JP3946888B2 - Mobile farm machine - Google Patents
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- JP3946888B2 JP3946888B2 JP32458498A JP32458498A JP3946888B2 JP 3946888 B2 JP3946888 B2 JP 3946888B2 JP 32458498 A JP32458498 A JP 32458498A JP 32458498 A JP32458498 A JP 32458498A JP 3946888 B2 JP3946888 B2 JP 3946888B2
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【０００１】
【発明の属する技術分野】
本発明は例えば圃場の穀稈を連続的に刈取って脱穀するコンバインまたは耕耘トラクタまたは圃場管理車などの移動農機に関する。
【０００２】
【発明が解決しようとする課題】
従来、左右走行クローラを装設したコンバインを圃場の未刈り穀稈列に沿わせて走行移動させ乍ら収穫作業を行うと共に、圃場枕地で前記コンバインを方向転換させて次工程の未刈り穀稈列に移動させていたが、エンジン出力を変速伝達するミッションケースの左右走行出力を左右サイドクラッチを介して左右走行クローラに伝達させ、左右サイドクラッチの継断操作により左右走行クローラの一方を一時的に停止させて旋回させることにより、左右サイドクラッチ操作と走行変速操作の両方を作業者が略同時期に行う必要があり、また圃場枕地で方向転換するときの旋回半径が大きくなる不具合がある。
【０００３】
そこで、エンジンの動力を各別に伝える左右油圧無段変速機を設けて左右走行クローラを駆動することにより、旋回時の減速並びに旋回半径の縮少などを容易に行えるが、直進性能が低下し易く、未刈り穀稈列に沿わせて走行移動させる操向操作が面倒になる不具合がある。
【０００４】
また、左右走行クローラにエンジン動力を変速伝達する単一の油圧無段変速機構と、旋回内側の走行クローラを減速しかつ旋回外側の走行クローラを増速させる油圧無段操向機構を設けることにより、直進性能を良好に維持でき、かつ旋回半径も容易に縮少できるが、走行速度を高速にすることによって旋回半径が大きくなったり、走行速度を低速にすることによって旋回半径が小さくなる不具合があり、例えば四輪自動車のように走行速度に関係なく旋回半径を略一定に保つ操舵感覚を得るには、走行変速操作時、走行速度の変化に応じて作業者が操舵操作量を感覚的に変更させる必要があり、直進走行によって行う農作業時に蛇行走行させて未刈り穀稈列または未耕地または作物畦から離れ易くなる等の取扱い上の問題がある。特に、丸形の操向ハンドルを設ける場合、左右サイドクラッチ及び左右サイドクラッチレバーを設ける操舵構造に比べて、走行速度を一定維持した状態で操舵性を向上させることができるが、走行変速によって蛇行し易く、四輪自動車の運転感覚での操舵を容易に行い得ず、走行変速操作及び操向操作など運転操作性の向上並びに操縦機能の向上などを容易に図り得ず、特に農作業途中での圃場枕地で方向転換させるスピンターン動作などの旋回機能の向上などを容易に行い得ないと共に、左右走行クローラの駆動速度を変更する変速機構、並びに左右走行クローラの駆動速度の差を変化させる操向機構の簡略化及び組立性向上及び動作信頼性向上及び調整メンテナンス省力化などを容易に図り得ない等の問題がある。
【０００５】
【課題を解決するための手段】
然るに、本発明は、エンジンの駆動力を左右走行クローラに伝える差動機構と、左右走行クローラの駆動速度を無段階に変更させる変速部材と、左右走行クローラの駆動速度の差を無段階に変化させる操向部材を設ける移動農機において、操向操作具によって回転させる操向入力部材に入力連結体を着脱自在に固定させ、変速部材に連結させる変速結合部材と、操向部材に連結させる操向結合部材を、前記入力連結体に連結させたもので、変速部材と操向部材の相対制御関係を略一定に維持し得、走行変速及び操舵性能向上などを容易に行い得、また変速結合部材及び操向結合部材を取付けた状態で入力連結体を着脱し得、組立及びメンテナンス等の作業性向上を容易に図り得るものである。
【０００６】
また、操向入力部材に対して入力連結体を取付け位置調節自在に形成したもので、変速結合部材と操向結合部材の相対位置を略一定に維持し乍ら各結合部材と操向入力部材の相対位置を変更し得、組立またはメンテナンス時の調整作業の簡略化などを容易に図り得るものである。
【０００７】
また、変速操作具に連結させる変速入力軸に操向入力部材を取付けると共に、変速入力軸を基準位置に固定させる基準設定部材を係脱自在に設けたもので、走行変速の中立位置並びに操向直進位置を基準設定部材の係合によって確定し得、変速結合部材または操向結合部材などの連結長さを伸縮させる組立時の調整などを容易に行い得、組立作業性の向上などを容易に図り得るものである。
【０００８】
【発明の実施の形態】
以下、本発明の実施例を図面に基づいて詳述する。図１はコンバインの全体側面図、図２は同平面図であり、図中（１）は左右一対の走行クローラ（２）を装設するトラックフレーム、（３）は前記トラックフレーム（１）に架設する機台、（４）はフィードチェン（５）を左側に張架し扱胴（６）及び処理胴（７）を内蔵している脱穀部、（８）は刈刃（９）及び穀稈搬送機構（１０）などを備える刈取部、（１１）は刈取フレーム（１２）を介して刈取部（８）を昇降させる油圧シリンダ、（１３）は排藁チェン（１４）終端を臨ませる排藁処理部、（１５）は脱穀部（４）からの穀粒を揚穀筒（１６）を介して搬入する穀物タンク、（１７）は前記タンク（１５）の穀粒を機外に搬出する排出オーガ、（１８）は丸形操向ハンドル（１９）及び運転席（２０）などを備える運転台、（２１）は運転席（２０）下方に設けるエンジンであり、連続的に穀稈を刈取って脱穀するように構成している。
【０００９】
さらに、図３に示す如く、前記走行クローラ（２）を駆動するミッションケース（２２）は、１対の第１油圧ポンプ（２３）及び第１油圧モータ（２４）を備えて走行主変速用の油圧式無段変速機構を形成する変速部材（２５）と、１対の第２油圧ポンプ（２６）及び第２油圧モータ（２７）を備えて旋回用の油圧式無段変速機構を形成する操向部材（２８）とを備え、前記エンジン（２１）の出力軸（２１ａ）に第１及び第２油圧ポンプ（２３）（２６）の入力軸（２９ａ）（２９ｂ）を伝達ベルト（３０ａ）（３０ｂ）によって連結させ、前記各油圧ポンプ（２３）（２６）を駆動するように構成している。
【００１０】
また、前記第１油圧モータ（２４）の出力軸（３１）に、副変速機構（３２）及び差動機構（３３）を介して左右走行クローラ（２）の各駆動輪（３４）を連動連結させるもので、前記差動機構（３３）は左右対称の１対の遊星ギヤ機構（３５）（３５）を有し、各遊星ギヤ機構（３５）は１つのサンギヤ（３６）と、該サンギヤ（３６）の外周で噛合う３つのプラネタリギヤ（３７）と、これらプラネタリギヤ（３７）に噛合うリングギヤ（３８）などで形成している。
【００１１】
前記プラネタリギヤ（３７）はサンギヤ軸（３９）と同軸線上とのキャリヤ軸（４０）のキャリヤ（４１）にそれぞれ回転自在に軸支させ、左右のサンギヤ（３６）（３６）を挾んで左右のキャリヤ（４１）を対向配置させると共に、前記リングギヤ（３８）は各プラネタリギヤ（３７）に噛み合う内歯（３８ａ）を有してサンギヤ軸（３９）とは同一軸芯上に配置させ、キャリヤ軸（４０）に回転自在に軸支させ、キャリヤ軸（４０）を延設して車軸を形成して駆動輪（３４）を軸支させている。
【００１２】
また、走行用の油圧式無段変速部材（２５）は、第１油圧ポンプ（２３）の回転斜板の角度変更調節により第１油圧モータ（２４）の正逆回転と回転数の制御を行うもので、第１油圧モータ（２４）の回転出力を出力軸（３１）の伝達ギヤ（４２）より各ギヤ（４３）（４４）（４５）及び副変速機構（３２）を介して、サンギヤ軸（３９）に固定したセンタギヤ（４６）に伝達してサンギヤ（３６）を回転するように構成している。前記副変速機構（３２）は、前記ギヤ（４４）を有する副変速軸（４７）と、前記ギヤ（４５）を介してセンタギヤ（４６）に噛合うギヤ（４８）を有する駐車ブレーキ軸（４９）とを備え、副変速軸（４７）とブレーキ軸（４９）間に各１対の低速用ギヤ（５０）（５１）・中速用ギヤ（５２）（５３）・高速用ギヤ（５４）（４８）を設けて、低中速スライダ（５５）及び高速スライダ（５６）のスライド操作によって副変速の低速・中速・高速の切換を行うように構成している。なお低速・中速間及び中速・高速間には中立を有する。また前記ブレーキ軸（４９）に駐車ブレーキ（５７）を設けると共に、刈取部（８）に回転力を伝達する刈取ＰＴＯ軸（５８）にギヤ（５９）（６０）及び一方向クラッチ（６１）を介して副変速軸（４７）を連結させ、刈取部（８）を車速同調速度で駆動している。
【００１３】
上記のように、前記センタギヤ（４６）を介しサンギヤ軸（３９）に伝達された第１油圧モータ（２４）からの駆動力を、左右の遊星ギヤ機構（３５）を介して左右キャリヤ軸（４０）に伝達させると共に、左右キャリヤ軸（４０）に伝達された回転を左右の駆動輪（３４）にそれぞれ伝え、左右走行クローラ（２）を駆動するように構成している。
【００１４】
さらに、旋回用の油圧式無段変速機構で形成する操向部材（２８）は、第２油圧ポンプ（２６）の回転斜板の角度変更調節により第２油圧モータ（２７）の正逆回転と回転数の制御を行うもので、操向出力ブレーキ（６２）を有するブレーキ軸（６３）と、操向出力クラッチ（６４）を有するクラッチ軸（６５）と、前記の左右リングギヤ（３８）の外歯（３８ｂ）に常時噛合させる左右入力ギヤ（６６）（６７）を設け、第２油圧モータ（２７）の出力軸（６８）に前記ブレーキ軸（６３）及び操向出力クラッチ（６４）を介してクラッチ軸（６５）を連結させ、クラッチ軸（６５）に正転ギヤ（６９）を介して右入力ギヤ（６７）を連結させ、またクラッチ軸（６５）に正転ギヤ（６９）及び逆転ギヤ（７０）を介して左入力ギヤ（６６）を連結させている。そして、副変速スライダ（５５）（５６）の中立によって前記ブレーキ（６２）を入にしかつクラッチ（６４）を切にする一方、前記中立以外の副変速出力時にブレーキ（６２）を切にしかつクラッチ（６４）を入にし、右側のリングギヤ（３８）の外歯（３８ｂ）に正転ギヤ（６９）を介してモータ（２７）回転力を伝え、また左側のリングギヤ（３８）の外歯（３８ｂ）に正転ギヤ（６９）及び逆転ギヤ（７０）を介してモータ（２７）回転を伝え、第２油圧モータ（２７）を正転（逆転）時、左右同一回転数で、左リングギヤ（３８）を逆転（正転）させ、かつ右リングギヤ（３８）を正転（逆転）とさせるように構成している。
【００１５】
而して、旋回用の第２油圧モータ（２７）を停止させて左右リングギヤ（３８）を静止固定させた状態で、走行用の第１油圧モータ（２４）を駆動すると、第１油圧モータ（２４）からの回転出力はセンタギヤ（４６）から左右のサンギヤ（３６）に同一回転数で伝達され、左右遊星ギヤ機構（３５）のプラネタリギヤ（３７）・キャリヤ（４１）を介して左右の走行クローラ（２）が左右同一回転方向で同一回転数によって駆動され、機体の前後方向直進走行が行われる。一方、走行用の第１油圧モータ（２４）を停止させて左右のサンギヤ（３６）を静止固定させた状態で、旋回用の第２油圧モータ（２７）を正逆回転駆動すると、左側の遊星ギヤ機構（３５）が正或いは逆回転、また右側の遊星ギヤ機構（３５）が逆或いは正回転し、左右走行クローラ（２）を逆方向に駆動し、機体を左或いは右に旋回させる。また、走行用の第１油圧モータ（２４）を駆動させながら、旋回用の第２油圧モータ（２７）を駆動することにより、機体が左右に旋回して進路が修正されるもので、機体の旋回半径は第２油圧モータ（２７）の出力回転数によって決定される。
【００１６】
