JP3429252B2 - Combine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [0001] BACKGROUND OF THE INVENTION The present invention relates to a method for, for example,
For mobile farming machines such as combine harvesters that continuously harvest and thresh
Related. [0002] Conventionally, a left and right traveling claw is provided.
The combine equipped with the la and along the uncut culm row in the field
Harvest work while traveling and moving
The combine is changed direction and the unprocessed grain culm row of the next process
The gears that transmit the engine output
The left and right running output of the case is transmitted via the left and right side clutches.
To the left and right traveling crawlers,
Temporarily stops one of the left and right traveling crawlers.
Crawler travel on the side to be stopped by stopping
A state where the power changes greatly (so-called jerky feeling
Operation) and the traveling traveling force of the traveling crawler is
There is a problem that the turning radius is increased by half. [0003] Therefore, the left to transmit the power of the engine separately.
A right hydraulic continuously variable transmission is provided to drive left and right traveling crawlers.
This reduces deceleration during turning and reduces turning radius.
Easy to perform, but straight-line performance tends to decrease.
Steering operation, such as when moving along the culm row
Is troublesome. Further, the engine power is supplied to the left and right traveling crawlers.
A single hydraulic continuously variable transmission that transmits the speed
Decelerates row crawler and increases traveling crawler outside turning
By providing a hydraulic stepless steering mechanism
To maintain good steering, improve steering operability, and turn radius.
Can be easily reduced, but the traveling speed is different between straight traveling and turning.
A turn that is kept almost constant and has a higher running load compared to going straight
There is a problem that the engine is overloaded at the time of rotation. [0005] Further, in a headland or the like, a spin having a small turning radius is used.
It is necessary to perform the traveling deceleration operation when performing
It was important. [0006] SUMMARY OF THE INVENTION Accordingly, the present invention provides a
Runs the driving force of the engine left and right by operating the lever
A continuously variable transmission mechanism that transmits the speed to the row crawler and a steering lever
Causes a difference in the driving speed of the left and right traveling crawlers.
For steeringHydraulic pump andCombine with hydraulic motor
InChange in forward / backward traveling speed and switching between forward / backward traveling
Speed difference between the speed change lever and the left and right traveling crawlers.
The steering lever to be changed is connected to a gearshift and turning interlocking mechanism.
And linking the interlocking mechanism via a speed change link mechanism.
Connected to the control section of the continuously variable transmission mechanism, and
The steering mechanism is connected to the steering hydraulic pump through a steering link mechanism.
Tilting operation of the steering lever
While increasing the speed difference between the left and right traveling crawlers according to the amount,
Configuration to reduce the center speed of the left and right traveling crawlers
When the shift lever is at a position other than the neutral position,
Continuously variable transmission by tilting the steering lever left and right
The hydraulic output of the swing hydraulic pump and motor is substantially constant.
Turn the steering output according to the steering output of the
Shift output of the continuously variable transmission mechanism by tilting left and right
Turn the steering lever while decelerating, and tilt the steering lever further left and right.
The running speed is further reduced,
Configured to perform turn operationWhat didharvestWork
Straight running and course correction operation during the operation, and the next work on the headland in the field
Spin turn operation to change direction toward process position and
Is controlled by a series of continuous steering lever tilting operations.
It can be done by the mood. [0007] [0008] Embodiments of the present invention will be described below with reference to the drawings.
It will be described in detail below. Figure 1 shows the main shift lever and steering handle
FIG. 2 is an overall perspective view of the combine.
FIG. 3 and FIG. 3 are plan views, wherein (1) is a traveling crawler.
(2) Truck frame on which (2) is mounted, (3)
Machine frame to be installed on the rack frame (1), (4) feed
The chain (5) is stretched to the left, the handling cylinder (6) and the processing cylinder
Threshing unit, which is a threshing machine incorporating (7), and (8) cutting
Cutting with blade (9) and culm transport mechanism (10)
Section, (11) is a cutting section via a cutting frame (12).
(8) Hydraulic cylinder for lifting and lowering, (13) Drainage chain
(14) The straw processing unit facing the end, (15) threshing
The grain from the section (4) is carried in through the frying cylinder (16).
Grain tank, (17) machine the grain of the tank (15)
Discharge auger to be carried out, (18) round steering handle
(19) and driving cabinet equipped with driver's seat (20)
(21) is an engine provided below the operation cabin (18).
It is a gin, and it is constructed so that the culm is continuously cut and threshed.
