 14
After a 7 ° to 200 ° oversteer area,
Crossing the pivot point P at a turning angle θ = 200 °
The base turns. Vehicle speed V = ± 2.5 km / h to ± 2.9 km
/ H (excluding V = ± 2.5 km / h),
As the tearing angle θ increases, the differential lock
Oversteer area and neutral steer state
Shift to burstair area
No, and the vehicle speed V exceeds ± 2.9 km / h
And the differential lock area according to the increase of the steering angle θ
Shifts to the understeer area through the
Ral steer state, oversteer area and pivot turn state
There is no transition to. As described above, the vehicle speed V = 0 km / h to ±
In the range of 2.5 km / h, the steering angle θ increases.
Lock state → understeer state → new
Toral steer state → over steer state → pivot turn
Switch to the state. Vehicle speed V = ± 2.5 km / h to ± 2.9
km / h (excluding V = ± 2.5 km / h)
Is a differential lock with increasing steering angle θ.
State → understeer state → neutral steer state → o
-Switch to oversteer state. Vehicle speed V = + 2.9km
/ H to +7.5 km / h and vehicle speed V = −2.9 k
m / h to -3.5km / h
Differential lock state with increasing deflection angle θ → understeer
Switch to state. As described above, at low speed when the stability of the vehicle body is high.
Is oversteer at a relatively small steering angle θ.
And turning performance can be enhanced by turning
At high speeds where vehicle stability is low.
By eliminating the use of
Can be sufficiently secured. Next, the present invention will be described with reference to FIGS.
A second embodiment will be described. In the second embodiment, the transmission T is
Electrically by a shift operating device M mounted on the lower part of
To control. As shown in FIG. 21 and FIG.
The electronic control unit U equipped with a micro computer
First sensor 301 for detecting the operation amount of engine lever 10
From the steering gear and the rotation of the sector gear 24.
Second sensor 302 for detecting the operation amount of ring handle 8
Is input. Left of transmission T
Right pair of shifting arms 249_L, 249_RPush-pull
Rod 251_L, 251_RGearshift connected via
Port 303_L, 303_R(Shift control member) is electronically controlled
Motor 3 with a pair of left and right reducers connected to unit U
04_L, 304_RThe pinions 305, 305 and
It is rotationally driven via the gears 306, 306. Shifting
Arm 249_L, 249_RLeft and right pair detecting the swing angle of
The signals from the third sensors 307 and 307 are
Input U. The electronic control unit U includes a first sensor 301 and
Left and right shift gears based on signals from the
Room 249_L, 249_ROf the third angle
The right and left shifting arms 24 output by the sensors 307 and 307
9_L, 249_RSo that the actual angle of
Motor 304 with reduction gear_L, 304_RFeeling of rotation
Control back. FIG. 23 shows ideal steering characteristics.
It is a graph. In this graph, the vertical axis indicates the vehicle speed V (forward 0 km
/H~+7.5km/h, reverse 0km / h ~ -3.5k
m / h) and the horizontal axis is the steering angle θ (0 ° for each side)
200 °), which is above the ideal characteristic line A.
The area and the area below the ideal characteristic line B are neutral
The steer area becomes the area between the lines A and B.
It is an oversteer area. That is, forward, reverse
In any case, the vehicle speed V is less than 3.0 km / h.
Small steering at low speed when the stability of the vehicle body is high
Oversteer from turning angle θ to improve turning performance
At high speeds where vehicle stability is low.
Change the oversteer state from the alling angle θ
Motion can be stabilized. And the vehicle speed V = ±
In the state of 3.0 km / h or more, the steering angle θ
Regardless of this, the vehicle is always in the neutral steer state. When the vehicle speed V is less than ± 2.5 km / h,
Turning steering wheel speed when steering angle θ = 200 °
Becomes 0 km / h, a pivot turn is performed, and the vehicle speed V = ±
At 2.5 km / h or more, steering angle θ = 200
Degree turning is not performed even if it becomes °. Next, in order to obtain the characteristics shown in FIG.