さらに、図２、図４乃至図１３に示す如く、前記運転台（１８）の前部上面にステアリングコラム（７１）を立設固定させ、ステアリングコラム（７１）上面上方側に操向ハンドル（１９）を縦軸回りに回転自在に取付けると共に、運転台（１８）左側にサイドコラム（７２）を設け、サイドコラム（７２）下方にミッション（２２）を配設させ、主変速レバー（７３）、副変速レバー（７４）、刈取クラッチレバー（７５）、脱穀クラッチレバー（７６）を前記サイドコラム（７２）に取付ける。また、前記ステアリングコラム（７１）は、アルミニウム合金鋳物を成形加工して形成し、左右に分割自在な２つ割れ構造で複数のボルト（７７）で締結して箱形に形成している。
【００１７】
また、前記ステアリングコラム（７１）上部にチルト台（７８）を一体形成し、チルト台（７８）に支点ボルト（７９）を介してチルトブラケット（８０）を回転自在に軸支させ、チルトレバー（８１）によってチルトブラケット（８０）を角度調節自在に固定させる。前記チルトブラケット（８０）に軸ケース（８２）下部を一体固定させ、コラム（７１）上面に固定させる上面カバー（８３）上方に軸ケース（８２）を延設させ、軸ケース（８２）内部に上ハンドル軸（８４）を回転自在に軸支させ、上ハンドル軸（８４）上端に操向ハンドル（１９）を固定させ、チルトレバー（８１）操作により支点ボルト（７９）回りにハンドル（１９）を前後方向に移動調節して一定位置に支持させ、ハンドル（１９）取付け位置を前後方向に調節して作業者が操作し易い位置に固定させる。
【００１８】
また、前記上ハンドル軸（８４）の下端部に自在継手（８５）を介して下ハンドル軸（８６）上端側を連結させ、下ハンドル軸（８６）をステアリングコラム（７１）上部に回転自在に軸支させると共に、ステアリングコラム（７１）上部に操向入力軸（８７）上端部を回転自在に軸支させ、下ハンドル軸（８６）のギヤ（８８）と操向入力軸（８７）のセクタギヤ（８９）を噛合させて各軸（８６）（８７）を連結させ、ステアリングコラム（７１）内部の略中央で上下方向に操向入力軸（８７）を延設させる。
【００１９】
さらに、前記ステアリングコラム（７１）の左側面で上下幅略中間に軸受部材（９０）を着脱自在に固定させ、変速入力軸（９１）の一端部を軸受部材（９０）にベアリング（９２）を介して回転自在に片持ち支持させ、変速入力軸（９１）を左右方向に略水平に軸支させると共に、操向入力軸（８７）下端に自在継手（９３）を介して入力支点軸（９４）上端側を連結させ、入力支点軸（９４）に操向入力部材（９５）を固定させ、変速入力軸（９１）に操向入力部材（９５）を回転自在に取付けると共に、操向入力部材（９５）に入力連結体（９６）を着脱自在に固定させ、連係ボルト（９７）によって前記操向入力部材（９５）と入力連結体（９６）を連結させ、また変速入力軸（９１）にベアリング（９５ａ）を介して操向入力部材（９５）を回転自在に軸支させ、操向入力部材（９５）を操向入力軸（８７）回りに回転自在に支持させる。また、前記操向入力軸（８７）の正逆転によって操向入力部材（９５）を略垂直な入力軸（８７）芯線回りに正逆転させると共に、前記変速入力軸（９１）の正逆転によって略水平な左右方向の入力軸（９１）芯線回りに入力支点軸（９４）及び操向入力部材（９５）を前後方向に傾動させるもので、垂直方向の操向入力軸（８７）芯線と左右水平方向の変速入力軸（９１）芯線とが直角交叉する交点に自在継手（９３）を取付け、操向ハンドル（１９）の操向入力軸（８７）正逆転操作により操向入力軸（８７）芯線回りに操向入力部材（９５）と入力連結体（９６）を正逆転させる。
【００２０】
さらに、前記ステアリングコラム（７１）の下部前側に主変速軸（９９）を回転自在に軸支させ、左右方向に略水平に横架させる主変速軸（９９）の左側端をステアリングコラム（７１）の左側外方に突設させると共に、サイドコラム（７２）下方の機台（３）に回転自在に設ける中介軸（１００）に、リンク（１０１）（１０２）並びに長さ調節ターンバックル（１０３）付きロッド（１０４）を介して主変速軸（９９）を連結させる。また、図４の如く、レバー支点軸（１０５）を介して機台（３）に回転自在に支点板（１０６）を取付け、支点板（１０６）に筒軸（１０７）を介して主変速レバー（７３）基部を左右方向に揺動自在に取付けると共に、支点板（１０６）にリンク（１０８）（１０９）を介して中介軸（１００）を連結させ、主変速レバー（７３）をレバー支点軸（１０５）回りに前後方向に揺動させる変速操作によって主変速軸（９９）を正逆転させる。また、ロッド形主変速部材（１１０）及び上連結板（１１１）及び下リンク（１１２）を介して変速入力軸（９１）に主変速軸（９９）を連結させ、主変速レバー（７３）の主変速軸（９９）正逆転操作により前記操向入力部材（９５）を変速入力軸（９１）芯線回りに前後に傾動させる。
【００２１】
さらに、筒軸形の操向出力軸（１１３）を前記主変速軸（９９）に回転自在に取付け、リンク形操向出力部材（１１４）を操向出力軸（１１３）に固定させると共に、ロッド形操向結合部材（１１５）の上端部を前記入力連結体（９６）に自在継手形操向入力連結部（１１６）を介して連結させ、球関継手形操向出力連結部（１１７）を介して操向結合部材（１１５）の下端部を操向出力部材（１１４）に連結させ、走行進路を変更させる操向機構（１１８）を構成している。
【００２２】
さらに、前記操向出力軸（１１３）の上方で該軸（１１３）と略平行に変速出力軸（１１９）をステアリングコラム（７１）内部に回転自在に軸支させ、リンク形変速出力部材（１２０）を変速出力軸（１１９）に固定させると共に、ロッド形変速結合部材（１２１）の上端部を前記入力連結体（９６）に自在継手形変速入力連結部（１２２）を介して連結させ、球関継手形変速出力連結部（１２３）を介して変速結合部材（１２１）の下端部を変速出力部材（１２０）に連結させ、走行速度の変更並びに前後進の切換を行う変速機構（１２４）を構成している。
【００２３】
さらに、互に回転自在な二重軸構造の内側の操向操作軸（１２５）並びに外側の変速操作軸（１２６）をステアリングコラム（７１）の下部後側で左右幅中央の軸受部（１２７）に回転自在に取付けるもので、長さ調節自在な球関継手軸（１２８）及び変速リンク（１２９）（１３０）を介して前記変速出力軸（１１９）に変速操作軸（１２６）上端部を連結させると共に、長さ調節自在な球関継手軸（１３１）及び操向リンク（１３２）（１３３）を介して前記操向出力軸（１１３）に操向操作軸（１２５）上端部を連結させる。
【００２４】
また、前記各操作軸（１２５）（１２６）は同一軸芯上に略垂直にステアリングコラム（７１）底部に立設させ、各操作軸（１２５）（１２６）上端部をステアリングコラム（７１）内部に延設させて各出力軸（１１３）（１１９）に連結させると共に、ステアリングコラム（７１）底面下方に各操作軸（１２５）（１２６）下端部を突設させ、前記運転台（２０）の作業者搭乗ステップ（１３４）下面側に各操作軸（１２５）（１２６）下端側を延設させるもので、前記変速部材（２５）の出力制御軸（１３５）に車速制御アーム（１３６）を固定させ、ターンバックル（１３７）付き長さ調節自在車速ロッド（１３８）及び車速リンク（１３９）を介して前記変速操作軸（１２６）下端部に車速制御アーム（１３６）を連結させ、出力制御軸（１３５）の正逆転操作により第１油圧ポンプ（２３）斜板角調節を行って第１油圧モータ（２４）の回転数制御及び正逆転切換を行い、走行速度（車速）の無段階変更並びに前後進の切換を行う。また、前記操向部材（２８）の出力制御軸（１４０）に操向制御アーム（１４１）を固定させ、ターンバックル（１４２）付き長さ調節自在旋回ロッド（１４３）及び旋回リンク（１４４）を介して操向操作軸（１２５）下端部に操向制御アーム（１４１）を連結させ、出力制御軸（１４０）の正逆転操作により第２油圧ポンプ（２６）斜板角調節を行って第２油圧モータ（２７）の回転数制御及び正逆転切換を行い、操向角度（旋回半径）の無段階変更並びに左右旋回方向の切替を行う。
【００２５】
さらに、前記ステアリングコラム（７１）の右側外面にアクセルレバー（１４５）を前後方向回転自在に設け、エンジン（２１）にアクセルレバー（１４５）を連結させるアクセルワイヤ（１４６）をステアリングコラム（７１）前面内側に沿わせて下方から延出させ、アクセルレバー（１４５）によってエンジン（２１）回転数を手動調節すると共に、前記ステアリングコラム（７１）後面にメンテナンス窓（１４７）を開設させ、着脱自在な蓋（１４８）によってメンテナンス窓（１４７）を閉鎖している。
【００２６】
上記から明らかなように、エンジン（２１）の駆動力を左右走行クローラ（２）に伝える差動機構（３３）と、左右走行クローラ（２）の駆動速度を無段階に変更させる変速部材（２５）と、左右走行クローラ（２）の駆動速度の差を無段階に変化させる操向部材（２８）を設けると共に、操向操作具である操向ハンドル（１９）によって回転させる操向入力軸（８７）と、変速操作具である主変速レバー（７３）によって回転させる変速入力軸（９１）と、変速入力軸（９１）を変速部材（２５）に連結させる変速機構（１２４）と、操向入力軸（８７）を操向部材（２８）に連結させる操向機構（１１８）を設け、変速機構（１２４）動作量に比例させて操向機構（１１８）操向量を変化させるもので、高速側走行変速によって操向量を自動的に拡大させ、かつ低速側走行変速によって操向量を自動的に縮少させ、操向ハンドル（１９）の一定量の操作によって走行速度に関係なく左右走行クローラ（２）の旋回半径を略一定に維持させ、農作業走行速度の変更並びに作物列などに機体を沿わせる進路修正などを行わせる。また、操向入力軸（８７）に操向入力部材（９５）を設け、変速入力軸（９１）芯線回りに操向入力部材（９５）を回転自在に取付け、変速出力軸（１１９）に設ける変速出力部材（１２０）に変速結合部材（１２１）を介して操向入力部材（９５）を連結させ、操向出力軸（１１３）に設ける操向出力部材（１１４）に操向結合部材（１１５）を介して操向入力部材（９５）を連結させ、逆円錐形の変速機構（１２４）並びに操向機構（１１８）を形成し、操向操作によって操向入力軸（８７）を回転させて操向入力部材（９５）を作動させ、例えば旋回させ乍ら走行速度を減速させる動作を行わせると共に、変速操作によって変速入力軸（９１）を回転させて操向入力部材（９５）を作動させ、走行変速による旋回半径の拡大縮少並びに走行変速中立による旋回出力の中止などの操作を行わせる。
【００２７】
また、操向入力部材（９５）と操向結合部材（１１５）を連結させる操向入力連結部（１１６）を変速入力軸（９１）芯線上に配設させ、変速入力部材（９６）と変速結合部材（１２１）を連結させる変速入力連結部（１２２）を、変速入力軸（９１）芯線と交叉する直線（Ａ）上に配設させ、操向入力軸（８７）及び変速入力軸（９１）を中心とする操向入力部材（９５）の相対的な運動を容易に設定でき、設計及び組立及び構造の簡略化並びに動作の信頼性向上などを図れると共に、変速入力軸（９１）芯線と操向入力軸（８７）芯線が交叉する軸芯交点（Ｂ）を中心とする円周（Ｃ）上に、変速入力連結部（１２２）並びに操向入力連結部（１１６）を配設させ、操向入力部材（９５）などの構造の簡略化及びコンパクト化などを図るもので、変速出力部材（１２０）と変速結合部材（１２１）を連結させる変速出力連結部（１２３）と、操向出力部材（１１４）と操向結合部材（１１５）を連結させる操向出力連結部（１１７）を、操向入力軸（８７）芯線上に配設させ、前進時と後進時の変速切換による逆ハンドル現像を容易に防止し、変速出力部材（１２０）及び操向出力部材（１１４）の設計及び組立及び構造の簡略化並びに動作の信頼性向上などを図ると共に、変速入力軸（９１）と操向入力軸（８７）の軸芯交点（Ｂ）に対する変速出力連結部（１２３）の距離と、操向出力連結部（１１７）の距離を異ならせ、変速出力連結部（１２３）と操向出力連結部（１１７）を同一直線（Ｄ）上で離間させることによって各連結部（１１７）（１２３）の干渉防止並びに移動範囲の設定などを容易に行え、変速結合部材（１２１）及び操向結合部材（１１５）を狭少場所に設置できるように構成している。
【００２８】