Has formed. As shown in FIG. 4, the traveling crawler (2)
Transmission case (22) for driving the first oil
Consists of a pressure pump (23) and a first hydraulic motor (24)
Hydraulic continuously variable transmission mechanism for traveling, which is the main transmission mechanism (25)
And a pair of second hydraulic pump (26) and second hydraulic motor
The hydraulic stepless variable for turning which is the steering mechanism consisting of (27)
A speed mechanism (28), and an output of the engine (21).
The first and second hydraulic pumps (23) (2) are mounted on the shaft (21a).
6) Input shaft (29) interlocked via transmission belt (30)
Drive these hydraulic pumps (23) and (26)
It is configured to perform. The output of the first hydraulic motor (24)
The auxiliary transmission mechanism (32) and the differential mechanism (3
3) Drive wheel (34) of traveling crawler (2) is interlocked via
And the differential mechanism (33) is bilaterally symmetric.
Each planetary gear mechanism has a pair of planetary gear mechanisms (35) and (35).
The gear mechanism (35) includes one sun gear (36) and the sun gear (36).
Three planetary gears (3
7) and a ring that meshes with these planetary gears (37)
It is formed by a gear (38) and the like. The planetary gear (37) is a sun gear shaft.
Carrier of carrier shaft (40) coaxial with (39)
(41) to be rotatably supported on the left and right
(36), (36) and the left and right carriers (41)
The ring gear (38) is arranged to face each other.
It has internal teeth (38a) that mesh with the planetary gear (37).
The sun gear shaft (39) on the same axis as the
The rear shaft (40) is rotatably supported. A traveling hydraulic continuously variable transmission mechanism (2)
5) Adjusting angle of the rotary swash plate of the first hydraulic pump (23).
The forward and reverse rotation of the first hydraulic motor (24) and the rotation speed
It controls the rotation output of the first hydraulic motor (24).
From the transmission gear (42) of the output shaft (31) to each gear (4
3) via (44) and (45) and the auxiliary transmission mechanism (32)
And a center gear (46) fixed to a sun gear shaft (39).
To rotate the sun gear (36)
I have. The sub-transmission mechanism (32) connects the gear (45).
The sub-transmission shaft (47) and the center gear (46)
A parking brake shaft (49) having a meshing gear (48);
Between the auxiliary transmission shaft (47) and the brake shaft (49).
A pair of low-speed gears (50) (48) and medium-speed gears (5
1) (52) ・ Providing high-speed gears (53) and (54)
The sliding operation of the gear (51) at the center position
It is configured to enable switching between low speed, medium speed, and high speed.
(Between low and medium speeds and between medium and high speeds,
Have). Also, the brake shaft (49)
A vehicle speed detection gear (55) is provided, and the gear (55)
A vehicle speed sensor (56) for detecting the vehicle speed from the rotation speed of the vehicle is provided.
ing. It should be noted that the cutting P transmitting the rotational force to the cutting unit (8).
The output is connected to a PTO input gear (58) of the TO shaft (57).
The transmission gear (42) of the shaft (31) is meshed and connected. Then, through the center gear (46), support is provided.
First hydraulic motor (24) transmitted to the transmission gear shaft (39)
Drive force is transmitted through the left and right planetary gear mechanisms (35).
To the carrier shaft (40) and the carrier shaft
The rotation transmitted to (40) is transmitted to the pair of left and right reduction gears (6
0) Left and right axles of left and right drive wheels (34) via (61)
(34a). Further, a hydraulic stepless speed change mechanism for turning (2)
8) The angle change adjustment of the rotary swash plate of the second hydraulic pump (26)
The forward and reverse rotation of the second hydraulic motor (27) and the rotation speed
Controls the output shaft of the second hydraulic motor (27)
Turning from the output gear of (62) via the gear transmission mechanism (63)
To the input gear (65a) (65b) of the input shaft (64).
And the external teeth (3) of the right ring gear (38).
8b) directly and on the left ring gear (3
8) Inversion of the reversing shaft (66) for the external teeth (38b)
Transmitted through the gear (67) to the second hydraulic motor (27).
The left and right ring gears (38) are rotated at the same rotational speed during forward rotation.
Rotate left gear (38) forward and right gear (38) reverse
It is configured as follows. The turning second hydraulic motor (27)
Stop driving and fix the left and right ring gears (38) stationary.
In this state, the driving first hydraulic motor (24) is driven.
The rotation output from the first hydraulic motor (24)
Same rotation speed from gear (46) to left and right sun gear (36)
The planetary gear of the left and right planetary gear mechanism (35)
Gear (37), carrier (41) and reduction gear (60)
Left and right same rotation directions on left and right wheel sets (34a) via (61)
Is transmitted at the same rotational speed of
It is. On the other hand, the driving of the first hydraulic motor (24) for traveling is
Stopped and left and right sun gears (36) stationary
To drive the second hydraulic motor (27) for turning forward and reverse.
