JP3612610B2 - Traveling operation device for traveling vehicle - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a traveling operation device for a traveling vehicle including a pair of left and right endless track belt type traveling crawlers such as a combine that can cut and thresh, a tractor for agricultural work or civil engineering.
[0002]
[Prior art]
First, in the Japanese Patent Application No. Hei 6-283688, the present applicant configures a traveling portion of a traveling vehicle such as a combine and a tractor by a pair of left and right endless track type traveling crawlers, and transmits power from the engine. , While being configured to transmit to a pair of left and right traveling crawlers via a hydraulic drive means for traveling that can be switched to forward / reverse output and a differential gear mechanism, an operation for turning the steering handle to the left and right The differential gear mechanism is configured to apply a differential torque required for turning to the differential gear mechanism via a hydraulic driving means for turning that can adjust the output according to the amount, thereby improving the operability of traveling and steering of the traveling vehicle. Suggested improvements.
[0003]
In this configuration, while the left and right traveling crawlers are moved forward or backward at an arbitrary predetermined speed according to the output amount from the traveling hydraulic drive means, the output direction and output amount of the turning hydraulic drive means are adjusted. Accordingly, the speed of the right or left turning crawler is decreased by increasing the speed of the right or left turning crawler, and the right or left turning crawler radius is decreased. It can be changed in any stepless manner, and when one traveling crawler is driven forward at an arbitrary speed and the other traveling crawler is driven backward at the same speed in the opposite direction, it can be spin-turned.
[0004]
[Problems to be solved by the invention]
However, if the turning operation is executed while the left and right traveling crawlers are moved forward or backward at an arbitrary predetermined speed while the output amount from the traveling hydraulic drive means is kept constant, the speed of the traveling crawler outside the turning As the speed increases, the speed of the traveling crawler inside the turn decreases and the speed fluctuation of the traveling vehicle becomes severe, and there is a problem that the danger that the operator who is on the traveling vehicle is swung outward by the centrifugal force increases. is there. There is also a problem that the load on both traveling crawlers at the time of turning increases rapidly.
[0005]
The present invention has been made to solve the above-mentioned conventional technical problems, and is capable of reducing the speed of both the left and right traveling crawlers when turning at the time of forward movement and backward movement, so that the traveling operation of the traveling vehicle can be performed. The purpose is to improve safety.
[0006]
[Means for Solving the Problems]
In order to achieve the above object, a traveling operation device for a traveling vehicle according to claim 1 comprises a traveling hydraulic drive means capable of switching power from an engine to forward / reverse output and a differential gear mechanism. The differential required for turning through the hydraulic drive means for turning, which is adjustable in output according to the operation amount for turning left and right of the steering handle, while being configured to transmit to a pair of left and right traveling crawlers In a traveling vehicle configured to apply torque to the differential gear mechanism, an output direction and an output amount of the traveling hydraulic drive means are changed in accordance with a switching operation between forward and backward by a traveling operation lever. An interlocking mechanism is provided, and the interlocking mechanism includes an output amount reducing means for decreasing the output amount of the traveling hydraulic drive means according to the operation amount of the steering handle in the right turn and left turn increasing directions. Insertion,The interlocking mechanism and the output amount reducing means are attached with a traveling operation lever for forward and backward operation, and a base end of a rotary yoke is attached to a rotary block that is rotatably mounted around a first axis. It is mounted so as to be rotatable around a second axis orthogonal to the axis, and the operation arm part and the intermediate arm for adjusting the output of the traveling hydraulic drive means are rotated around an axis parallel to the first axis. The first connecting rod is connected so that it can be freely connected, and the intermediate arm and the tip end side of the rotating yoke are respectively connected by the second connecting rod via the universal joint portion. Is urged so as to approach the traveling operation lever side, and the tip end side of the turning yoke is moved away from the traveling operation lever in accordance with the operation amount of the left and right turns of the steering handle. Configured to move, and neutral of the forward and backward movement of the operating lever In location, the universal joint of the front end side of the pivot yoke, and a third axis orthogonal respectively to the first and second axes, in which disposed on a plane including the first axis.
[0007]
The invention according to claim 2It is configured to transmit the power from the engine to a pair of left and right traveling crawlers via a traveling hydraulic drive means that can be switched between forward and backward outputs and a differential gear mechanism, while the steering handle left and right Output can be adjusted according to the amount of operation for turning In a traveling vehicle configured to apply a differential torque necessary for turning to the differential gear mechanism via a turning hydraulic drive means, in accordance with a switching operation between forward and backward by a traveling operation lever. An interlocking mechanism for changing the output direction and the output amount of the traveling hydraulic drive means is provided, and the interlocking mechanism is provided for the traveling according to the operation amount of the steering handle in the right turn and left turn increasing directions. An output amount reducing means for reducing the output amount of the hydraulic drive means is inserted, and the interlocking mechanism and the output amount reducing means rotate the rotating block to which the traveling operation lever for forward and backward operation is attached around the first axis. The intermediate arm is rotatably mounted in parallel with the rotation direction of the rotation block between the rotation block and the operation arm portion for adjusting the output of the traveling hydraulic drive means. Place one on the middle arm And the operating arm are connected by a first connecting rod, a connecting pin movable along the long groove of the bracket fixed to the rotating block and the other end of the intermediate arm are connected by a second connecting rod, and The long groove is formed in an arc shape with the second connecting rod as a rotation center with respect to the intermediate arm, while the connecting pin is urged away from the first shaft to turn the steering handle left and right. According to the operation amount, the connecting pin is moved so as to approach the first shaft.