How to control the inward wheel speed and turning outer wheel speed
explain about. FIG. 24 is the turning outer wheel speed during pivot turning.
The outer wheel ratio coefficient for determining Vo is shown for each vehicle speed V.
It was done. The outer ring ratio coefficient is set at the vehicle speed V = 0 km / h.
From 2.65 to 1.0 at ± 2.5 km / h
It changes linearly, and this outer wheel ratio coefficient is multiplied by the vehicle speed V.
To determine the turning outer wheel speed during pivot turning.
Can be The turning inner wheel speed during a pivot turn is naturally 0.
km / h. FIG. 25 shows the case where the vehicle speed V = ± 1.0 km / h.
Showing the turning outer wheel speed Vo and the turning inner wheel speed Vi of FIG.
It is. Neutral steer above ideal characteristic line A
In the region, the turning outer wheel speed Vo is the same as the vehicle speed V ± 1.0 k
m / h is maintained at a constant value. On the other hand, steering out
From the angle θ = 0 °, a line with a vehicle speed V = ± 1.0 km / h is reasonable.
Steering angle θ = 67 that intersects the characteristic line A
Rotate to maintain neutral steer up to °
The inner wheel speed Vi gradually decreases from ± 1 km / h. this
The turning inner wheel speed Vi is the turning outer wheel speed Vo as shown in FIG.
By the ratio Vi / Vo on the neutral line N in
Is required. When the steering angle θ exceeds 67 °,
The turning inner wheel speed Vi decreases linearly and the steering stops
Turning inner wheel speed Vi = 0 km / h at angle θ = 200 °
become. On the other hand, steering angle θ exceeds 67 °
And the turning outer wheel speed Vo increases linearly. Steering wheel
Turning outer wheel speed Vo when the turning angle θ reaches 200 °
Is based on the outer ring ratio coefficient given in the graph of FIG.
It is determined. That is, when the vehicle speed V = ± 1.0 km / h
The outer ring ratio coefficient is 2.0, so the steering angle
The turning outer wheel speed Vo when θ = 200 ° is the vehicle speed V
= ± 1.0 km / h, which is 2.0 times ± 2 km / h. Thus, when the vehicle speed V = ± 1.0 km / h
, The steering angle θ = 67 ° until the neutral
Steering angle exceeds steering angle θ = 67 °
Oversteer, steering angle θ
= 200 °, a pivot turn is realized. FIG. 26 shows a case where the vehicle speed V = ± 2.5 km / h.
Showing the turning outer wheel speed Vo and the turning inner wheel speed Vi of FIG.
It is. New steering angle θ = 167 °
The turning outer wheel speed Vo is the same as the vehicle speed V in the tall steer region.
It is maintained at ± 2.5 km / h and the inner ring speed
Vi gradually decreases from ± 2.5 km / h. Steari
When the turning angle θ exceeds 167 °, the turning inner wheel speed Vi becomes
Linearly decreases to a steering angle θ = 200 °
And the turning inner wheel speed Vi = 0 km / h. On the other hand, FIG.
As is clear from FIG. 4, when the vehicle speed V = ± 2.5 km / h
Outer wheel ratio coefficient is 1.0,
The turning outer wheel speed Vo when the angle θ reaches 200 ° is the vehicle speed.
V = ± 2.5 km / h, which is 1.0 times of ± 2.5 km / h,
Become. Therefore, when the vehicle speed V = ± 2.5 km / h,
Rotation over the entire range of tearing angle θ = 0 ° to 200 °
The outer wheel speed Vo is maintained at ± 2.5 km / h. As described above, the vehicle speed V = 0 km / h to ±
In the range of 2.5 km / h, the steering angle θ
Exceeds the neutral steer state when exceeding a certain angle
Switch to steer state, steering angle θ = 20
When the angle reaches 0 °, a pivot turns. And neutral
Steer that switches from the steer state to the oversteer state
The ring turning angle θ is small when traveling at low speeds and is small when traveling at high speeds.