Then, the left planetary gear mechanism (35) rotates forward or backward,
Also, the right planetary gear mechanism (35) rotates in reverse or forward direction.
The driving direction of the left and right traveling crawler (2)
Then spin the aircraft left or right in place
Things. A first hydraulic motor (24) for traveling is driven.
Drives the second hydraulic motor (27) for turning while moving
Large turning radius when turning the aircraft left or right
It is capable of turning, and its turning radius is
It is determined according to the speed of the roller (2). As shown in FIG. 5 to FIG.
Main transmission lever connected to the hydraulic continuously variable transmission mechanism (25)
(68) and the hydraulic stepless speed change mechanism (28) for turning.
And a steering wheel (19) to be connected
(69) and the interlocking mechanism (6).
9) is a link mechanism (7) which is a traveling speed change and steering link system.
0) and a continuously variable transmission mechanism (2) for traveling and steering via (71).
5) To the control lever (72) (73) of (28)
It is linked and linked. The interlocking mechanism (69) includes a main shift lever.
The base bent portion (68a) of (68) is left and right with respect to the cylindrical shaft (74).
A pivoting plate (75) for swingably supporting the main body of the main body;
Fixed to the frame (76) and the rotating plate (75)
Fixed to be rotatable back and forth via a first pivot (77)
Before the fixed mounting plate (78) is orthogonal to the pivot (77)
It is connected to the rotation plate (75) via the second rear pivot (79).
Speed change operation that is rotatably provided around the shaft (79)
Rotating about the member (80) and the second pivot (79)
A steering operation member (81) to be freely connected,
And the second pivot (79) of the steering operation member (80) (81)
Means that the operation output units (80a) and (81a) at the eccentric position are changed.
Speed and steering link mechanism (70) (71)
ing. The speed change and steering link mechanism (70) (7)
1) is the frame (7) at the rear of the interlocking mechanism (69).
6) To the side via the swing cylinder shaft (83) outside the swing shaft (82)
The supporting shift arm (84) and the swing shaft (82)
A steering arm (8) which is a turning output reversing means for fixing the base end.
5) and each operation output of the output units (80a) and (81a)
Connect the shaft (86) (87) with each arm (84) (85).
The universal joint shafts (88) and (89) to be connected to each other and the swing shaft (8
A steering output arm (91) fixed to the right end of (2);
A fulcrum bearing for a rotation fulcrum shaft (92) of the driving cabin (18)
Provided rotatable on the intermediate shaft (94) attached to (93)
A first swing arm for shifting and steering (95) (96);
Arm (84) (91) and first swing arm (95)
(96) For speed change and steering to connect between each tip
Universal joint type first rods (97) (98) and the intermediate shaft
(94) and one of the first swing arms (95) and (96).
Speed-change and steering second swing arm (99) (1)
00) and a bearing plate on the upper part of the transmission case (22).
Rotatably supported on a spindle (102) attached to (101)
Shifting and steering cylinder shafts (103) and (104)
First swing arm for fixing the base end to the cylindrical shaft (103) (104)
Arm (105) (106) and the second swing arm (9)
9) Speed change and steering for connecting between the respective ends of (100).
Jointed second rods (107) and (108) and the cylindrical shaft
(103) A second swing arm having a base fixed to (104)
(109) (110) and the control lever (7
2) A shift and steering system for connecting the respective ends of (73).
3rd rods (111) and (112),
A speed change operation member (80) centered on the first pivot (77)
Control lever (72) for running by rotation of
And the steering around the second axis (79) during traveling.
The control lever for steering is turned by the rotation of the working member (81).
Operate the bar (73) to perform gear shifting and steering control
Make up. On the other hand, the lower end of the steering handle (19)
A gear (114) is provided on the dollar operation shaft (113),
The sector gear (11) attached to the rear rotating shaft (115)
6) meshes the gear (114) with the main gear.
Steering shaft (117) disposed below the position of the speed lever (68)
The first swing arm (118) and the rotating shaft (115)
Between the output arm (119) and the distal end to which the base end is fixed.
The universal joint type steering first rod (12
0) and the first swing arm of the steering shaft (117).
The second swing arm (121) integrated with the arm (118)
At the front end of the universal joint shaft (89), a universal joint type steering second rod
The handle (1).
9) The second pivot (79) is centered by the rotation operation of 9).
To rotate the steering operation member (81).
You. The handle operating shaft (113) has a gear.
And a neutral positioning plate (123) is provided below the
And a projecting shaft (124) on the lower surface of the positioning plate (123).