[0008]
【The invention's effect】
Therefore, the claimsAccording to 1 and 2According to the present invention, the left and right traveling crawlers are driven via the traveling hydraulic drive means for switching the power from the engine to the forward / reverse output and the differential gear mechanism, and the forward and backward movements by the traveling operation lever are performed. When the output direction and output amount of the traveling hydraulic drive means are changed via the interlocking mechanism according to the switching operation, the output amount of the turning hydraulic drive means is made zero and the differential gear mechanism is stopped. If you keep it, the aircraft will go straight. When driving the differential gear mechanism from the straight drive state via the turning hydraulic drive means, the differential torque is changed by adjusting the output amount of the turning hydraulic drive means according to the operation amount of the steering handle. Then, the turning radius of the traveling machine body can be arbitrarily adjusted according to the driving speed.
[0009]
AndIn claims 1 and 2The interlock mechanism is provided with an output amount reducing means for reducing the output amount of the traveling hydraulic drive means in accordance with the amount of operation of the steering handle in the right turn and left turn increasing directions. For example, when the vehicle is moving forward, the output amount of the hydraulic drive means for traveling is decreased in inverse proportion to the amount of rotation (operation amount) of the steering handle. Risk of increasing the speed of the crawler and decreasing the speed of the speed of the traveling crawler on the inside of the turn, so that a sudden and large centrifugal force does not act on the traveling vehicle and the riding operator is shaken off the traveling vehicle There is an effect that disappears.
[0010]
And claims1As described in the invention described above, a traveling operation lever that moves forward and backward is attached, and a rotation block that is rotatably mounted around the first axis has a base end of the rotation yoke as the first axis. It is mounted so as to be rotatable around a second axis orthogonal to each other, and an operation arm portion and an intermediate arm for adjusting the output of the traveling hydraulic drive means can be rotated about an axis parallel to the first axis. If the first connecting rod is connected so that the intermediate arm and the tip end side of the rotating yoke are connected to each other by the second connecting rod via the universal joint portions, the traveling operation lever is moved forward or backward. To rotate the rotating block around the first axis.When,The operating arm portion rotates in a direction in which the output amount of the traveling hydraulic drive means increases via the rotating yoke, the second connecting rod, and the first connecting rod.
[0011]
AndIn the invention of claim 1,The universal joint on the tip side of the rotating yoke is urged so as to approach the traveling operation lever side, and the tip side of the rotating yoke is responsive to the amount of left and right turning operations of the steering handle. Is configured to rotate away from the travel operation lever, and at the neutral position between the forward and backward movement of the travel operation lever, the universal joint on the tip side of the rotation yoke is connected to the first shaft and the second shaft. Since it is arranged on a plane including the third axis orthogonal to the axis and the first axis, the steering operation lever is in the neutral position, that is, in the state where neither forward nor backward movement is performed. Even when the handle is turned right or left, the universal joint on the distal end side of the turning yoke has a locus that draws an arc centered on the second axis on the plane including the third axis and the first axis. Because it is in the position, the intermediate arm and the operation arm part do not rotate, The turn can be reliably performed.
[0012]
Then, when the traveling operation lever is set at the forward movement position or the backward movement position, the plane of the circular arc trajectory in which the universal joint at the distal end side of the rotation yoke rotates is a plane including the third axis and the first axis. Inclines against. In this case, the universal joint portion at the tip end side of the turning yoke is urged so as to approach the traveling operation lever side, and the turning yoke is operated according to the operation amount of the left and right turning of the steering handle. In this state, if the steering handle is turned left and right, the tip side of the turning yoke can be turned. The universal joint portion approaches the intersection side of the third shaft and the second shaft, and the operation arm portion is displaced to the output amount decreasing side via the second connecting rod, the intermediate arm, and the first connecting rod, and the turning outer side Both the speed-up tendency of the traveling crawler and the tendency of the traveling crawler on the inside of the turn to decrease are reduced, and the centrifugal force during turning can be reduced to ensure the safety of the operator who rides.
[0013]
And claims2Invention described inThenA rotation block to which a traveling operation lever for forward and backward operation is attached is mounted so as to be rotatable about a first axis, and the rotation block and an operation arm portion for adjusting the output of the traveling hydraulic drive means The intermediate arm is arranged so as to rotate in parallel with the rotation direction of the rotation block, and one end of the intermediate arm and the operation arm are connected by a first connecting rod and fixed to the rotation block. A connecting pin movable along the long groove of the bracket and the other end of the intermediate arm are connected by a second connecting rod, and the long groove is formed in an arc shape with the center of rotation of the second connecting rod with respect to the intermediate arm. Therefore, if the travel control lever is set to a stop position that does not move forward or backward, the connecting pin rotates the second connecting rod with respect to the intermediate arm even if the steering handle is turned left or right. A long groove to draw an arc with a moving center Only it moves along, because the intermediate arm itself, and hence the operating arm section for holding a stationary state, can be reliably performed spin turn.