上記から明らかなように、エンジン（２１）の駆動力を左右走行クローラ（２）に伝える差動機構（３３）と、左右走行クローラ（２）の駆動速度を無段階に変更させる変速部材（２５）と、左右走行クローラ（２）の駆動速度の差を無段階に変化させる操向部材（２８）を設ける移動農機において、変速操作具である主変速レバー（７３）によって傾動させる変速入力軸（９１）をステアリングコラム（７１）にベアリング（９２）軸支させ、前記ベアリング（９２）を変速入力軸（９１）にナット（９１ａ）によって締付けて取付け、ステアリングコラム（７１）に変速入力軸（９１）をベアリング（９２）軸支させることによって取付け精度を向上させてガタの減少及び強度向上並びに動作抵抗低減などを行い、変速動作の信頼性向上並びに調整及びメンテナンスの省力化などを図ると共に、ステアリングコラム（７１）に着脱自在に設ける軸受部材（９０）に変速入力軸（９１）をベアリング（９２）軸支させ、前記軸受部材（９０）をステアリングコラム（７１）にボルト（９０ａ）によって固定させ、変速入力軸（９１）を回転自在に片持ち支持させて取付けた状態で軸受部材（９０）をステアリングコラム（７１）に着脱操作し、組立作業性の向上などを図るもので、操向操作具である操向ハンドル（１９）によって回転させる操向入力部材（９５）を変速入力軸（９１）にベアリング（９５ａ）軸支させ、前記入力支点軸（９４）下端部にナット（９４ａ）を螺着させ、前記ベアリング（９８）を操向入力部材（９５）にナット（９４ａ）によって締付けて取付け、変速入力軸（９１）に操向入力部材（９５）をベアリング（９５ａ）軸支させることによって取付け精度を向上させてガタの減少及び強度向上並びに動作抵抗低減などを行い、操向動作の信頼性向上並びに調整及びメンテナンスの省力化などを図るように構成している。
【００２９】
また、変速入力連結部（１１６）と、操向入力連結部（１２２）を、変速入力軸（９１）と操向入力軸（８７）の軸芯交点（Ｂ）を中心とする円周（Ｃ）上で約９０度離間させ、変速入力軸（９１）の回転によって操向入力連結部（１１６）を一定位置に維持させかつ変速入力連結部（１２２）の変位量を最大にして走行変速を行わせると共に、前記各入力連結部（１１６）（１２２）を移動させる平面上に変速入力軸（９１）を配置させる構造で各連結部（１１６）（１２２）の移動量を容易に確保し、コンパクトで機能的に操向入力部材（９５）を配置させるもので、操向入力軸（８７）回りに約９０度の範囲内で変速入力連結部（１２２）及び操向入力連結部（１１６）を移動させ、前後進切換による逆ハンドル現像の防止並びに各入力連結部（１１６）（１２２）の移動量の確保と共に、操向入力軸（８７）を回転させる操向角度に応じて変速入力連結部（１２２）を減速方向に移動させる動作と、旋回内側の走行クローラ（２）を中心に方向転換させるスピンターン動作を容易に行わせ、コンパクトな構造で機能的に構成している。また、前記スピンターン動作は、操向部材（２８）の出力により差動機構（３３）を介して左右走行クローラ（２）の一方を正転させかつもう一方を逆転させ、左右走行クローラ（２）の前後及び左右中心点回りに旋回させる動作であり、前後進走行と旋回とが同時に行われて前後進出力である変速部材（２５）の回転と旋回出力である操向部材（２８）の回転の割合により旋回半径が決定される。さらに、変速出力軸（１１９）及び操向出力軸（１１３）を変速入力軸（９１）と略平行に設け、前記各出力軸（１１３）（１１９）を複数に分割自在なケースを形成するコラム（７１）に高精度で軸支させると共に、変速入力軸（９１）並びに前記各出力軸（１１３）（１１９）を左右方向に延設させることによって機体前後方向の連結構造を容易に得られ、主変速レバー（７３）と変速入力軸（９１）の連結、並びに変速部材（２５）及び操向部材（２８）と前記出力軸（１１３）（１１９）との連結を容易に行え、操作構造の簡略化並びに取扱い性向上などを図れるように構成している。
【００３０】
さらに、図１４に示す如く、前記連係ボルト（９７）を遊嵌挿通させる位相調節長孔（１４９）を入力連結体（９６）に開設させると共に、操向入力軸（８７）芯線を中心とする同一円周上に前記長孔（１４９）を形成し、変速入力軸（９１）をボルト形基準設定部材（９８）と中立設定孔（１５０）の係合によって走行変速中立位置に固定させた状態で、操向入力部材（９５）だけを回転させ、変速入力軸（９１）に対して左右に回転させて操向入力部材（９５）の相対位置を修正するもので、操向ハンドル（１９）操作によって決定される旋回中立位置と走行速度の中立位置を設定する。
【００３１】
上記から明らかなように、エンジン（２１）の駆動力を左右走行クローラ（２）に伝える差動機構（３３）と、左右走行クローラ（２）の駆動速度を無段階に変更させる変速部材（２５）と、左右走行クローラ（２）の駆動速度の差を無段階に変化させる操向部材（２８）を設ける移動農機において、操向操作具である操向ハンドル（１９）によって回転させる操向入力部材（９５）に入力連結体（９６）を着脱自在にボルト（９７）止め固定させ、変速部材（２５）に連結させる変速結合部材（１２１）と、操向部材（２８）に連結させる操向結合部材（１１５）を、前記入力連結体（９６）に連結させ、変速部材（２５）と操向部材（２８）の相対制御関係を入力連結体（９６）によって略一定に維持し、走行変速及び操舵性能向上などを行い、また変速結合部材（１２１）及び操向結合部材（１１５）を取付けた状態で入力連結体（９６）を着脱し、組立及びメンテナンス等の作業性向上を図る。また、前記長孔（１４９）の案内によって操向入力軸（８７）回りに入力連結体（９６）を回転させて取付け位置を変更し、操向ハンドル（１９）と入力連結体（９６）の相対位置を変化させ、操向入力部材（９５）に対して入力連結体（９６）を取付け位置調節自在に形成し、変速結合部材（１２１）と操向結合部材（１１５）の相対位置を略一定に維持し乍ら各結合部材（１１５）（１２１）と操向入力部材（９５）の相対位置を変更し、組立またはメンテナンス時の調整作業の簡略化などを図ると共に、変速操作具である主変速レバー（７３）に連結させる変速入力軸（９１）に操向入力部材（９５）を取付けると共に、変速入力軸（９１）を基準位置に固定させる基準設定部材（９８）を係脱自在に設け、図１４に示すボルト止め体（９８ａ）を外し、図１５のように基準設定部材（９８）先端を中立設定孔（１５０）に係入させ、走行変速の中立位置並びに操向直進位置を中立設定孔（１５０）と基準設定部材（９８）の係合によって確定し、図８及び図１１に示すジョイントナット（１２１ａ）（１１５ａ）の螺出入操作により、変速結合部材（１２１）または操向結合部材（１１５）などの連結長さを伸縮させる組立時の調整などを行い、組立作業性の向上などを図るように構成している。
【００３２】
さらに、図１６乃至図１８に示す如く、前記ギヤ（８８）は、２７０度の外周範囲に複数の歯（１５１）を形成し、９０度の外周範囲を円弧（１５２）に形成し、操向ハンドル（１９）の全回転角度を２７０度とし、左操向回転または右操向回転の角度を１３５度に設定し、操向ハンドル（１９）回転操作を片手で作業者が容易に行えるように形成する。また、前記セクタギヤ（８９）は、１３０度の外周範囲に複数の歯（１５３）を形成し、２３０度の外周範囲を円弧カム（１５４）に形成し、前記ギヤ（８８）の歯（１５１）とセクタギヤ（８９）の歯（１５３）を噛合せ、各ギヤ（８８）（８９）の最大正逆転時、前記円弧（１５２）両端のストッパ（１５５）と前記円弧カム（１５４）両端のストッパ（１５６）を当接させ、操向ハンドル（１９）の回転を規制すると共に、操向入力軸（８７）芯線回りに操向入力部材（９５）及び入力連結体（９６）を６５度の範囲で正転または逆転させ、操向入力部材（９５）が回転移動する平面上に変速入力軸（９１）及び主変速部材（１１０）上端部を配置させる空間を確保し、変速入力軸（９１）芯線上に操向入力連結部（１１６）を設ける構造、並びに同一円周上で前記各入力連結部（１１６）（１２２）を９０度離間させる構造を容易に得られ、構造のコンパクト化、設計組立の簡略化などを図れるように構成している。
【００３３】
また、前記セクタギヤ（８９）の円弧カム（１５４）中央に直進ノッチ（１５７）を形成すると共に、前記ステアリングコラム（７１）上面壁にデテント軸（１５８）を回転自在に軸支させ、デテント軸（１５８）下端部にデテントアーム（１５９）を固定させ、デテントアーム（１５９）にローラ軸（１６０）を介してデテントローラ（１６１）を回転自在に軸支させ、前記円弧カム（１５４）にデテントローラ（１６１）を当接させ、直進ノッチ（１５７）に係脱自在にデテントローラ（１６１）を係合させ、操向ハンドル（１９）を直進位置に支持させる。また、前記デテント軸（１５８）上端側にデテントレバー（１６２）を固定させ、デテント軸（１５８）に巻装させる中立バネ（１６３）の一端をデテントレバー（１６２）に係止させ、ステアリングコラム（７１）の受板（１６４）に中立バネ（１６３）の他端を当接させ、円弧カム（１５４）及び直進ノッチ（１５７）にデテントローラ（１６１）を中立バネ（１６３）によって弾圧当接させている。また、操向ハンドル（１９）の直進位置をオンオフ切換によって電気的に検出するマイクロスイッチ型直進センサ（１６５）をデテントレバー（１６２）に取付けている。
【００３４】
さらに、図１２、図１３に示す如く、前記旋回ロッド（１４３）中間部に伸縮ダンパ（１６６）を設けるもので、一方のロッド（１４３）端部に固定させるバネケース（１６７）と、他方のロッド（１４３）端部に摺動自在に係止させるバネ座（１６８）（１６９）と、バネ座（１６８）（１６９）を介して圧縮状態にロッド（１４３）に巻装させる圧縮バネ（１７０）を、前記ダンパ（１６６）に備え、操向ハンドル（１９）の操向操作による押し方向と引き方向の双方向で前記ロッド（１４３）に一定以上の押引力が作用したとき、即ち、操向ハンドル（１９）の切角１１６度（８５パーセント）操作により、操向制御アーム（１４１）が最高出力位置に移動したとき、前記バネ（１７０）が圧縮してロッド（１４３）を伸縮させ、第２油圧ポンプ（２６）を最高出力維持した状態で操向ハンドル（１９）をさらに旋回方向に回転操作させ、操向ハンドル（１９）を切角１１６度から切角１３５度まで操作するように構成している。
【００３５】
さらに、図１２、図１９、図２０に示す如く、前記車速制御アーム（１３６）にピン（１７１）を固定させ、前記ピン（１７１）を摺動自在に貫挿させる長孔（１７２）を前記車速ロッド（１３８）端部に形成し、車速ロッド（１３８）を車速制御アーム（１３６）に長孔（１７２）及びピン（１７１）を介して連結させると共に、車速制御アーム（１３６）と同軸上にデテントカム（１７３）を固定させ、前記カム（１７３）にデテントローラ（１７４）をバネ（１７５）によって弾圧させ、前記カム（１７３）とローラ（１７４）によって車速制御アーム（１３６）を中立位置に自動的に復動させ、前記アーム（１３６）の中立支持によって第１油圧モータ（２４）を停止維持し、かつ前記アーム（１３６）が中立で主変速レバー（７３）が中立操作位置のときに前記長孔（１７２）の長手方向の略中央にピン（１７１）を位置させ、前記ロッド（１３８）の押引による前後進変速の両方に略等しいストロークがピン（１７１）に対して形成され、前後進変速の両方で前記アーム（１３６）が略対称（正逆転）動作を行うように構成している。
【００３６】
そして、図２０に示すように、中立位置（Ｏ）の主変速レバー（７３）を変速操作して不感帯ゾーン（Ｐ）を移動させて変速開始位置（Ｑ）に移動させることにより、車速ロッド（１３８）の押引によって長孔（１７２）の長手方向端部にピン（１７１）が当接し、主変速レバー（７３）と車速制御アーム（１３６）が連結させると共に、主変速レバー（７３）をさらに変速操作して変速ゾーン（Ｒ）を移動させて変速部材（２５）の最高出力位置（Ｓ）までの間に傾倒支持させることにより、中立位置（Ｔ）の車速制御アーム（１３６）を最高出力位置（Ｓ）までの変速ゾーン（Ｒ）に主変速レバー（７３）操作量に比例させて移動させ、変速部材（２５）の第１油圧モータ（２４）を無段階に変速出力させ、左右走行クローラ（２）を等速度で同一方向に駆動して前後進させるように構成している。
【００３７】