One end of a steering detection link (125) is connected to
The deceleration arm shaft (12
6) is provided with a first swing arm (127).
The axis (128) of the arm (127) and the detection link (1)
25) Slidably connect the other end of the slot (125a)
And the deceleration arm (12) of the steering shaft (117).
9) and the second swing arm (13) of the reduction arm shaft (126).
0) between the ends of the universal joint type
1) connected by a deceleration rod (131);
(80) and the second swing shaft (132) at the rightmost deceleration transmission shaft (132).
Universal joint type second deceleration rod between the other ends of the arms (130)
(133), the steering wheel (1)
The larger the steering amount of 9), the more the second deceleration rod (133)
It is configured to pull down to reduce the traveling speed.
You. Further, the rotating plate (75) and the speed change operating member (80)
A spring (S1) is stretched between the steering handle (19).
Was returned to the straight traveling position and the detection link (125) was returned to the original position.
At this time, the member (80) is returned by the spring (S1).
The steering speed is changed by the steering wheel (19) straight-line return operation.
It is configured to restore the degree. The shifting and steering operation member (8)
0) (81) can be rotated around the axis.
9), the steering arm (85) and the joint shaft (89) freely
The joint (89a) on the horizontal line (L1) in the front-rear direction
And the operation output shafts (86) and (87)
Universal joint (88b) with universal joint shaft (88) (89)
(89b) and the first pivot (77) are connected to the line (L).
Positioned on the left and right horizontal line (L2) orthogonal to 1)
And the transmission arm (84) and the joint shaft (88)
Of the universal joint (88a) and the joint (89a)
On the left and right horizontal line (L3) parallel to the line (L2)
And the joint part (88a) to the joint part (89a).
Move as close as possible (closest position as possible) to the main shift lever
(68) and the steering handle (19)
Even if any one of them is operated, each operation member (80)
(81) around the first and second pivots (77) and (79)
The joint shafts (88) and (89)
Means that no operating force is applied. Then, as shown in FIG.
In the forward and backward operation of (68), the first pivot (77) is centered.
The operating member (80) forward and backward by an angle (α1) (α2)
When pulling or pushing the joint shaft (88) when shifting
Operate arm (84) to switch forward / backward traveling speed
And during this state as shown in FIG.
When the bar (68) is not neutral, the steering handle (1
9) the operation unit around the second pivot (79) by the rotation operation
When tilting the material (81) up and down at an angle (β1) (β2)
The steering arm (8) is pulled or pushed by the hand shaft (89).
5) to make a left and right turn of the aircraft
You. In other words, the joint shaft is
(89) moves on a substantially conical surface centered on the line (L1).
And the distance between the joints (89a) (89b)
The separation does not change, so the steering arm (85) operates.
Absent. And when the turning operation is performed other than the neutral of the main shift,
The steering arm (85) operates and switches between forward and backward
The steering arm (85) operates in the opposite direction,
The rotation of the second hydraulic motor (27) is reversed between forward and reverse.
It is configured to be directed. That is, the traveling first hydraulic motor (24)
If the forward rotation of the
Planetary gear mechanism (3) by the second hydraulic motor (27)
The action of 5) is reversed between forward and reverse,
How to turn the aircraft by manipulating the handle (19) during reverse and reverse
Reverse rotation of the first hydraulic motor (24) to match the directions
At the time of (reverse), the swash plate angle of the second hydraulic pump (26) is reversed.
Direction (the first and second hydraulic pumps (23) (2)
6) The rotation direction of the input shaft is constant), and the second hydraulic motor (2
7) The rotation is reversed in forward and reverse directions.
is there. That is, in this case, the operating member during the forward operation
(80) is inclined toward the angle (α1) forward of the neutral,
By rotating the handle (19) to the right, the second rod (12
2) Pull the operation member (81) downward angle (β2)
Output part (81a) of the operating member (81) when tilted to the side
To the steering arm (85) side, and swing the pivot shaft (82).
Steering arm (85) as the center from operating member (81)
Rotate in the direction to move away (counterclockwise in FIG. 5),
Control via the first and second rods (98) (108), etc.
By rotating the roll lever (73) downward,
The second hydraulic motor (27) is rotated forward. That is, the aircraft
Turn right by moving forward (the speed of the traveling crawler (2) is large on the left,
The right side is small). In the above-mentioned forward operation, the steering wheel (1
The second rod (122) is pushed by the left turning operation of 9).
And tilt the operation member (81) toward the upward angle (β1).
Operating the output section (81a) of the operating member (81)
Move away from the arm (85) side and center on the swing axis (82)
Approach the steering arm (85) to the operation member (81) side
(In the clockwise direction in FIG. 5).