Will be larger. FIG. 27 shows a case where the vehicle speed V = ± 3.5 km / h.
Showing the turning outer wheel speed Vo and the turning inner wheel speed Vi of FIG.
It is. In this case, the steering angle θ = 0 ° -2
The entire area of 00 ° is the neutral steer area, and
Wheel speed Vo is maintained at ± 3.5 km / h, the same as vehicle speed V.
As shown in FIG. 19, the turning inner wheel speed Vi is ± 3.5 km / h.
Gradually decreases based on the characteristics of the neutral line N
You. In this way, the neutral steer state is maintained at high speeds.
To improve the straight running stability.
You. Thus, at the time of forward traveling, the vehicle speed V = + 3.0 km
/ H to + 7.5km / h, and the vehicle speed in reverse
V = Always in the range of -3.0 km / h to -3.5 km / h
It becomes the neutral steer state. As described above, the transmission T is
According to the second embodiment of pneumatic control, the ideal state shown in FIG.
Steering characteristics can be easily realized, and
Its characteristics can be easily changed. Also in the second embodiment, the sheet
7 and a transmission operating device M disposed below and adjacent to the rear
And the transmission T arranged in the longitudinal direction of the vehicle
Extending pair of push-pull rods 251_L, 251_RTo
Connection, the balance in the left-right direction of the vehicle is improved.
Not only push-pull rod 251_L, 251 _R
To prevent bending and backlash.
Wear. In the second embodiment, the change lever 1
Based on the output of the first sensor 301 that detects the operation amount of 0
Although the vehicle speed is indirectly detected by the
6_L, 106_RSpeed sensors 308, 308 provided for
(See FIG. 22), the vehicle speed may be directly detected. The embodiment of the present invention has been described in detail above.
The present invention is not limited to the above-described embodiment.
It is possible to make changes. For example, in the embodiment, a four-wheel vehicle is exemplified.
However, the present invention includes a three-wheeled vehicle having one front wheel and a crawler.
It can also be applied to vehicles. The front wheels are steered.
Caster-type wheels that are not used may be used. In this embodiment, the two-pump two-motor type
Although the transmission has been exemplified, the present invention relates to one pump and two models.
Data transmissions
it can. Also, a two-pump two-motor transmission
Control the swash plate of the hydraulic motor
Instead of controlling the pump swash plate of the hydraulic pump.
No. [0092] As described above, according to the present invention, the speed change operation is performed.
The seat where the working device is installed at the approximate center of the vehicle
Arranged at the bottom ofAnd thatA car adjacent to the rear of the gearshift
Near the center of the body in the left-right directionTransmissionArrange,
Located above the transmission, behind the seat
Equipped with an engineGear shift operation deviceLeft and right pair
ofA shift control member;Left and rightThe change of a pair of hydrostatic continuously variable transmissions
Control each speed ratioLeft and right pairA shift control member,
Push-pull rod with turnbuckle adjustable length
Each composed ofAlong the longitudinal direction of the vehicleLeft and right
Pair ofWith link membersRespectivelyBecause it was connected, below the seat
Can effectively use the dead space of
Or weight distribution and space distribution
Balance can be improved, and the gearshift operating device
Shift control member and shift control member of a hydrostatic continuously variable transmission
The link member connecting the
It is possible to effectively prevent the occurrence of backlash. Also
In particular, the above-mentioned shift control device operates the steering wheel.