[0014]
AndIn the invention according to claim 2,When the travel control lever is set to the forward position or the reverse position, the intermediate arm is rotated via the rotation block, bracket, connection pin, and second connection rod, and the operation arm portion is further traveled via the first connection rod. The vehicle is rotated in the direction of increasing the speed. If the steering handle is turned left and right in this state, the steering handle is turned to the left and right according to the operation amount. Since the biased connecting pin is moved so as to approach the first shaft, the operation arm portion is displaced to the output amount decreasing side via the second connecting rod, the intermediate arm, and the first connecting rod. Both the speed-up tendency of the traveling crawler outside the turn and the tendency of deceleration of the traveling crawler inside the turn are both reduced, and it is possible to reduce the centrifugal force at the time of turning and to secure the safety of the riding operator. .
[0015]
DETAILED DESCRIPTION OF THE INVENTION
Next, an embodiment in which the present invention is applied to a combine will be described. FIG. 1 is a side view of a traveling machine body 1 of a combine that is a traveling vehicle having a pair of left and right traveling crawlers 2a and 2b. A threshing device 3 is mounted on one side, and at the front of the threshing device 3, a cutting pretreatment device 4 is mounted so as to be moved up and down by a hydraulic cylinder (not shown). A clipper-type reaping device 5 is arranged on the lower surface side of the lower frame, and six grain culling pulling devices 6 are arranged in front of the lower frame, and the corn straw is conveyed between the corn straw pulling device 6 and the feed chain 7 in the threshing device 3. A device (not shown) is arranged, and a weeding body 8 projects in front of the lower part of the grain raising device 6.
[0016]
The handling cylinder in the threshing apparatus 3 is arranged so that its axis is along the traveling direction of the traveling machine body 1 and conveyed while sandwiching the root portion with the feed chain 7 arranged on one side of the handling room. The tip of the cereal husk is threshed by the barrel inside the handling chamber. Below the handling room is equipped with a swing sorting device using a receiving net and a sieve, etc., and a wind sorting device using the wind of Kara Juan, and a straw tank 9 for storing threshed grains is mounted on the side of the threshing device 3. ing. Moreover, the grain discharge auger 10 protruding from the rear part of the traveling machine body 1 is configured to be horizontally rotatable and upside-down rotatable to discharge the threshed grain from the straw tank 9 to a transport vehicle (not shown) outside the machine body. ing. A driver's cab 11 provided on the front side of the traveling machine body 1 includes a handle 12 for steering the traveling machine body 1, a main speed change lever 13 for changing speed, and a sub speed change lever as shown in FIG. 2. 14 and further various switches (not shown) for operation are arranged.
[0017]
The left and right traveling crawlers 2a and 2b are respectively provided with starter wheels 22 and 22 that are rotationally driven by power output from the left and right output shafts 21a and 21b of the power transmission device 20 shown in FIG. The crawler belts 24, 24 wound around the guide wheels 23, 23 biased rearward, and the suspension rings (lower wheels) 25 that support the lower inner peripheral surface of each crawler belt 24.
[0018]
Next, the configuration of the power transmission device 20 will be described. In the embodiment shown in FIG. 3, the transmission case 30 includes a differential gear mechanism including a pair of left and right planetary gear mechanisms 31, 31, which will be described later, and a first hydraulic pump 33 and a first hydraulic motor 34. And a turning hydraulic drive means comprising a second hydraulic pump 36 and a second hydraulic motor 37, a power transmission gear mechanism, and the like. The rotational force from the engine 17 mounted on the traveling machine body 1 is transmitted to the input shafts of both the hydraulic pumps 33 and 36 on the outside of the transmission case 30 via the pulley and the belt 60, and is transmitted in the transmission case 61. The hydraulic power is transmitted to the respective hydraulic motors 34 and 37 through the hydraulic paths.
[0019]
The pair of left and right planetary gear mechanisms 31 and 31 are symmetrical, and a pair of left and right bracelets on which a plurality of (three in the embodiment) planetary gears 39, 39, 39 are rotatably supported on the same radius. 38 and 38 are arranged in the mission case 30 so as to be opposed to each other on the coaxial line as appropriate. The left and right ends of the sun shaft 41, to which the sun gears 40, 40 meshing with the planetary gears 39 are fixed, are rotatably supported by bearings positioned at the center of rotation inside the arm rings 38, 38, respectively. . A ring gear 42 having inner teeth on the inner circumferential surface and outer teeth on the outer circumferential surface is arranged concentrically with the sun shaft 41 so that the inner teeth mesh with the three planetary gears 39, 39, 39, respectively. The ring gear 42 is rotatably supported via a bearing on the sun shaft 41 or a central shaft 43 projecting outward from the outer surface of the bracelet 38 (see FIGS. 3 and 4). ).