The second oil is rotated by rotating the oil lever (73) upward.
The pressure motor (27) is rotated in the reverse direction. That is, move the aircraft forward
Left turn (The speed of the traveling crawler (2) is large on the right side,
Small). Further, the operating member (80) for the reverse operation is
Tilt to the angle (α2) side behind neutral to handle (1
The second rod (122) is pulled by the right rotation operation of 9).
The operating member (81) to the downward angle (β2) side
When the output part (81a) of the operation member (81) is steered,
Away from the arm (85) side, with the pivot axis (82) as the center.
The steering arm (85) closer to the operation member (81)
Direction (clockwise in FIG. 5)
By rotating the lever (73) upward, the second hydraulic
The motor (27) is rotated in the reverse direction. In other words, the aircraft turns right
Times (the speed of the traveling crawler (2) is large on the left and small on the right)
Let it. Further, contrary to the above, at the time of reverse operation,
By turning the handle (19) to the left, the operation member (8
When tilting 1) toward the upward angle (β1), the operating member
Move the output section (81a) of (81) close to the operation member (81) side.
In addition, the steering arm (8) is pivoted about the swing shaft (82).
5) away from the operating member (81)
Control lever (73)
By rotating the second hydraulic motor (27) downward.
Rotate forward. That is, the aircraft turns backward (reverse
The speed of the la (2) is large on the right and small on the left. As described above, the turning operation at the time of forward and reverse
In the work, the movement of the steering arm (85) is reversed.
The steering handle (19)
The turning operation direction and the turning direction of the aircraft match.
Steering by rotating steering wheel (19) that rotates
Constructs an operating member for rotating the handle (19)
Therefore, for example, with the same driving feeling as a tractor or rice transplanter
Performs course correction, direction change, etc., and steering operation members
That mechanically couples the
Link mechanism (70) (71), and the link mechanism (7
0) The operation and function of (71) almost decrease over time.
And the reliability of steering operation can be easily improved.
It is configured as follows. FIGS. 15 and 16 show the state when the aircraft turns to the left.
Angle of steering handle (19) and left and right running
This indicates the speed relationship of the steering wheel (1).
The speed of the left and right traveling crawler (2) increases as the turning angle of 9) increases.
The difference in the distance becomes large, and these left and right traveling crawlers (2)
The center speed of the aircraft, which is the average speed of the
・ Slow down) depending on the condition.
The right and left crawlers (2) have the opposite relationship even when turning right.
15 and FIG.
Turn the steering handle (19) in the straight position to the left
When rotated about 15 degrees (rightward), the slot (125
The shaft (128) moves in a) and is moved by the spring (S1).
The first deceleration rod (131) is maintained at the same position as when traveling straight.
At the same time as steering through the gears (114) and (116).
One rod (120) is pushed (pulled) and moved to the second hydraulic port.
Left by the steering output of the pump (26) and motor (27)
Turn in the right direction. At this time, traveling inside the turn
Deceleration amount of crawler (2) and traveling crawler outside turning
(2) The amount of acceleration is almost equal, and the center speed of the aircraft is going straight.
It is maintained at approximately the same speed. Also, the steering handle (19)
When rotated more than 15 degrees from the straight position, the spring (S1)
When the first deceleration rod (131) turns left and right
In either case, the first hydraulic pump (2
3) Reduce the traveling speed change output of the motor (24) and
Rotate the right running crawler (2) (2) in the same direction
Crawler (2)
(2) Left direction (right direction) due to difference in traveling speed in the same direction
Perform a turning brake turn operation. In addition,
When turning the steering handle (19) about 135 degrees,
The heart speed is reduced to about one-fourth that of straight ahead,
The row crawler (2) is driven in reverse, and the traveling
Spin-turn motion of the aircraft turning around the roller (2)
The operation is performed, as shown in FIG.
Steering handle from 0 degree to 135 degree handle angle
Turn (19) to turn left or right
Right and left 15 degrees steering wheel (1
9) Advancing along the uncut culm row in the rotation range
While performing road correction while maintaining the traveling speed when traveling straight,
By turning the handle (19) left and right 135 degrees from the straight position
The aircraft at the headland in the field and move to the next work process
Spin-turn operation to run about 1/4 of straight
It is configured to automatically decelerate to speed. Further, as shown in FIG.
(1.5 m / s) speed and the steering wheel (1
When 9) is rotated 90 degrees, the main shift lever (68) is operated.
The main transmission output is made high speed and 2/3 and 1/3 by operation
The aircraft's turning radius is kept substantially constant even if changed
So that only the turning speed (aircraft center speed) changes.