さらに、図１４、図２１、図２２に示す如く、前記軸受部（９０）に切欠（１７６）を設けて凹部（１７７）を形成し、操向ハンドル（１９）を左旋回最大切角（１３５度）操作したとき、変速入力連結部（１２２）及び変速結合部材（１２１）を前記凹部（１７７）に入り込ませ、前記連結部（１２２）が軸受部（９０）に当接する構造に比べ、操向ハンドル（１９）を左右旋回操作したときの最大車速減速率を大きく形成するもので、操向ハンドル（１９）の直進位置（Ｕ）を中心に、連係ボルト（９７）が位相調節孔（１４９）縁に当接するまでの間に定速ゾーン（Ｖ）が形成され、操向ハンドル（１９）の切角１５度以内の操向操作によって機体中心速度を略一定に保って進路を修正する。また、操向ハンドル（１９）をさらに操向操作して旋回ゾーン（Ｗ）を移動させて操向部材（２８）の最高出力位置（Ｘ）までの操向ハンドル（１９）切角１１６殿間で回転させることにより、操向ハンドル（１９）回転角度に比例して操向制御アーム（１４１）を最高出力位置（Ｘ）までの間で移動させ、操向部材（２８）の第２油圧モータ（２７）を無段階に変速出力させ、左右走行クローラ（２）の速度差を無段階に変更させると共に、操向ハンドル（１９）回転角度に比例して車速ロッド（１３８）及び車速制御アーム（１３６）を変速中立方向に復動させ、左右走行クローラ（２）の走行速度を無段階に減速させ、操向ハンドル（１９）切角を大きくすることにより、旋回半径が小さくなり、走行速度が遅くなり、左右旋回動作が行われる。また、切角１１６度の操向ハンドル（１９）をさらに操向操作してスピンターンゾーン（Ｙ）内を切角１３５度の最大操向位置（Ｚ）までの間に回転させることにより、ダンパ（１６６）の伸縮吸収動作によって旋回ロッド（１４３）（連結長さ）を伸縮させ、操向制御アーム（１４１）を最高出力位置（Ｘ）に維持した状態で、車速ロッド（１３８）及び車速制御アーム（１３６）をさらに変速中立方向に復動させ、左右走行クローラ（２）の左右幅中間に形成される旋回中心回りに方向転換するスピンターン動作が行われるように構成している。
【００３８】
また、図１９、図２０、図２２のように、車速ロッド（１３８）と車速制御アーム（１３６）を長孔（１７２）によって連結させ、主変速レバー（７３）の変速操作ストローク（Ｌ）を実変速ストロークよりも大きく形成すると共に、変速入力連結部（１２２）の左旋回方向に設ける軸受部（９０）に凹部（１７７）を形成して前記連結部（１２２）を凹部（１７７）に出入させ、主変速レバー（７３）最大出力操作時に操向ハンドル（１９）最大切角（１３５度）で車速減速率を２５パーセントに設定し、前記変速機構（１２４）によって減速率を４０パーセントまで下げたのに対し、さらに減速率を上げて２５パーセントまで減速させ、スピンターン動作を行わせ、圃場枕地で機体を約１８０度方向転換させて次の未刈り穀稈刈取り工程に移動させるように構成している。なお、図２２のように、主変速レバー（７３）最大出力時、操向ハンドル（１９）の切角１１６度でダンパ（１６６）が作動して操向部材（２８）が最高出力維持されると、操向ハンドル（１９）の切角１１６度乃至１３５度の範囲で左右走行クローラ（２）の減速率が略等しく保たれるもので、操向ハンドル（１９）の切角１１６度の位置で左右走行クローラ（２）速度差が最大となり、操向ハンドル（１９）の切角１１６度乃至１３５度の範囲で、左右走行クローラ（２）の速度差が略一定に維持され、走行速度がハンドル（１９）切角に比例して減速される。
【００３９】
上記から明らかなように、操向操作具である操向ハンドル（１９）の操向操作による変速部材（２５）の減速操作範囲を操向部材（２８）の操向動作範囲よりも大きく形成し、操向操作によって操向部材（２８）を最大出力制御してスピンターン動作を行わせるときの変速部材（２５）の減速制御量を確保し、圃場枕地でのスピンターン動作による方向転換操作などの旋回機能の向上を図るもので、操向ハンドル（１９）の一定操向操作量以上で操向部材（２８）を最大出力維持し乍ら走行速度を減速させ、低速走行での旋回性を向上させると共に、走行抵抗の変化などに対して旋回力の変化を低減して安定した旋回動作を得られると共に、一定操向操作量以上で旋回操作部材である旋回ロッド（１４３）の連結長さを変化させて操向部材（２８）出力を最大維持する最大出力部材であるダンパ（１６６）を設け、操向部材（２８）を最大出力維持し乍ら操向ハンドル（１９）をさらに操向操作して走行速度の減速操作量を確保する。また、操向入力部材（９５）と操向結合部材（１１５）を連結させる操向入力連結部（１１６）を変速入力軸（９１）芯線上に配設させ、変速入力部材（９６）と変速結合部材（１２１）を連結させる変速入力連結部（１２２）を、変速入力軸（９１）芯線と交叉する直線上に配設させ、各入力部材（９５）（９６）と操向結合部材（１１５）及び変速結合部材（１２１）を移動させる逆円錐形軌跡の底円部を変速入力軸（９１）によって支持させ、変速入力軸（９１）の中立位置保持によって操向ハンドル（１９）の操向操作による旋回出力を中止維持すると共に、左右の旋回性能並びに前後進切換による旋回時の減速性能を均等に得られて操舵機能を向上させるように構成している。
【００４０】
また、変速入力軸（９１）の軸受部（９０）に形成する凹部（１７７）に、操向ハンドル（１９）最大操作により、変速結合部材（１２１）及び変速入力連結部（１２２）を入り込ませ、変速入力軸（９１）と操向入力連結部（１１６）及び変速入力連結部（１２２）を略同一平面上に配置させるコンパクトで機能的な構造で、操向操作による走行速度の減速率を大きく設定し、スピンターン機能を向上させると共に、変速部材（２５）の車速制御部材である車速制御アーム（１３６）と車速操作部材である車速ロッド（１３８）を融通連結させ、主変速レバー（７３）による車速ロッド（１３８）の操作量よりも車速制御アーム（１３６）の操作量を少なく設定し、前記各操作量が等しい構造に比べ、操向ハンドル（１９）による車速制御アーム（１３６）の減速動作量を多くして減速率を大きく形成し、スピンターン動作に必要な減速率を容易に得られて圃場枕地での方向転換機能の向上などを図るもので、車速制御アーム（１３６）と車速ロッド（１３８）を長孔（１７２）とピン（１７１）によって連結させ、長孔（１７２）及びピン（１７１）の大きさによって車速ロッド（１３８）の操作量または車速制御アーム（１３６）の減速動作量などを容易に決定でき、変速部材（２５）及び操向部材（２８）の出力特性並びに操向ハンドル（１９）の減速制御動作などの考慮を容易に行え、車速ロッド（１３８）取付け構造の簡略化、並びに組立作業など取扱い性向上、並びに製造コストの低減などを図れるように構成している。
【００４１】
さらに、前記主変速レバー（７３）の不感帯ゾーン（Ｐ）の操作によって前記入力部材（９５）（９６）を変速入力軸（９１）回りに中立位置（Ｐ）から変速開始位置（Ｑ）に移行させ、操向ハンドル（１９）の直進位置を中心とする定速ゾーン（Ｖ）でのハンドル（１９）切角に対する操向制御アーム（１４１）の動作比を大きくし、主変速レバー（７３）を変速ゾーン（Ｒ）に移行させて微速走行させたとき、操向ハンドル（１９）の定速ゾーン（Ｖ）での操作で、操向制御アーム（１４１）の動作量を多くし、操向部材（２８）の第２油圧ポンプ（２６）の回転変化率をハンドル（１９）切角変化に対して大きくし、第２油圧ポンプ（２６）の微速出力での旋回動作時間を短縮し、前記モータ（２７）微速出力域で旋回動作が行われるのを阻止し、主変速レバー（７３）微速走行状態での操向ハンドル（１９）による旋回動作が第２油圧ポンプ（２６）出力を一定以上大きくして行われるように構成している。このように、第２油圧ポンプ（２６）の微速回転出力での旋回動作を防ぐことにより、第２油圧ポンプ（２６）が微速出力域で低効率であっても、第２油圧ポンプ（２６）の出力を一定以上確保して旋回動作を行わせることができる。また、主変速レバー（７３）の変速操作により、操向ハンドル（１９）による操向部材（２８）の制御が一定以上の旋回力を確保して開始されるように設定した後、走行変速動作を遅れて開始させ、微速移動時の操向部材（２８）の旋回力不足を防止し得、操向部材（２８）など製造コストの低減並びに左右走行クローラ（２）の旋回性能向上などを図るもので、主変速レバー（７３）の操作により、変速入力軸（９１）芯線回りに操向及び変速入力部材（９５）（９６）を一定角度回転させた後、各入力部材（９５）（９６）が変速部材（２５）に連結されて変速部材（２５）を作動させ、変速操作によって各入力部材（９５）（９６）を操向動作状態に移動させた後で変速部材（２５）から出力させて走行クローラ（２）を駆動するから、走行出力が小さい微速移動時でも、操向ハンドル（１９）の操向操作による操向部材（２８）の制御量を多くして必要な旋回力を確保し、微速移動時の旋回性能の向上などを図れるように構成している。
【００４２】
本実施例は上記の如く構成するもので、前記主変速レバー（７３）が中立のとき、操向ハンドル（１９）の正転（逆転）操作により、操向入力軸（８７）芯線回りに前記各入力部材（９５）（９６）及び各結合部材（１１５）（１２１）が円錐軌跡上で移動し、前記各出力部材（１１４）（１２０）及び各出力軸（１１３）（１１９）が停止した状態が維持される。
【００４３】
また、主変速レバー（７３）を前方（後方）に倒す前進（後進）操作により、前記各入力部材（９５）（９６）が変速入力軸（９１）芯線回りに前方（後方）に傾き、操向入力連結部（１１６）が一定位置に停止した状態を維持し乍ら、変速入力連結部（１２２）を上方（下方）に移動させ、変速出力部材（１２０）の上方（下方）揺動によって変速出力軸（１１９）を正転（逆転）させ、変速部材（２３）の第１油圧ポンプ（２３）の斜板角切換によって第１油圧モータ（２４）を正転（逆転）させ、第１油圧モータ（２４）の出力軸（３１）の正転（逆転）によって左右走行クローラ（２）を前進（後進）駆動する。また、主変速レバー（７３）の倒し角に比例して出力軸（３１）の回転数が変化し、走行クローラ（２）の前進（後進）速度が無段階に変速される。
【００４４】
さらに、主変速レバー（７３）を前方（後方）に倒して前進（後進）操作を行っている状態下で、操向ハンドル（１９）を左方向（右方向）に回転させることにより、変速入力軸（９１）芯線回りに操向入力部材（９５）が前方（後方）に傾いた姿勢で操向入力軸（８７）芯線回りに正転（逆転）し、操向入力連結部（１１６）が下方（上方）に移動し、操向出力部材（１１４）の下方（上方）揺動によって操向出力軸（１１３）を正転（逆転）させ、操向部材（２８）の第２油圧ポンプ（２６）の斜板角切換によって第２油圧モータ（２７）を正転（逆転）させ、第２油圧モータ（２７）の出力軸（６８）の正転（逆転）により、左走行クローラ（２）を減速（増速）させ、かつ右走行クローラ（２）を増速（減速）させ、左方向（右方向）に機体を旋回させて左方向（右方向）に進路を修正する。また、前記の進路修正動作と同時に、操向ハンドル（１９）の左方向（右方向）回転により、変速入力軸（９１）芯線回りに変速入力部材（９６）が前方（後方）に傾いた状態で操向入力軸（８７）芯線回りに正転（逆転）し、変速入力連結部（１２２）が下方（上方）に移動し、変速出力部材（１２０）の下方（上方）揺動によって変速出力軸（１１９）を逆転（正転）させ、変速部材（２５）を中立方向に戻す制御を行って出力軸（３１）の回転数を低下させ、走行速度（車速）を減速させる。このように、走行移動中の操向ハンドル（１９）の左右操向操作により、操向ハンドル（１９）の回転角度に比例して、進路を修正する旋回半径（角度）と、走行速度の減速量が変化し、操向ハンドル（１９）を大きく回転させることによって左右走行クローラ（２）の速度差を大きくして旋回半径を小さくすると同時に、走行速度の減速量が多くなって車速が遅くなると共に、前進時と後進時とでは、操向ハンドル（１９）の回転に対して旋回入力連結部（１１６）の動きを逆方向にし、前後進の何れにおいても操向ハンドル（１９）の回動操作方向と機体の旋回方向とを一致させ、回転操作する丸形の操向ハンドル（１９）の回転操作によって例えばトラクタまたは田植機など四輪自動車と同様の運転感覚で進路修正及び方向転換などを行う。
【００４５】