[0020]
By changing and adjusting the angle of the rotary swash plate of the variable displacement first hydraulic pump 33 in the traveling hydraulic drive means, the discharge direction and discharge amount of the pressure oil to the first hydraulic motor 34 are changed. The rotation direction and the rotation speed of the output shaft of the first hydraulic motor 34 can be adjusted. Then, the rotational power from the input shaft of the first hydraulic motor 34 is transmitted to the auxiliary transmission mechanism 50 constituted by a conventionally known gear mechanism via gears 44, 45, 46, 47, and the output gear 48 thereof. To the center gear 49 fixed to the sun shaft 41.
[0021]
In addition, it outputs to the PTO shaft 52 which transmits the rotational force to a working machine etc. via the gear mechanism 51 linked | related with the axis | shaft 44a of the gear 44. FIG. In this case, a one-way clutch means 52 a is provided in the middle of the PTO shaft 52.
[0022]
Accordingly, the rotational power from the traveling hydraulic drive means is transmitted to the center gear 49 via the transmission gear mechanism and the sub-transmission mechanism 50, and then to the pair of left and right planetary gear mechanisms 31, 31. The transmission gear 53 fixed to the central shaft 43 of the left bracelet 38 is meshed with the transmission gear 54 fixed to the left output shaft 21a for output. Similarly, the transmission gear 53 fixed to the central shaft 43 of the right bracelet 38 is meshed with the transmission gear 54 fixed to the right output shaft 21b and output.
[0023]
On the other hand, the discharge direction and discharge amount of the pressure oil to the second hydraulic motor 37 are changed by changing and adjusting the angle of the rotary swash plate of the variable displacement second hydraulic pump 36 in the turning hydraulic drive means. Thus, the rotation direction and the number of rotations of the output shaft of the second hydraulic motor 37 can be adjusted. The rotational power from the second hydraulic motor 37 is transmitted to the pair of transmission gears 56 and 57 via the gear mechanism 55. Next, as shown in FIG. 3, the external gear of the left ring gear 42 meshes directly with the transmission gear 56, and the right transmission gear 57 meshes with the reverse gear 59 attached to the reverse shaft 58. The outer teeth of the ring gear 42 mesh with each other.
[0024]
Therefore, when the left ring gear 42 rotates reversely at a predetermined rotational speed by the forward rotation of the second hydraulic motor 37, the right ring gear 42 rotates positively at the same rotational speed as described above.
[0025]
With this configuration, for example, if the turning hydraulic drive means is stopped, the rotation of the ring gears 42, 42 on both the left and right sides is in a fixed state. When the traveling hydraulic drive means is driven in this state, the rotational force from the first hydraulic motor 34 is input to the center gear 49 of the sun shaft 41, and the rotational force is the same as the sun gears 40, 40 on both the left and right sides. Since it is transmitted at the rotational speed and is output to the output shafts 21a and 21b on both the left and right sides equally and at the same rotational speed in the same direction via the planetary gears 39 and arm gears 38 of the left and right planetary gear mechanisms, Can do. Accordingly, when only the traveling hydraulic drive means is driven to rotate in the forward direction, the traveling machine body 1 moves straight forward, and when it is driven to rotate backward, it moves straight forward.
[0026]
On the contrary, in a state where the traveling hydraulic drive means is stopped, the sun shaft 41 and the sun gears 40 on the left and right sides are fixed. In this case, it is preferable to operate a brake means (not shown). In this state, when the turning hydraulic drive means (second hydraulic motor 37) is rotated forward, for example, the planetary gear mechanism including the left planetary gear 39 and the arm gear 38 rotates in reverse, while the right planetary gear mechanism. The planetary gear mechanism composed of the gear 39 and the arm gear 38 rotates in the forward direction. Accordingly, the left traveling crawler 2a moves backward while the right traveling crawler 2b moves forward, so that the traveling machine body 1 spin-turns to the left on the spot.
[0027]
Similarly, when the turning hydraulic drive means (second hydraulic motor 37) is driven to rotate in the reverse direction, the left planetary gear mechanism 31 rotates in the forward direction, the right planetary gear mechanism 31 rotates in the reverse direction, and the left traveling crawler. While 2a moves forward, the right traveling crawler 2b moves backward, so the traveling machine body 1 spin-turns to the right on the spot.
[0028]
When the turning hydraulic drive means is driven while driving the traveling hydraulic drive means, the vehicle can turn right or left at a turning radius larger than the spin turn turning radius at the time of forward movement and backward movement. The turning radius is determined according to the speed of the left and right traveling crawlers 2a and 2b.
[0029]
In each case, the sub-shift lever 14 is moved and set to the road running mode, the farm work mode, the super low speed mode, or the like. In this state, when the main transmission lever 13 is set to the upright posture, the neutral position (N position) is established. When the main transmission lever 13 is tilted forward, the traveling vehicle moves forward, and when the forward inclination angle is large, the forward speed is increased. Increase. Conversely, when the main transmission lever 13 is tilted backward, the traveling vehicle moves backward, and when the tilt angle is large thereafter, the reverse speed increases. Further, by turning the steering handle 12 to the right or left, the traveling vehicle can turn in a predetermined direction.