Has formed. As is clear from the above, the speed change operation member
The engine is operated by a shift operation of a certain main shift lever (68).
Right and left traveling claw which is a left and right traveling part
A continuously variable transmission mechanism (25) that transmits the speed change to (2) and (2).
A first hydraulic pump (23) and a first hydraulic motor (2)
4) and the operation of a steering handle (19) as a steering operation member.
Drive speed of left and right traveling crawler (2) (2) by direction operation
Hydraulic pump (2), which is a steering member that causes a difference in
6) and a mobile agricultural machine provided with the second hydraulic motor (27).
The traveling speed according to the amount of operation of the steering wheel (19).
And the speed difference between the left and right crawlers (2) and (2)
Is continuously changed so that the operation amount of the steering handle (19) is
When the amount exceeds a predetermined amount, the operation is shifted to the spin turn operation, and the operation is performed.
Deceleration by operating only the direction handle (19)
Operation to change direction, move to the next work process, and return to straight running
To increase the speed to the operation speed of the previous process.
Open, eliminating the need for speed change operations associated with steering operations, during agricultural work
Straight running and course correction operation, and the next work process in the field headland
A spin-turn operation that changes direction toward a position
It is possible to perform smoothly with only a series of steering operations
When the steering wheel (19) is fully steered,
Running speed is reduced to about one-fourth and traveling straight for farm work.
Speed and spin turn speed to change direction at the field headland
The speed difference is higher for high-speed running tasks than for low-speed running tasks.
It increases in proportion to the running speed, and even when performing high-speed running work
Stable spin-turn operation at headland in the same way as at low speeds
It is possible to perform
You can quickly change direction at the headland and head straight for agricultural work
Spin-turn operation even when setting a large shifting range when driving
Improve mobility by reducing the running speed range after deceleration
To improve steering operability.
You. Further, the steering handle (19) is moved to the maximum steering operation.
The output of the steering members (26) and (27) is maximized when
And the traveling load is larger than during farming
Crawler required for changing direction at headland in headland (2)
Ensuring the driving force ensures that the engine
Gin (21) prevents troubles such as stopping
(21) Driving operation at the time of direction change without accelerator operation
In addition to improving workability, the steering handle (19)
When a predetermined amount of left / right turning operation is performed based on the straight traveling position,
The left and right traveling crawlers (2) and (2) are relatively increased / decreased by the same amount.
Of running speed deceleration to keep the center speed of the aircraft approximately constant
Establish a band to allow the aircraft to move along crop rows or ridges during farming.
Running speed changes non-uniformly even when the steering operation is performed
Path during agricultural work while maintaining approximately the same traveling speed
Corrections can be made to improve the operator's driving sensation and
Appropriate steering operation can be performed with substantially matching. In addition, the main
By the sub-shift operation for switching the shift reference value of the bar (68)
The turning radius by the steering handle (19) is changed,
Between the first hydraulic motor for shifting (24) and the traveling crawler (2)
Speed reduction ratio and steering second hydraulic motor (27)
Setting of reduction ratio between rollers (2) or spin turn movement
To secure the driving force required for turning small radius
While turning the main transmission lever (68).
Change the turning speed while keeping the turning radius approximately constant, and
Driving operations can be performed in accordance with the skill level of the contractor, improving mobility.
It is designed to improve the driving operability
I have. Further, as shown in FIG.
The detection link (125) provided on the
1st swing arm in either right or left turning operation
(127) is rotated in the same direction within the range of angle (θ)
The second deceleration rod (133) is always pulled,
The operating member (80) at the time of the forward operation is inclined to the angle (α1) side
The distance between the joints (88a) (88b)
When the operation member (80) is retracted and the reverse operation is performed, the angle (α)
2) When inclined to the side, the joints (88a) (88
b) Increase the distance between and shift the shifting arm (84)
Displace to the low speed side in the neutral direction, depending on the amount of turning
The deceleration is performed. Further, the operating force for shifting and steering is transmitted.
The first rod (97) (98) and the swing arm (95)
The center of the universal joint (97a) (98a) of (96)
Coincides with the rotation fulcrum shaft (92) of the driving cabin (18)
Therefore, when shifting and maintaining steering neutrality,
To the front of the driving cabin (18) without removing the working style
Is configured to be able to rotate. By the way, as shown in FIG. 4 and FIG.
The first and second hydraulic pumps (23), (26) and the first and second hydraulic pumps (23, 26)
The second hydraulic motors (24) and (27) are
Voltage circuits (134) and (135)
The first and second hydraulic motors (24) and (27)
Solenoid valves (136) (13) are provided on the force shafts (31) and (62).