And operation of the change lever
OfLeft and rightThe shift characteristics of a pair of hydrostatic continuously variable transmissions
Control, steering wheel operation and chain
Mixing the operation of the Gilever to increase the rotational speed of the left and right rear wheels
Can be controlled independently.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an overall side view of a working vehicle. FIG. 2 is a view in the direction of arrows in FIG. 1 FIG. 3 is an enlarged view of a main part of FIG. 1 FIG. FIG. 5 is an enlarged view of a main part of FIG. 2 FIG. 6 is an enlarged view of a main part of FIG. 2 FIG. 7 is an enlarged view of a main part of FIG. 4 FIG. 8 is a sectional view taken along line 8-8 of FIG. FIG. 10 is an enlarged view of a main part of FIG. 8; FIG. 10 is an enlarged view of a main part of FIG. 8; FIG. 11 is a sectional view taken along line 11-11 of FIG. 7; FIG. 13 is an enlarged sectional view taken along line 14-14 in FIG. 13; FIG. 15 is a sectional view taken in the direction of arrow 15 in FIG. 13; FIG. 16 is a sectional view taken along line 16-16 in FIG. FIG. 18 is a graph showing the relationship between the steering angle and the wheel speed ratio. FIG. 20 is a graph showing the steering characteristics according to the steering angle and the vehicle speed. Second implementation FIG. 22 is a diagram corresponding to FIG. 5 according to an example. FIG. 22 is a diagram corresponding to FIG. 6 according to the second embodiment. FIG. 23 is a graph showing ideal steering characteristics. FIG. 24 is an outer wheel ratio coefficient and vehicle speed. FIG. 25 is a graph showing wheel speed at vehicle speed ± 1.0 km / h. FIG. 26 is a graph showing wheel speed at vehicle speed ± 2.5 km / h. FIG. 27 is a vehicle speed ± 3.5 km / h. Graph showing wheel speed at h [Description of References] 7 Seat 103 _L Hydrostatic continuously variable transmission 103 _R Hydrostatic continuously variable transmission 227 _L Control arm (transmission control member) 227 _R Control arm (transmission control member) 249 _L shift arm (shift control member) 249 _R shift arm (shift control member) 251 _L pull rod (link member) 251 _R push-pull rod (link member) 303 _L shift plate (shift control section ) 303 _R shift plate (shift control member) F body frame M gearshift device T Transmission

──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Tsuyoshi Kawabata 1-4-1 Chuo, Wako-shi, Saitama Prefecture Honda R & D Co., Ltd. (56) References JP-A-1-249525 (JP, A) JP-A Sho 57-950 (JP, A) JP-A-2-306830 (JP, A) JP-A 52-94637 (JP, U) JP-A 40-31219 (JP, Y1) JP-A 49-38826 (JP, A) Y1) Jiko 48-3236 (JP, Y1) (58) Fields investigated (Int. Cl. ⁷ , DB name) B60K 20/00-20/08 F16H 59/00-59/12 G05G 1/00- 25/04 B60K 17/10-17/26

Claims (1)

(57) Claims 1. An engine (E) and left and right rear wheels (Wr)
A pair of left and right hydrostatic continuously variable transmissions (1
And 03 _L, 103 have _R) transmission that drives the engine (left and right rear wheels by converting the driving force of E) to the hydraulic (Wr) (T), the operation and the change lever of the steering wheel (8) (10 ) and mixing operations to the transmission (the right and left hydrostatic continuously variable transmission _{T) (103 L, 103 R} ) shift operating device for controlling the transmission properties of (M) and the vehicle body frame (F) An operating device for a hydraulically driven vehicle mounted thereon, wherein the shift operating device (M) is disposed below a seat (7) provided substantially at the center in the front-rear and left-right directions of the vehicle body , and the shift operating device (M) is provided. Near the center of the vehicle body in the left-right direction
The transmission (T) is provided , and the
Located at the top of the mission (T), behind the seat (7)
And a pair of right and left shift control members (227 _L , 2 _L ) provided on the shift operation device (M).
_{27 R; 303 L, 303 R} ) and the pair of left and right hydrostatic continuously variable transmissions (103 _L, 103 _R) pair of shift control member (249 a transmission ratio controlling each _L, 24
9 _R ) with a turnbuckle-type adjustable pusher
A pair of left and right link members (251 _L , 251 _R ) each composed of a double rod and arranged substantially in the front-rear direction of the vehicle body
An operating device for a hydraulically driven vehicle, wherein the operating device is connected to each of the following .