[0030]
As described above, by inserting the auxiliary transmission mechanism into the transmission gear mechanism between the traveling hydraulic drive means and the differential gear mechanism, the traveling hydraulic drive means and the turning hydraulic drive means The input (rotation speed and torque) to each hydraulic pump can be made constant, the performance of each hydraulic pump can be fully demonstrated, and the speed change steplessly by the main shift lever in various work modes. The control range is not limited, and therefore, the operation of the traveling vehicle becomes smooth and easy.
[0031]
Next, referring to FIGS. 5 to 9, the driving direction of the traveling crawlers 2 a and 2 b can be switched between forward and backward to adjust the straight traveling speed continuously, and in that case for steering (for turning) When the turning operation of the handle 12 is executed, the traveling speed of the traveling crawlers 2a and 2b is gradually reduced, and the configuration of the traveling operation device 70 for safely performing the turning operation will be described.
[0032]
As shown in FIGS. 5 and 7, the main speed change lever 13 as a travel operation lever in the travel operation device 70 is along a guide groove having a linear shape in plan view provided in an operation plate (not shown) in the control section. Protruding so that it can move.
[0033]
As shown in FIG. 5, the rotation block 71 to which the base portion of the main transmission lever 13 is attached is disposed so as to be rotatable around a pivot shaft 73 that extends along the X axis 72 that is the first axis. On the other hand, the base end of the operation arm portion 78 of the first hydraulic pump 33 in the traveling hydraulic drive means is fixed to the operation shaft 77 parallel to the X axis 72. For example, the distal end side of the operation arm portion 78 is shown in FIG. 7 is set so as to be a forward operation when rotating in the direction of arrow A in FIG. 7, and a reverse operation when rotating in the direction of arrow B. Further, the rotation direction of the output shaft of the first hydraulic motor 34 is adjusted by operating the first hydraulic pump 33 in the traveling hydraulic drive means in proportion to the rotation angle of the operation arm portion 78 being increased. It is configured to increase the running speed by switching between forward and reverse and increasing the pressure oil discharge amount.
[0034]
Between the main transmission lever 13 and the operating arm portion 78, the output direction and output amount of the traveling hydraulic drive means are set in accordance with the switching operation between the forward movement and the backward movement by the main transmission lever 13 as a traveling operation lever. An interlocking mechanism to be changed is provided, and the interlocking mechanism has an output amount reduction that decreases the output amount of the traveling hydraulic drive means in accordance with the operation amount of the steering handle in the right turn and left turn increasing directions. Insert means. As the first embodiment, the intermediate arm 79 is pivotally supported on the machine frame 80 so as to rotate about the axis parallel to the X axis 72 as the operation arm portion 78, and the intermediate arm 79 and the operation arm portion 78 are connected to each other. They are connected by a first connecting rod 81 extending in parallel with a Y axis 74 that is a second axis orthogonal to the X axis 72. On the other hand, on the outer peripheral surface of the rotation block 71 to which the base end of the main transmission lever 13 is attached, the base end of a rotation yoke 76 that is rotatable around a support pin 75 protruding in the direction of the Y axis 74 is mounted. The second joint rod 85 interlocks the joints 83 and 84 such as ball joints provided at the tip of the rotating yoke 76 and the tip of the intermediate arm 79, respectively. Further, the turning yoke 76 and the main transmission lever 13 are urged by an urging spring 86 so that the turning yoke 76 rotates in a direction approaching the main transmission lever 13. The main transmission lever 13, the intermediate arm 79, and the operation arm portion 78 stand up in parallel with the Z axis 82, which is a third axis orthogonal to the X axis 72 and the Y axis 74 (neutral position). , The position of the spherical center of the universal joint portion 83 on the side of the rotating yoke 76 is on a plane including the X axis 72 and the Z axis 82, and the axis of the proximal end side pin 75 of the rotating yoke 76 and the intermediate arm 79. The protruding piece 88 protruding from the rotating yoke 76 contacts the stopper piece 87 protruding from the rotating block 71 so that the position of the spherical center of the universal joint 84 on the side is on the Y-axis 74 line. (See FIGS. 8 and 9).
[0035]
The tip of the auxiliary arm 89 protruding from the rotating yoke 76 is connected to a vehicle speed reduction linkage 91 via a universal joint 90 such as a ball joint. The linkage 91 is parallel to the Z-axis 82. Is arranged. The other end of the vehicle speed reduction linkage 91 is connected to a single operation wire 92, and the other end of the operation wire 92 is a worm, a worm gear, etc. below the turning operation handle 12 shown in FIG. It connects with the arm 95 provided in the gear box 94 which consists of these so that rotation was possible. In this case, the position of the spherical center of the universal joint 90 is positioned on the X-axis 72 at the neutral position where the steering handle 12 does not turn left and right. Then, even if the steering handle 12 rotates in either the left or right direction, the operation wire 92 is pulled, and the rotating yoke 76 is moved via the linkage 91 for reducing the vehicle speed, the universal joint 90, and the auxiliary arm 89. The urging spring 86 is configured to rotate in a direction away from the main transmission lever 13 against the urging force of the urging spring 86.