The output shafts (31) and (62) are held stationary by the operation of 7)
Traveling and turning brakes to stop running and fix straight ahead
Devices (138) and (139), and
Hold the brake shaft (49) stationary on the rake shaft (49)
Parking brake device (140) is provided. FIG. 18 shows the steering handle (1).
A steering lever (141) is provided instead of 9).
Direction lever (141) is swung right and left around axis (142).
Movably mounted and fixed to the base of the steering lever (141)
Bevel gear (143a) and handle operating shaft (11
3) Bevel gear (143b) fixed to the upper end
The steering shaft (141) from side to side
(113) is rotated forward or reverse, and phosphorus
The steering mechanisms (70) and (71) are operated to control the steering,
Steering operation member by means of a steering lever (141) that operates to move
And the lever (141) is swung, for example, in the left-right direction.
Just move it to correct left or right course and change direction.
It is configured to obtain. As is apparent from the above, the shift lever (6
The driving force of the engine (21) is increased by the traveling speed change operation of 8).
A continuously variable transmission mechanism that transmits the transmission to the left and right traveling crawlers (2)
(25) and running left and right by operating the steering lever (19)
Hydraulic steering oil pressure that causes a difference in the drive speed of the crawler (2)
In the combine where the motor (27) is provided,
Traveling according to the amount of operation of the steering lever (141) that moves
Decrease the speed and tilt the steering lever (141) to the left
To turn left and tilt the steering lever (141) to the right.
With a steering lever.
(141) Decelerate just by operation and change direction at headland
Without turning the engine (21) overload.
The engine (21) with a low horsepower output that ensures running drive power
To change the direction appropriately, and to the next work process
Operation traveling in the previous process by moving and returning to straight traveling
Speed is increased to the speed and operation is resumed, and the steering lever (14
1) Eliminate the speed change operation associated with the operation, and go straight during farm work.
Line and course correction operation and heading to the next work process position on the field headland
And the spin-turn operation to change direction.
Smooth steering lever (141)
To be performed. The swing of the steering lever (141) is controlled by one
To the operating shaft (113), which is the rotating shaft of
The steering output of the motor (27).
The amount of swing of the lever (141) is determined by the amount of rotation of the operation shaft (113).
To the steering hydraulic motor (27).
A steering lever is provided on the output control structure and the continuously variable transmission mechanism (25).
-(141) to connect the traveling speed change operation structure and the turning operation.
The simplification of the operation structure and improvement of the driving operability will be aimed at. Further, as shown in FIG.
Speed change actuator formed by a motor or hydraulic cylinder
(144) and steering actuator (145).
And the first and second hydraulic pressures of the continuously variable transmission mechanisms (25) and (28).
Form trunnions for pumps (23) and (26)
The control levers (72) and (73)
Eta (144) (145) and main change
Potentiometer for detecting the shift operation position of the speed lever (68)
A meter-type main shift sensor (146) and the lever (6)
8) Front of changeover switch type that detects forward or reverse operation
Reverse sensor (147) and rotation of steering handle (19)
Potentiometer type steering handle to detect the operating position
Sensor (148) and the direction of rotation of the handle (left or
Switch type left / right rotation sensor (14)
9) detecting the sub-transmission operation position of the sub-transmission mechanism (32);
Switch-type sub-transmission sensor (150)
Control lever for detecting the traveling shift position of the control lever (72).
Tension meter type shift position sensor (151), for turning
Detecting the turning position of the control lever (73)
Traveling with potentiometer type turning position sensor (152)
Pickup type car that detects the traveling speed of crawler (1)
A speed sensor (153) is provided and it is formed by a microcomputer.
To the controller (154) to be configured.
6) to (153) and each actuator (144)
(145) is electrically connected. And the link mentioned above
The mechanisms (70) and (71) are omitted, and the steering is performed in the same manner as described above.
Based on the operation of the handle (19) and the main transmission lever (68)
Then, each action is performed via each sensor (146) to (153).
The tutors (144) and (145) are controlled and each control
Operating the gear levers (72) and (73),
To perform each operation of left and right turning, with the steering operation member
A steering wheel (19) is moved by a first oil
Pressure pump (23) and first hydraulic motor (24) or
The second hydraulic pump (26) and the second hydraulic
Controller (15) electrically connected to the
4) to provide multi-functional steering control function and manufacturing cost
It is configured so that reduction of the number and the like can be easily achieved. [0041] As apparent from the above examples, the present invention
The engine is operated by the shift operation of the shift lever (68).
Transmission of the driving force of (21) to the left and right traveling crawlers (2)
Of the continuously variable transmission mechanism (25) to be operated and the steering lever (141).