さらに、図２２は機体の左右旋回時における操向ハンドル（１９）の切れ角と左右走行クローラ（２）の速度の関係を示すもので、ハンドル（１９）の切れ角が大となる程左右走行クローラ（２）の速度差は大となると共に、左右走行クローラ（２）の平均速度となる機体中心速度も副変速レバー（７４）の走行速度（高速・標準・低速）状態に応じて減速される。直進位置の操向ハンドル（１９）を左方向（右方向）に約１５度回転させる刈取り進路修正範囲では、操向入力部材（９５）の回転に対して変速入力連結部（１２２）が略接線方向に移動し、変速出力部材（１２０）が直進と略同一位置に維持されると共に、操向部材（２８）の第２油圧ポンプ（２６）によって第２油圧モータ（２７）を正転（逆転）させる操向出力によって左方向（右方向）に旋回させ、未刈り穀稈（作物）列の湾曲に合せる進路修正を行う。このとき、旋回内側の走行クローラ（２）の減速量と、旋回外側の走行クローラ（２）の増速量が略等しくなり、機体中心速度が直進と略同一速度に保たれる。また、操向ハンドル（１９）を直進位置から１５度以上回転させると、操向入力部材（９５）の回転によって変速結合部材（１２１）が押引動作され、変速出力部材（１２０）が左旋回及び右旋回のいずれでも減速動作し、第１油圧ポンプ（２３）及びモータ（２４）の走行変速出力を減速させ、左右走行クローラ（２）（２）を同一方向に回転駆動させて前進（または後進）させ、左右走行クローラ（２）（２）の走行速度差により左方向（右方向）に旋回するブレーキターン動作を行わせ、未刈り穀稈（作物）列から外れたときに元の列に戻したり隣の列に移動させる進路修正を行う。さらに、操向ハンドル（１９）を約１１６度回転させると、ダンパ（１６６）が作動して旋回出力が最高出力維持され、１３５度の切角範囲で機体中心速度が直進時の約４分の１に減速され、旋回内側の走行クローラ（２）が逆転駆動され、左右走行クローラ（２）の間の旋回中心回りに機体が旋回するスピンターン動作が行われ、左右走行クローラ（２）の左右幅だけ旋回方向にずらせて機体を１８０度方向転換させるもので、ハンドル切角０度からハンドル切角１３５度の範囲で操向ハンドル（１９）を回転させて左または右方向の旋回操作を行い、直進位置を中心とした左右１５度のハンドル（１９）回転範囲で未刈り穀稈（作物）列に沿って移動する条合せ進路修正を、直進時の走行速度を維持し乍ら行うと共に、左右１１６度乃至１３５度のハンドル（１９）回転により、旋回部材（２８）を最高出力維持し乍ら、圃場枕地で機体を方向転換させて次作業工程に移動させるスピンターン動作を、直進時の約４分の１の走行速度（減速率２５パーセント）に自動的に減速して行う。
【００４６】
さらに、副変速を標準（秒速１．５メートル）速度に保ち、操向ハンドル（１９）を９０度回転させたとき、主変速レバー（６８）操作により主変速出力を高速及び３分の２及び３分の１に変更しても、機体の旋回半径が略一定に保たれた状態で、旋回速度（機体中心速度）だけを変化させる。また、直進位置を基準として連係ボルト（９７）と位相調節孔（１４９）の設定範囲で第１油圧ポンプ（２３）及び第１油圧モータ（２４）を直進状態に維持させ、農作業中に作物列または畦などに機体を沿わせる操向操作を行っても走行速度が不均一に変化するのを防止し、略同一走行速度を保ち乍ら農作業中の進路修正を行え、作業者の運転感覚と機体の走行動作とを略一致させて適正な操向操作を行える。また、主変速レバー（７３）の変速基準値を切換える副変速レバー（７４）副変速操作の低速及び標準及び高速切換に比例させて旋回半径を小径乃至大径に変化させ、第１油圧ポンプ（２３）及びモータ（２４）と走行クローラ（２）間の減速比並びに第２油圧ポンプ（２６）及びモータ（２７）と走行クローラ（２）間の減速比の設定、或いはスピンターン動作に必要な小半径旋回に必要な走行駆動力の確保などを図ると共に、同一副変速操作位置で主変速レバー（７３）を操作することによって旋回半径を略一定に保った状態で旋回時の走行速度を変化させ、作業者の熟練度などに応じた運転操作を行え、機動性の向上並びに運転操作性の向上などを図る。
【００４７】
さらに、図２３は変形実施例を示すもので、、前記主変速レバー（７３）の変速操作位置及び中立位置及び前後進切換動作を検出するポテンショメータ型主変速センサ（１７８）と、前記副変速機構（３２）を切換える副変速レバー（７４）の変速操作位置及び中立位置を検出するポテンショメータ型副変速センサ（１７９）と、操向ハンドル（１９）の操向操作位置（切角）を検出するポテンショメータ型操向角度センサ（１８０）と、作業者が切換える手元操作部材（１８１）の操作によって操向ハンドル（１９）の切角増大に対する車速の減速比を変更させるボリューム形旋回感度設定器（１８２）と、前記左右車速センサ（１８３）（１８４）及び直進センサ（１６５）を、マイクロコンピュータで形成する変速操向コントローラ（１８５）に入力接続させる。
【００４８】
また、前記変速モータ（１８６）を正転または逆転させる増速及び減速回路（１８７）（１８８）を前記コントローラ（１８５）に接続させ、主変速レバー（７３）操作量（操作角度）に対して変速モータ（１８６）による第１油圧ポンプ（２３）の斜板角を略正比例させて変化させ、主変速レバー（７３）の傾き操作に応じた車速を得ると共に、変速ブレーキシリンダ（１８９）を作動させる主変速回路（１９０）を前記コントローラ（１８５）に接続させ、主変速レバー（７３）中立時に第１油圧モータ（２４）の出力軸を停止維持させ、主変速レバー（７３）中立操作状態下での第１油圧モータ（２４）による走行クローラ（２）の駆動を阻止している。
【００４９】
また、前記操向モータ（１９１）を正転または逆転させる左右旋回回路（１９２）（１９３）を前記コントローラ（１８５）に接続させ、操向ハンドル（１９）の操向操作量（左右回転角度）に対して操向モータ（１９１）による第２油圧ポンプ（２６）の斜板を略正比例させて変化させ、また主変速レバー（７３）の前進操作時と後進操作時とでは、操向ハンドル（１９）の左右回転に対して左右旋回出力を逆にし、前進時と後進時とで逆ハンドルになるのを防ぎ、四輪自動車と同じ操向動作を行わせて前後進させる。また、主変速レバー（７３）が中立のときは、第２油圧ポンプ（２６）の斜板角を零に保ち、第２油圧モータ（２７）の出力軸を停止維持し、主変速中立状態下でのハンドル（１９）操作による旋回動作を阻止すると共に、操向ハンドル（１９）切角に応じて大きくなる第２油圧ポンプ（２６）の斜板角の絶対値を主変速レバー（７３）操作角度の絶対値と比例するように制御し、操向ハンドル（１９）切角が一定のときに車速を変化させても旋回半径を一定に保ち、四輪自動車と同じ操向動作で旋回させる。また、直進バルブ（１９４）を切換えて操向ブレーキシリンダ（１９５）及びクラッチシリンダ（１９６）を作動させる直進回路（１９７）を前記コントローラ（１８５）に接続させ、副変速中立またはハンドル（１９）直進によって第２油圧モータ出力（２７）を自動的に停止させる。また、未刈り穀稈列に対する刈取部（８）の位置を検出させる操向センサ（１９８）と、前記センサ（１９８）の検出結果に基づき操向モータ（１９１）を自動制御する操向回路（１９９）を設け、操向ハンドル（１９）の手動操作による操向角度センサ（１８０）入力を優先させ乍ら操向センサ（１９８）入力によって操向モータ（１９１）を作動させ、未刈り穀稈列に沿わせて進路を自動的に修正させ、収穫作業を行わせる。このように、変速モータ（１８６）及び操向モータ（１９１）をコントローラ（１８５）によって電気的に制御して走行変速並びに操向の各動作を行わせることにより、上記図４乃至図２２に示した機械的制御を、図２３のコントローラ（１８５）を用いて電気的制御に置換させることができるものである。
【００５０】
さらに、図３、図２４に示す如く、エンジン（２１）の出力軸（２１ａ）に走行用の伝達ベルト（３０ａ）を介して変速部材（２５）の入力軸（２９ａ）を連結させると共に、前記入力軸（２９ａ）に操舵用の伝達ベルト（３０ｂ）を介して操向部材（２８）の入力軸（２９ｂ）を連結させるもので、伝達ベルト（３０ｂ）等の操向駆動側が損傷して操向動作が行われないときでも、変速部材（２５）をエンジン（２１）からの動力によって駆動でき、緊急脱出等の直進走行を行える。
【００５１】
【発明の効果】
以上実施例から明らかなように本発明は、エンジン（２１）の駆動力を左右走行クローラ（２）に伝える差動機構（３３）と、左右走行クローラ（２）の駆動速度を無段階に変更させる変速部材（２５）と、左右走行クローラ（２）の駆動速度の差を無段階に変化させる操向部材（２８）を設ける移動農機において、操向操作具（１９）によって回転させる操向入力部材（９５）に入力連結体（９６）を着脱自在に固定させ、変速部材（２５）に連結させる変速結合部材（１２１）と、操向部材（２８）に連結させる操向結合部材（１１５）を、前記入力連結体（９６）に連結させたもので、変速部材（２５）と操向部材（２８）の相対制御関係を略一定に維持でき、走行変速及び操舵性能向上などを容易に行うことができ、また変速結合部材（１２１）及び操向結合部材（１１５）を取付けた状態で入力連結体（９６）を着脱でき、組立及びメンテナンス等の作業性向上を容易に図ることができるものである。
【００５２】
また、操向入力部材（９５）に対して入力連結体（９６）を取付け位置調節自在に形成したもので、変速結合部材（１２１）と操向結合部材（１１５）の相対位置を略一定に維持し乍ら各結合部材（１１５）（１２１）と操向入力部材（９５）の相対位置を変更でき、組立またはメンテナンス時の調整作業の簡略化などを容易に図ることができるものである。
【００５３】
また、変速操作具（７３）に連結させる変速入力軸（９１）に操向入力部材（９５）を取付けると共に、変速入力軸（９１）を基準位置に固定させる基準設定部材（９８）を係脱自在に設けたもので、走行変速の中立位置並びに操向直進位置を基準設定部材（９８）の係合によって確定でき、変速結合部材（１２１）または操向結合部材（１１５）などの連結長さを伸縮させる組立時の調整などを容易に行うことができ、組立作業性の向上などを容易に図ることができるものである。
【図面の簡単な説明】
【図１】コンバインの全体側面図。
【図２】コンバインの全体平面図。
【図３】ミッション駆動系の説明図。
【図４】走行変速及び操向操作部の説明斜視図。
【図５】同部の作動説明図。
【図６】ステアリングコラムの側面図。
【図７】同上部拡大側面図。
【図８】同下部拡大側面図。
【図９】ステアリングコラムの正面図。
【図１０】同上部拡大正面図。
【図１１】同下部拡大正面図。
【図１２】図４の平面説明図。
【図１３】同拡大図。
【図１４】ステアリングコラム横断面図。
【図１５】設定操作説明図。
【図１６】ステアリングコラム上部の部分平面図。
【図１７】同部分図。
【図１８】図１６の作動説明図。
【図１９】変速部材作動説明図。
【図２０】主変速動作説明図。
【図２１】操向動作説明図。
【図２２】主変速と操向ハンドル操作を示す線図。
【図２３】走行変速及び操向制御回路図。
【図２４】ミッションケース部の側面図。
【符号の説明】
（２） 走行クローラ
（１９） 操向ハンドル（操向操作具）
（２１） エンジン
（２５） 変速部材
（２８） 操向部材
（３３） 差動機構
（７３） 主変速レバー（変速操作具）
（９１） 変速入力軸
（９５） 操向入力部材
（９６） 入力連結体
（９８） 基準設定部材
（１１５） 操向結合部材
（１２１） 変速結合部材[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a mobile agricultural machine such as a combine or a tilling tractor or a field management vehicle that continuously harvests and thresh cereals in a field.
[0002]
[Problems to be solved by the invention]