[0036]
In addition, one end of a pair of left and right turning operation wires 93a and 93b is connected in opposite directions to an arm 96 that is rotatably provided on a gear box 94 in the steering handle 12 shown in FIG. When the handle 12 is rotated to the right so as to turn right, the one operation wire 93a is pulled, and the second hydraulic pump 36 in the turning hydraulic drive means is operated to rotate forward via an operation unit (not shown). On the contrary, when the handle 12 is turned counterclockwise, the second hydraulic pump 36 is reversely operated to turn left. In this case, by pulling one of the operation wire wires 93a and 93b in proportion to the amount of rotation of the handle 12, the second hydraulic pump 36 in the turning hydraulic drive means is operated to output the second hydraulic motor 37. The rotation direction of the shaft is switched between the right turn and the left turn, and the pressure oil discharge amount is increased to increase the output to the left and right traveling crawlers 2a and 2b.
[0037]
Next, with reference to FIGS. 5 to 9, the operation of the operation arm portion 78 by the rotation operation of the main transmission lever 13 and the rotation operation of the handle 12 will be described.
[0038]
7 to 9 are postures in which the handle 12 is held at the neutral position so that the traveling vehicle 1 moves straight, and the main speed change lever 13 also shows the neutral position (does not move forward or backward). As the vehicle is tilted forward from the position to the main speed change lever 13, it is operated so as to increase the forward speed. On the contrary, the main speed change lever 13 is operated so as to increase the reverse speed as it is tilted backward.
[0039]
First, in a posture in which the main transmission lever 13 is held at the neutral position (the traveling vehicle 1 is in a stopped state), the rotation center axis (support pin 75) of the rotation yoke 76 coincides with the axis of the Y axis 74, and the rotation yoke. Since the universal joint portion 83 on the distal end side of 76 is on a plane including the X-axis 72 and the Z-axis 82, the vehicle speed reduction linkage 91 is provided even when the steering wheel 12 is turned in either the left or right direction. When pulled downward in FIGS. 5 and 7, the universal joint portion 83 performs an arc motion on the plane including the X axis 72 and the Z axis 82, with the Y axis 74 as the center of rotation. And since the universal joint part 84 of the other end of the 2nd connection rod 85 connected to this universal joint part 79 exists on the axis line of the said Y-axis 74, the 2nd connection rod 85 apex the location of the said universal joint part 84 And the position of the universal joint portion 84, which is the apex, is the handle. It does not move in the direction of the Y-axis 74 regardless of the twelve left-right rotation operation. That is, even if the steering handle 12 is rotated left and right in a state where the traveling machine body is stopped (the main transmission lever 13 is set to the neutral position (N)), the second hydraulic pump 36 for steering is used. Is held in a neutral position and no swiveling action occurs.
[0040]
On the other hand, when the main transmission lever 13 is tilted forward, the support pin 75 attached to the rotation block 71 is inclined downward by an angle θ with respect to the Y axis 74 as shown in FIG. The universal joint 83 can be rotated on a plane + α inclined by θ in the counterclockwise direction of FIG. 7 with respect to the XZ plane with the X axis 72 as the center. Accordingly, the operating arm portion 78 rotates in the direction of arrow A through the second connecting rod 85, the intermediate arm 79, and the first connecting rod 81, and the oil discharge of the first hydraulic pump 33 of the traveling hydraulic drive means is performed. Increase to increase forward speed. On the contrary, when the main transmission lever 13 is tilted backward, the support pin 75 attached to the rotation block 71 is inclined upward by an angle θ with respect to the Y axis 74 as shown in FIG. The universal joint portion 83 at the tip can be rotated on a plane −α inclined in the clockwise direction of FIG. 7 by θ with respect to the XZ plane with the X axis 72 as the center. Accordingly, the operating arm portion 78 rotates in the direction of arrow B via the second connecting rod 85, the intermediate arm 79, and the first connecting rod 81, and the oil discharge of the first hydraulic pump 33 of the traveling hydraulic drive means is performed. Increase and reverse speed.
[0041]
In this state, when the handle 12 is in the neutral position (straight-running state), the position of the sphere center of the universal joint portion 79 of the linkage 91 for speed reduction of the vehicle and the auxiliary arm 89 is on the X axis 72. The second hydraulic pump 36 for use is in a neutral position and no swiveling action occurs.
[0042]
Even if the handle 12 is rotated in either the left or right direction during forward movement, the vehicle speed reduction linkage 91 is pulled downward in FIG. 5 against the urging force of the urging spring 86 (see FIG. 9). Since the tip end side of the pivot yoke 76 pivots downward in FIG. 9, the universal joint portion 83 is obliquely downward along the plane + α and approaches the operation arm portion 78. It will move in the direction to do. Therefore, at this time, the first connecting rod 81 is pushed and the operating arm portion 78 is rotationally displaced in the direction of arrow B in FIG. 7, so that the forward traveling speed of the left and right traveling crawlers 2a and 2b is reduced as compared with the straight traveling. Then, the vehicle turns while being decelerated.