Operation produces a difference in driving speed of left and right traveling crawlers (2)
For steeringHydraulic pump (26) andHydraulic motor (2
In the combine where 7) is provided,Change in forward and backward running speed
The shift lever (68) for switching between forward and reverse
And the operation for changing the speed difference between the left and right traveling crawlers (2).
Directional lever (141) and the speed change and turning interlocking mechanism (6).
9), and the interlocking mechanism (69) is connected to the transmission link machine.
The control of the continuously variable transmission mechanism (25) is carried out through a structure (70).
Connected to the roll section and steered the interlocking mechanism (25)
The steering hydraulic pump described above via a link mechanism (71)
(26) and the steering lever (1
41) The right and left traveling crawlers (2)
While increasing the speed difference, the center of the right and left crawler (2)
The speed is configured to be reduced, and the speed change lever (6
When the steering lever (1) is not in the neutral position and the steering lever (1
41) by tilting it to the left and right
The gearshift output of (25) is substantially constant, and the turning hydraulic pump (2
6) and turning by the steering output of the motor (27),
Also, tilt the steering lever (141) left and right.
With this, the speed change output of the continuously variable transmission mechanism (25) is reduced.
And turn the steering lever (141) further left and right.
The running speed is further reduced,
Configured to perform turn operationWhat didharvestWork
Straight running and course correction operation during the operation, and the next work on the headland in the field
Spin turn operation to change direction toward process position and
A series of steering levers (141)
Can be performed smoothly. [0042]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective explanatory view of an operation system of a main shift lever and a steering handle. FIG. 2 is an overall side view of the combine. FIG. 3 is an overall plan view of the combine. FIG. 4 is an explanatory diagram of a mission drive system. FIG. 5 is an explanatory diagram of a traveling speed change and steering operation unit. FIG. 6 is an explanatory front view of an operation unit. FIG. 7 is an explanatory plan view of an operation unit. FIG. 8 is an explanatory side view of the operation unit. FIG. 9 is an explanatory side view of the operation member. FIG. 10 is an explanatory front view of an operation member. FIG. 11 is an explanatory plan view of an operation member. FIG. 12 is an explanatory plan view of a steering handle portion. FIG. 13 is an explanatory plan view of a link mechanism. FIG. 14 is a hydraulic circuit diagram. FIG. 15 is a diagram showing a relationship between a steering wheel turning angle and a crawler speed when the aircraft turns. FIG. 16 is a diagram showing a relationship between steering wheel operation and traveling deceleration. FIG. 17 is a diagram showing a relationship between main speed change and traveling deceleration. FIG. 18 is an explanatory view provided with a steering lever. FIG. 19 is an explanatory diagram provided with a controller. [Description of Signs] (2) Traveling Crawler (21) Engine (25) Continuously Variable Transmission Mechanism (27) Second Hydraulic Motor for Steering (68) Main Transmission Lever (113) Operating Shaft (Rotary Shaft) (141) Operating Direction lever

Continuation of front page (58) Field surveyed (Int.Cl. ⁷ , DB name) B62D 11/00

Claims (1)

The driving force of the engine (21) is changed by the traveling speed change operation of the speed change lever (68) to the left and right traveling crawlers (2).
A continuously variable transmission mechanism (25) for transmitting a speed change, a steering hydraulic pump (26) for generating a difference in the driving speed of the left and right traveling crawlers (2) by operating the steering lever (141), and oil. Forward / backward in a combine provided with a pressure motor (27)
The shift lever for changing the traveling speed and switching between forward and backward travel
-Change the speed difference between (68) and crawler (2)
And the turning lever (141)
Mechanism (69), and the interlocking mechanism (69) is shifted.
The continuously variable transmission mechanism (25) via a link mechanism (70)
And the interlocking mechanism (2)
5) the steering oil through the steering link mechanism (71);
Connected to the control of the pressure pump (26)
Crawler traveling left and right according to the amount of tilt operation of the bar (141)
Crawler traveling left and right while increasing the speed difference of (2)
(2) The speed change is performed by reducing the center speed.
Steering in the straight-ahead position when the lever (68) is not in the neutral position
By tilting the lever (141) left and right,
When the speed change output of the speed change mechanism (25) is substantially constant,
Rotation by the steering output of the pump (26) and motor (27).
Turn, and tilt the steering lever (141) further left and right.
As a result, the shift output of the continuously variable transmission mechanism (25) is reduced.
Turn while decelerating, and further raise the steering lever (141).
By tilting left and right, the running speed is further reduced.
A spin-turn operation .