Conventionally, a combine equipped with a left and right traveling crawler is moved and moved along an uncut cereal row in the field, and harvesting is performed while turning the combine at a field headland to change the combine in the next step. Although it was moved in a row, the left and right traveling output of the transmission case transmitting the engine output is transmitted to the left and right traveling crawlers via the left and right side clutches, and one of the left and right traveling crawlers is temporarily suspended by the intermittent operation of the left and right side clutches. When the vehicle is stopped and turned, it is necessary for the operator to perform both the left and right side clutch operations and the traveling speed change operation at substantially the same time, and the turning radius when turning in the field headland increases. is there.
[0003]
Therefore, by installing left and right hydraulic continuously variable transmissions that transmit the engine power separately and driving the left and right traveling crawlers, it is possible to easily reduce the turning radius and reduce the turning radius, but the straight running performance tends to deteriorate. There is a problem that the steering operation for traveling along the uncut grain row is troublesome.
[0004]
In addition, by providing a single hydraulic continuously variable transmission mechanism that shifts engine power to the left and right traveling crawlers, and a hydraulic continuously variable steering mechanism that decelerates the traveling crawler inside the turn and accelerates the traveling crawler outside the turn. The straight running performance can be maintained well and the turning radius can be easily reduced, but the turning radius can be increased by increasing the traveling speed, or the turning radius can be decreased by decreasing the traveling speed. For example, in order to obtain a steering sensation that keeps the turning radius substantially constant regardless of the traveling speed, as in a four-wheeled vehicle, the operator can sensibly adjust the steering operation amount according to the change in the traveling speed during the traveling speed change operation. There is a problem in handling such that it is necessary to change, and it is easy to move away from an uncut grain culm row, an uncultivated land, or a crop culm by meandering during farming performed by straight traveling. In particular, when a round steering handle is provided, the steering performance can be improved while maintaining a constant traveling speed as compared with a steering structure having a left and right side clutch and a left and right side clutch lever. It is not easy to steer with the driving feeling of a four-wheeled vehicle, and it is not possible to easily improve driving operability such as driving speed change operation and steering operation and improve steering function, especially during agricultural work. It is not possible to easily improve the turning function such as the spin turn operation that changes the direction on the field headland, and the speed change mechanism that changes the driving speed of the left and right traveling crawlers and the operation that changes the difference in the driving speed of the left and right traveling crawlers. There are problems such as simplification of the direction mechanism, improvement of assembly, improvement of operation reliability, and labor saving of adjustment maintenance.
[0005]
[Means for Solving the Problems]
However, in the present invention, the differential mechanism that transmits the driving force of the engine to the left and right traveling crawlers, the speed change member that changes the driving speed of the left and right traveling crawlers continuously, and the difference between the driving speeds of the left and right traveling crawlers are changed continuously. In a mobile agricultural machine having a steering member to be operated, an input coupling body is detachably fixed to a steering input member that is rotated by a steering operation tool, and a transmission coupling member that is connected to the transmission member, and a steering that is connected to the steering member. The coupling member is coupled to the input coupling body so that the relative control relationship between the transmission member and the steering member can be maintained substantially constant, and the traveling speed change and the steering performance can be easily improved. In addition, the input connector can be attached and detached with the steering coupling member attached, and workability such as assembly and maintenance can be easily improved.
[0006]
Further, the input coupling body is formed so that the attachment position can be adjusted with respect to the steering input member, and each coupling member and the steering input member are maintained while maintaining the relative position of the transmission coupling member and the steering coupling member substantially constant. The relative position can be changed, and the adjustment work during assembly or maintenance can be simplified.
[0007]
In addition, a steering input member is attached to the transmission input shaft connected to the transmission operation tool, and a reference setting member for fixing the transmission input shaft to the reference position is detachably provided. The rectilinear position can be determined by the engagement of the reference setting member, the adjustment of the connecting length such as the speed change coupling member or the steering coupling member can be easily adjusted, and the assembly workability can be easily improved. It is possible.