[0043]
Similarly, even if the handle 12 is rotated in either the left or right direction during reverse, the vehicle speed reduction linkage 91 is pulled downward in FIG. 5 against the urging force of the urging spring 86 (see FIG. 9). Since the distal end side of the pivot yoke 76 pivots downward in FIG. 9, the universal joint portion 83 is obliquely downward along the plane −α and is separated from the operation arm portion 78. Will move in the direction. Therefore, at this time, the first connecting rod 81 is pulled to rotate and displace the operation arm portion 78 in the direction of arrow A in FIG. 7, so that the backward traveling speed of the left and right traveling crawlers 2a, 2b is reduced compared to when traveling straight. It turns and it turns while being decelerated.
[0044]
In addition, since the degree of deceleration increases in proportion to the turning angle of the handle 12, the centrifugal force when the turning radius is reduced is also reduced, and the operator boarding the traveling vehicle is thrown out of the turning. The fear disappears.
[0045]
Even if the traveling direction of the traveling machine body 1 is switched between forward and backward, the steering wheel 12 turns to the right if the handle 12 is turned to the right, and the handle 12 is used to turn to the left if the handle 12 is turned to the left. If the feeling of turning operation is made the same, the operator does not make a mistake in turning operation.
[0046]
Next, an interlocking mechanism for changing the output direction and the output amount of the traveling hydraulic drive means according to the switching operation between forward and reverse by the main transmission lever 13 as a traveling operation lever is provided, and the interlocking mechanism includes: The second embodiment for inserting an output amount reducing means for reducing the output amount of the traveling hydraulic drive means according to the operation amount of the steering handle in the right turn and left turn increasing directions. 10 to FIG. In the second embodiment, a turning block 71 to which a main transmission lever 13 for forward and backward operation is attached is mounted so as to be rotatable around an X axis 72 which is a first axis. An intermediate arm 79 ′ is arranged between the operation arm 78 for adjusting the output of the hydraulic drive means for use so as to rotate in parallel with the rotation direction of the rotation block 71, and one end of the intermediate arm 79 ′ is arranged. And the operating arm portion 78 are connected by a first connecting rod 81, and a connecting pin 99 movable along a long groove 98 of a bracket 97 fixed to the rotating block 71 and the other end of the intermediate arm 79 ' The two connecting rods 85 are connected to each other, and the long groove 98 is formed in an arc shape that serves as a rotation center 85a of the second connecting rod 85 with respect to the intermediate arm 79 '. Then, the connecting pin 99 is urged in the direction away from the X axis 72 by a winding spring 100 having one end pivotally supported by the bracket 97 and the other end connected to the connecting pin 99. One end is connected to the arm 95 of the steering handle 12 shown in FIG. 6A, and the other end of the operation wire 92 inserted through the outer tube is connected to the connecting pin 99, whereby the handle 12 is turned left and right. In this configuration, the connecting pin 99 is moved so as to approach the X axis 72 according to the amount of operation.
[0047]
According to this configuration, at the neutral position of the main transmission lever 13 and the handle 12, the connecting pin 99 is positioned on the upper end side of the long groove 98 as shown by the solid line in FIG. When the main transmission lever 13 is rotated forward, the long groove 98 rotates counterclockwise as indicated by the two-dot chain line in FIG. 85 is pulled in the left direction of FIG. 12, and the operation arm portion 78 is rotated to the forward speed increasing side via the intermediate arm 79 ′. In this state, even if the handle 12 is rotated in either the left or right direction, the operation wire 92 is pulled to displace the connection pin 99 so as to approach the X axis 72. Therefore, the rotation center 85a of the second connection rod 85 is 12 is pushed back to the right in FIG. 12, and the operation arm portion 78 is rotated to the forward deceleration side (see the one-dot chain line in FIG. 12), and the forward traveling speeds of the left and right traveling crawlers 2a, 2b are reduced as compared with the straight traveling. Then, the vehicle turns while being decelerated.
[0048]
The same effect is also achieved when the main speed change lever 13 is rotated backward, and the operation arm portion 78 is rotated backward and the reverse traveling speeds of the left and right traveling crawlers 2a and 2b are set straight. It is possible to turn while being decelerated.
[0049]
As you can see from the above,SaidIn any of the embodiments, even if the traveling crawler is given a straight traveling speed proportional to the inclination direction of the main transmission lever 13 which is an operation lever for traveling (therefore, the forward and backward operation of the traveling vehicle body by the main transmission lever 13). When the turning operation is started with the steering handle 12, the speed of the traveling crawler decreases (the speed increase outside the turning decreases, and the speed of the traveling crawler inside the turning also decreases). Even if this is done, the phenomenon of increasing centrifugal force is alleviated, there is no possibility that the operator who rides the traveling vehicle will be shaken off, and the turning operation will greatly increase the output of the traveling crawler and increase the load on the engine There is an effect that it decreases.
[0050]
Needless to say, the present invention can be applied not only to agricultural machines but also to civil engineering traveling vehicles such as bulldozers.