[0008]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below in detail with reference to the drawings. 1 is an overall side view of the combine, and FIG. 2 is a plan view thereof. In FIG. 1, (1) is a track frame on which a pair of left and right traveling crawlers (2) are installed, and (3) is the track frame (1). A machine base to be installed, (4) is a threshing section that stretches the feed chain (5) to the left and incorporates a handling cylinder (6) and a processing cylinder (7), (8) is a cutting blade (9) and grains A cutting part provided with a reed transport mechanism (10), (11) is a hydraulic cylinder that raises and lowers the reeding part (8) via a cutting frame (12), and (13) is a discharge part that faces the end of the waste chain (14). A cocoon processing unit, (15) is a cereal tank that carries the grain from the threshing unit (4) through the milling cylinder (16), and (17) carries the cereal of the tank (15) out of the machine. A discharge auger (18) is a cab with a round steering handle (19) and a driver seat (20), (2 ) Is an engine provided in the driver's seat (20) downward, and configured to threshing continuously harvests culms.
[0009]
Further, as shown in FIG. 3, the transmission case (22) for driving the traveling crawler (2) includes a pair of first hydraulic pump (23) and first hydraulic motor (24) for traveling main transmission. A speed change member (25) forming a hydraulic continuously variable transmission mechanism, a pair of second hydraulic pump (26) and a second hydraulic motor (27) are provided to form a hydraulic continuously variable transmission mechanism for turning. Direction member (28), and input shafts (29a) (29b) of the first and second hydraulic pumps (23), (26) to the output shaft (21a) of the engine (21). 30b) and the hydraulic pumps (23) and (26) are driven.
[0010]
Further, the drive wheels (34) of the left and right traveling crawler (2) are interlockedly connected to the output shaft (31) of the first hydraulic motor (24) via the subtransmission mechanism (32) and the differential mechanism (33). The differential mechanism (33) has a pair of symmetrical planetary gear mechanisms (35) (35), and each planetary gear mechanism (35) includes one sun gear (36) and the sun gear ( 36) three planetary gears (37) meshing with the outer periphery of the
[0011]
The planetary gear (37) is rotatably supported by the carrier (41) of the carrier shaft (40) coaxial with the sun gear shaft (39), and the left and right sun gears (36) (36) are sandwiched between the left and right carriers. The ring gear (38) has an inner tooth (38a) that meshes with each planetary gear (37) and is arranged on the same axis as the sun gear shaft (39), so that the carrier shaft (40 The carrier shaft (40) is extended to form an axle to support the drive wheel (34).
[0012]
The traveling hydraulic continuously variable transmission member (25) controls forward / reverse rotation and rotation speed of the first hydraulic motor (24) by adjusting and changing the angle of the rotary swash plate of the first hydraulic pump (23). Therefore, the rotation output of the first hydraulic motor (24) is transmitted from the transmission gear (42) of the output shaft (31) via the gears (43) (44) (45) and the auxiliary transmission mechanism (32) to the sun gear shaft. The sun gear (36) is rotated by being transmitted to the center gear (46) fixed to (39). The sub-transmission mechanism (32) includes a sub-transmission shaft (47) having the gear (44) and a parking brake shaft (49) having a gear (48) meshing with the center gear (46) via the gear (45). ), And a pair of low speed gears (50) (51), medium speed gears (52) (53), and high speed gears (54) between the auxiliary transmission shaft (47) and the brake shaft (49). (48) is provided, and the sub-shift is switched between low speed, medium speed, and high speed by sliding operation of the low and medium speed slider (55) and the high speed slider (56). There is neutrality between low speed and medium speed and between medium speed and high speed. In addition, a parking brake (57) is provided on the brake shaft (49), and gears (59) (60) and a one-way clutch (61) are provided on a cutting PTO shaft (58) that transmits rotational force to the cutting portion (8). The sub-transmission shaft (47) is coupled to the cutting part (8) at the vehicle speed synchronization speed.
[0013]
As described above, the driving force from the first hydraulic motor (24) transmitted to the sun gear shaft (39) via the center gear (46) is transmitted to the left and right carrier shafts (40) via the left and right planetary gear mechanisms (35). ) And the rotation transmitted to the left and right carrier shafts (40) to the left and right drive wheels (34), respectively, to drive the left and right traveling crawler (2).
[0014]
Further, the steering member (28) formed by the turning hydraulic continuously variable transmission mechanism is configured to rotate the second hydraulic motor (27) forward and backward by adjusting the angle of the rotary swash plate of the second hydraulic pump (26). The rotation speed is controlled by a brake shaft (63) having a steering output brake (62), a clutch shaft (65) having a steering output clutch (64), and the left and right ring gears (38). Left and right input gears (66) and (67) that are always meshed with the teeth (38b) are provided, and the output shaft (68) of the second hydraulic motor (27) is connected to the output shaft (68) via the brake shaft (63) and the steering output clutch (64). The clutch shaft (65) is connected, the right input gear (67) is connected to the clutch shaft (65) via the forward rotation gear (69), and the forward rotation gear (69) and the reverse rotation are connected to the clutch shaft (65). The left input gear (66 through the gear (70) And by connecting the. Then, the brake (62) is turned on and the clutch (64) is turned off by the neutral of the auxiliary transmission sliders (55) and (56), while the brake (62) is turned off and the clutch is turned off at the time of the auxiliary transmission other than the neutral. (64) is turned on, the rotational force of the motor (27) is transmitted to the external teeth (38b) of the right ring gear (38) via the forward rotation gear (69), and the external teeth (38b) of the left ring gear (38) ) Is transmitted to the rotation of the motor (27) via the forward rotation gear (69) and the reverse rotation gear (70), and when the second hydraulic motor (27) rotates forward (reverse rotation), the left ring gear (38 ) In the reverse direction (forward rotation) and the right ring gear (38) in the forward direction (reverse rotation).
[0015]
Thus, when the traveling first hydraulic motor (24) is driven in a state where the second hydraulic motor (27) for turning is stopped and the left and right ring gears (38) are stationary and fixed, the first hydraulic motor ( The rotational output from 24) is transmitted from the center gear (46) to the left and right sun gears (36) at the same rotational speed, and the left and right traveling crawlers are transmitted via the planetary gear (37) and carrier (41) of the left and right planetary gear mechanism (35). (2) is driven at the same rotational speed in the same rotational direction on the left and right, and the machine body travels straight forward and backward. On the other hand, when the second hydraulic motor (27) for rotation is driven to rotate in the forward and reverse directions with the first hydraulic motor (24) for traveling stopped and the left and right sun gears (36) stationary and fixed, the planet on the left side The gear mechanism (35) rotates forward or backward, and the right planetary gear mechanism (35) rotates backward or forward, driving the left and right traveling crawler (2) in the reverse direction and turning the aircraft to the left or right. Further, by driving the second hydraulic motor (27) for turning while driving the first hydraulic motor (24) for traveling, the aircraft turns left and right to correct the course. The turning radius is determined by the output rotational speed of the second hydraulic motor (27).
[0016]
Further, as shown in FIGS. 2 and 4 to 13, a steering column (71) is vertically fixed on the upper surface of the front portion of the cab (18), and a steering handle (19) is disposed on the upper surface of the steering column (71). ) Rotatably mounted around the vertical axis, a side column (72) is provided on the left side of the cab (18), a transmission (22) is disposed below the side column (72), a main transmission lever (73), The auxiliary transmission lever (74), the mowing clutch lever (75), and the threshing clutch lever (76) are attached to the side column (72). The steering column (71) is formed by molding an aluminum alloy casting, and is formed into a box shape by fastening with a plurality of bolts (77) in a split structure that can be divided into left and right.
[0017]
Further, a tilt base (78) is integrally formed on the steering column (71), and a tilt bracket (80) is rotatably supported on the tilt base (78) via a fulcrum bolt (79). The tilt bracket (80) is fixed by 81) so that the angle can be adjusted. The lower part of the shaft case (82) is integrally fixed to the tilt bracket (80), the shaft case (82) is extended above the upper surface cover (83) to be fixed to the upper surface of the column (71), and the shaft case (82) is disposed inside. The upper handle shaft (84) is rotatably supported, the steering handle (19) is fixed to the upper end of the upper handle shaft (84), and the handle (19) around the fulcrum bolt (79) is operated by the tilt lever (81). Is moved and adjusted in the front-rear direction to be supported at a fixed position, and the handle (19) mounting position is adjusted in the front-rear direction to be fixed at a position that is easy for the operator to operate.
[0018]
Further, the upper end side of the lower handle shaft (86) is connected to the lower end portion of the upper handle shaft (84) via a universal joint (85) so that the lower handle shaft (86) can be rotated to the upper portion of the steering column (71). The upper end of the steering input shaft (87) is rotatably supported on the upper part of the steering column (71), and the gear (88) of the lower handle shaft (86) and the sector gear of the steering input shaft (87) are supported. (89) is engaged to connect the shafts (86) and (87), and the steering input shaft (87) is extended in the vertical direction substantially at the center inside the steering column (71).
[0019]
Further, the bearing member (90) is detachably fixed to the left side surface of the steering column (71) at approximately the middle in the vertical direction, and one end of the transmission input shaft (91) is attached to the bearing member (90) with the bearing (92). The shift input shaft (91) is pivotally supported in the left-right direction substantially horizontally and at the lower end of the steering input shaft (87) via the universal joint (93). ) The upper end side is connected, the steering input member (95) is fixed to the input fulcrum shaft (94), the steering input member (95) is rotatably attached to the transmission input shaft (91), and the steering input member The input coupling body (96) is detachably fixed to (95), the steering input member (95) and the input coupling body (96) are coupled by the linkage bolt (97), and the transmission input shaft (91) is coupled. Steering input member via bearing (95a) 95) rotatably is pivotally supported and is rotatably supported steering input member (95) steering input shaft (87) around. Further, the steering input member (95) is rotated forward and backward around the core line of the substantially vertical input shaft (87) by forward / reverse rotation of the steering input shaft (87), and substantially by forward / reverse rotation of the speed change input shaft (91). The input fulcrum shaft (94) and the steering input member (95) are tilted in the front-rear direction around the horizontal input shaft (91) core wire in the horizontal direction. The vertical steering input shaft (87) core wire and the horizontal A universal joint (93) is attached to the intersection where the direction change input shaft (91) core wire crosses at right angles, and the steering input shaft (87) core wire is operated by the steering input shaft (87) forward / reverse operation of the steering handle (19). The steering input member (95) and the input connector (96) are rotated forward and backward.
[0020]
Further, the main transmission shaft (99) is rotatably supported on the lower front side of the steering column (71), and the left end of the main transmission shaft (99) horizontally mounted in the horizontal direction is connected to the steering column (71). And a link (101) (102) and a length-adjusting turnbuckle (103) on a central shaft (100) that is rotatably provided on the machine base (3) below the side column (72). The main transmission shaft (99) is connected through the attached rod (104). Further, as shown in FIG. 4, a fulcrum plate (106) is rotatably attached to the machine base (3) via a lever fulcrum shaft (105), and the main transmission lever is attached to the fulcrum plate (106) via a cylindrical shaft (107). (73) The base is pivotably mounted in the left-right direction, and the intermediate shaft (100) is connected to the fulcrum plate (106) via the links (108) (109), and the main transmission lever (73) is connected to the lever fulcrum shaft. (105) The main speed change shaft (99) is rotated in the forward and reverse directions by a speed change operation that swings in the front-rear direction. The main transmission shaft (99) is connected to the transmission input shaft (91) via the rod-shaped main transmission member (110), the upper connecting plate (111), and the lower link (112), and the main transmission lever (73) is connected. The steering input member (95) is tilted back and forth around the core line of the transmission input shaft (91) by forward / reverse operation of the main transmission shaft (99).