[Brief description of the drawings]
FIG. 1 is a side view of a combine.
FIG. 2 is a front view of the combine.
FIG. 3 is a power transmission block diagram of the power transmission device.
FIG. 4 is a partial cross-sectional view of a pair of planetary gear mechanisms.
FIG. 5 is a perspective view of a main part of a first embodiment of the travel operation device.
6A is a schematic side view of the steering handle for the traveling hydraulic drive means, and FIG. 6B is a schematic side view of the steering handle for the turning hydraulic drive means.
FIG. 7 is a partially omitted side view of the first embodiment of the travel operation device.
FIG. 8 is a plan view of the first embodiment of the travel operation device.
FIG. 9 is a front view of the first embodiment of the travel operation device.
FIG. 10 is a perspective view of a second embodiment of the travel operation device.
11 is a cross-sectional view taken along line XI-XI in FIG.
FIG. 12 is an operation explanatory diagram of a second embodiment of the travel operation device.
[Explanation of symbols]
2a, 2b Traveling crawler
12 Handle
13 Main transmission lever
14 Sub-shift lever
20 Power transmission device
22 Starting wheel
21a, 21b Output shaft
31, 31 planetary gear mechanism
33 First hydraulic pump
34 First hydraulic motor
36 Second hydraulic pump
37 Second hydraulic motor
70 Traveling operation device
71 Rotating block
72 X axis
74 Y axis
75 Support pin
76 Rotating yoke
77 Operation axis
78 Operation arm
79, 79 'intermediate arm
81 First connecting rod
83, 84, 90 Universal joint
85 Second connecting rod
86 Biasing spring
89 Auxiliary arm
91
92 Operation wire
93a, 93b Operation wire for turning
97 Bracket
98 long groove
99 connecting pin
100 roll spring

Claims (2)

It is configured to transmit the power from the engine to a pair of left and right traveling crawlers via a traveling hydraulic drive means and a differential gear mechanism that can be switched to forward / reverse output, while the steering handle left and right In a traveling vehicle configured to apply a differential torque necessary for turning to the differential gear mechanism via a turning hydraulic drive unit capable of adjusting output according to an operation amount for turning,
An interlocking mechanism is provided that changes the output direction and output amount of the traveling hydraulic drive means in accordance with the switching operation between the forward and backward movements by the traveling operation lever, and the interlocking mechanism includes a right turn of the steering handle and Inserting an output amount reducing means for reducing the output amount of the traveling hydraulic drive means according to the operation amount in the increasing direction of the left turn,
The interlocking mechanism and the output amount reducing means are attached with a traveling operation lever for forward and backward operation, and a base end of a rotary yoke is attached to a rotary block that is rotatably mounted around a first axis. It is mounted so as to be rotatable around a second axis orthogonal to the axis, and the operation arm part and the intermediate arm for adjusting the output of the traveling hydraulic drive means are rotated around an axis parallel to the first axis. The first connecting rod is connected so that it can be freely connected, and the intermediate arm and the tip end side of the rotating yoke are respectively connected by the second connecting rod via the universal joint portion. Is urged so as to approach the traveling operation lever side, and the tip end side of the turning yoke is moved away from the traveling operation lever in accordance with the operation amount of the left and right turns of the steering handle. Configured to move, and neutral of the forward and backward movement of the operating lever In location, and characterized in that the universal joint of the front end side of the pivot yoke, and a third axis orthogonal respectively to the first and second axes, and positioned on a plane including the first axis A traveling operation device for a traveling vehicle. It is configured to transmit the power from the engine to a pair of left and right traveling crawlers via a traveling hydraulic drive means that can be switched between forward and backward outputs and a differential gear mechanism, while the steering handle left and right In a traveling vehicle configured to apply a differential torque necessary for turning to the differential gear mechanism via a turning hydraulic drive unit capable of adjusting output according to an operation amount for turning,
An interlocking mechanism is provided that changes the output direction and output amount of the traveling hydraulic drive means in accordance with the switching operation between the forward and backward movements by the traveling operation lever, and the interlocking mechanism includes a right turn of the steering handle and Inserting an output amount reducing means for reducing the output amount of the traveling hydraulic drive means according to the operation amount in the increasing direction of the left turn,
The interlocking mechanism and the output amount reducing means are mounted with a rotating block to which a traveling operation lever for forward and backward operation is attached so as to be rotatable about a first axis, and the rotating block and the traveling hydraulic drive An intermediate arm is arranged between the operation arm for adjusting the output of the means so as to rotate in parallel with the rotation direction of the rotation block, and one end of the intermediate arm and the operation arm are used as the first connecting rod. The connecting pin movable along the long groove of the bracket fixed to the rotating block and the other end of the intermediate arm are connected by a second connecting rod, and the long groove is connected to the second connecting rod with respect to the intermediate arm. The connecting pin is biased in a direction away from the first shaft, and the connecting pin is moved in accordance with the amount of left and right turning of the steering handle. It is configured to move so as to approach one axis. Traveling manipulator in a running vehicle, characterized in that.

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