[0021]
Further, a cylindrical shaft-shaped steering output shaft (113) is rotatably attached to the main transmission shaft (99), the link-type steering output member (114) is fixed to the steering output shaft (113), and the rod An upper end portion of the shape steering coupling member (115) is connected to the input connector (96) via a universal joint type steering input connection portion (116), and a ball joint type steering output connection portion (117) is connected. The steering coupling member (115) is connected to the steering output member (114) through the steering coupling member (115), thereby constituting the steering mechanism (118) for changing the traveling path.
[0022]
Further, a shift output shaft (119) is rotatably supported inside the steering column (71) above the steering output shaft (113) and substantially in parallel with the shaft (113), so that a link type shift output member (120 ) Is fixed to the transmission output shaft (119), and the upper end of the rod-shaped transmission coupling member (121) is coupled to the input coupling body (96) via the universal coupling type transmission input coupling section (122). A transmission mechanism (124) for connecting the lower end portion of the transmission coupling member (121) to the transmission output member (120) via the joint-type transmission output connecting portion (123) and changing the traveling speed and switching between forward and backward travel. It is composed.
[0023]
Further, the inner steering operation shaft (125) and the outer speed change operation shaft (126) of the double shaft structure which can rotate with each other are connected to the bearing portion (127) at the center of the left and right width on the lower rear side of the steering column (71). The speed change operation shaft (126) upper end is connected to the speed change output shaft (119) via a ball joint shaft (128) and speed change links (129) (130) of which the length is adjustable. At the same time, the upper end portion of the steering operation shaft (125) is connected to the steering output shaft (113) through the ball joint shaft (131) and the steering links (132) (133) that are adjustable in length.
[0024]
The operation shafts (125) (126) are erected on the bottom of the steering column (71) substantially vertically on the same axis, and the upper ends of the operation shafts (125) (126) are located inside the steering column (71). To the output shafts (113) and (119), and the lower end portions of the operation shafts (125) and (126) are projected below the bottom surface of the steering column (71). The lower end side of each operation shaft (125) (126) is extended on the lower surface side of the worker boarding step (134), and the vehicle speed control arm (136) is fixed to the output control shaft (135) of the transmission member (25). The vehicle speed control arm (136) is connected to the lower end portion of the speed change operation shaft (126) via the adjustable length vehicle speed rod (138) with the turnbuckle (137) and the vehicle speed link (139) to control the output. The first hydraulic pump (23) swash plate angle is adjusted by forward / reverse operation of the shaft (135) to control the rotation speed and forward / reverse switching of the first hydraulic motor (24), thereby continuously changing the traveling speed (vehicle speed). In addition, forward / reverse switching is performed. Further, the steering control arm (141) is fixed to the output control shaft (140) of the steering member (28), and the length adjustable swivel rod (143) and the swivel link (144) with a turnbuckle (142) are provided. The steering control arm (141) is connected to the lower end of the steering operation shaft (125) through the second hydraulic pump (26) to adjust the swash plate angle by forward / reverse operation of the output control shaft (140). The rotational speed control and forward / reverse switching of the hydraulic motor (27) are performed, and the steering angle (turning radius) is continuously changed and the left / right turning direction is switched.
[0025]
Further, an accelerator lever (145) is provided on the right outer surface of the steering column (71) so as to be rotatable in the front-rear direction, and an accelerator wire (146) for connecting the accelerator lever (145) to the engine (21) is connected to the front surface of the steering column (71). Extending from below along the inside, manually adjusting the engine (21) rotation speed by the accelerator lever (145), and opening a maintenance window (147) on the rear surface of the steering column (71) The maintenance window (147) is closed by (148).
[0026]
As is apparent from the above, the differential mechanism (33) that transmits the driving force of the engine (21) to the left and right traveling crawler (2) and the speed change member (25) that changes the driving speed of the left and right traveling crawler (2) steplessly. ) And a steering member (28) for steplessly changing the difference in driving speed between the left and right traveling crawlers (2), and a steering input shaft (19) that is rotated by a steering handle (19) that is a steering operating tool. 87), a transmission input shaft (91) that is rotated by a main transmission lever (73) that is a transmission operation tool, a transmission mechanism (124) that connects the transmission input shaft (91) to the transmission member (25), and steering A steering mechanism (118) for connecting the input shaft (87) to the steering member (28) is provided, and the steering mechanism (118) is changed in proportion to the operation amount of the speed change mechanism (124). Side steering shift Dynamically expanding and automatically reducing the steering amount by the low speed side shifting, and by turning the steering handle (19) by a certain amount, the turning radius of the left and right traveling crawler (2) is substantially reduced regardless of the traveling speed. It is maintained at a constant level, and the speed of the farm work is changed, and the course is corrected to keep the aircraft along the crop line. Further, a steering input member (95) is provided on the steering input shaft (87), a steering input member (95) is rotatably mounted around the core line of the transmission input shaft (91), and is provided on the transmission output shaft (119). The steering input member (95) is connected to the transmission output member (120) via the transmission coupling member (121), and the steering coupling member (115) is connected to the steering output member (114) provided on the steering output shaft (113). ) To connect a steering input member (95) to form a reverse conical transmission mechanism (124) and a steering mechanism (118), and the steering input shaft (87) is rotated by the steering operation. The steering input member (95) is actuated, for example, an operation of decelerating the traveling speed while turning is performed, and the steering input member (95) is operated by rotating the speed change input shaft (91) by a speed change operation. , Enlargement / reduction of turning radius due to running shift and To perform operations such as discontinuation of turning output by the line speed neutral.
[0027]
Further, a steering input connecting portion (116) for connecting the steering input member (95) and the steering coupling member (115) is disposed on the core line of the transmission input shaft (91), and the transmission input member (96) and the transmission are changed. The shift input connecting portion (122) for connecting the coupling member (121) is disposed on the straight line (A) intersecting the core line of the shift input shaft (91), and the steering input shaft (87) and the shift input shaft (91). ), The relative movement of the steering input member (95) can be easily set, the design, assembly and structure can be simplified, the operation reliability can be improved, and the transmission input shaft (91) core A shift input connecting portion (122) and a steering input connecting portion (116) are arranged on a circumference (C) centering on an axis center intersection (B) where the steering input shaft (87) core wires intersect, Simplify the structure of the steering input member (95) and make it more compact Therefore, the shift output connecting portion (123) for connecting the shift output member (120) and the shift connecting member (121), and the steering output connecting portion for connecting the steering output member (114) and the steering connecting member (115). (117) is arranged on the steering input shaft (87) core line, and easily prevents reverse handle development due to shift switching between forward and reverse, and the shift output member (120) and the steering output member (114). ) Simplification of design, assembly and structure, improvement of operation reliability, and the like, and a speed change output connecting portion (123) with respect to the shaft center intersection (B) of the speed change input shaft (91) and the steering input shaft (87). The distance between the steering output connecting portion (117) and the distance between the steering output connecting portion (117) and the shifting output connecting portion (123) and the steering output connecting portion (117) are separated on the same straight line (D). 117) Interference prevention arrangement of (123) Setting of the movement range and easy to constitute so can be installed shift coupling member (121) and steering coupling member (115) in the narrow small place.
[0028]
As is apparent from the above, the differential mechanism (33) that transmits the driving force of the engine (21) to the left and right traveling crawler (2) and the speed change member (25) that changes the driving speed of the left and right traveling crawler (2) steplessly. And a shift input shaft (tilted by a main shift lever (73) which is a shift operation tool in a mobile agricultural machine provided with a steering member (28) for steplessly changing the difference in drive speed between the left and right traveling crawlers (2). 91) is supported on the steering column (71) by a bearing (92), and the bearing (92) is fastened and attached to the transmission input shaft (91) with a nut (91a), and the transmission input shaft (91) is attached to the steering column (71). ) Is supported by the bearing (92) to improve mounting accuracy, reduce play, improve strength, reduce operating resistance, etc., and improve the reliability of gear shifting operations. In addition, in order to save labor for adjustment and maintenance, the transmission input shaft (91) is supported by the bearing (92) on the bearing member (90) that is detachably attached to the steering column (71), and the bearing member (90) is The bearing member (90) is attached to and detached from the steering column (71) in a state where the steering column (71) is fixed with bolts (90a) and the transmission input shaft (91) is rotatably supported in a cantilevered manner. In order to improve workability, a steering input member (95) rotated by a steering handle (19), which is a steering operation tool, is supported by a bearing (95a) on a transmission input shaft (91), and the input is performed. A nut (94a) is screwed onto the lower end of the fulcrum shaft (94), and the bearing (98) is attached to the steering input member (95) by tightening the nut (94a). The steering input member (95) is supported by the bearing (95a) on the speed change input shaft (91) to improve the mounting accuracy, thereby reducing the backlash, improving the strength and reducing the operating resistance, and the reliability of the steering operation. It is configured to improve and save labor for adjustment and maintenance.
[0029]
Further, the shift input connecting portion (116) and the steering input connecting portion (122) are arranged with a circumference (C) centered on the axis intersection (B) of the shift input shaft (91) and the steering input shaft (87). ) About 90 degrees apart, the steering input connecting portion (116) is maintained at a fixed position by the rotation of the speed change input shaft (91), and the displacement of the speed change input connecting portion (122) is maximized. And a structure in which the speed change input shaft (91) is arranged on a plane on which the input connecting portions (116) and (122) are moved, and the amount of movement of the connecting portions (116) and (122) is easily secured. The steering input member (95) is compactly and functionally arranged, and the shift input connecting portion (122) and the steering input connecting portion (116) are within a range of about 90 degrees around the steering input shaft (87). To prevent reverse handle development by switching forward and backward, As well as ensuring the amount of movement of the connecting portions (116) and (122), the shift input connecting portion (122) is moved in the deceleration direction according to the steering angle for rotating the steering input shaft (87), A spin turn operation for changing the direction around the traveling crawler (2) is easily performed, and is functionally configured with a compact structure. In addition, the spin turn operation is performed by causing one of the left and right traveling crawlers (2) to rotate forward and the other in reverse via the differential mechanism (33) by the output of the steering member (28), thereby causing the left and right traveling crawlers (2) to rotate. ) Of the steering member (28) which is the rotation of the speed change member (25) which is a forward / reverse output and the turning output. The turning radius is determined by the rate of rotation. Further, the transmission output shaft (119) and the steering output shaft (113) are provided substantially in parallel with the transmission input shaft (91), and the output shafts (113) (119) form a case that can be divided into a plurality of cases. (71) is pivotally supported with high accuracy, and the shift input shaft (91) and the output shafts (113) and (119) are extended in the left-right direction, whereby a connecting structure in the longitudinal direction of the fuselage can be easily obtained. The main transmission lever (73) and the transmission input shaft (91) can be easily connected, and the transmission member (25) and the steering member (28) and the output shaft (113) (119) can be easily connected. It is configured to simplify and improve handling.
[0030]
Further, as shown in FIG. 14, a phase adjusting slot (149) for loosely inserting and inserting the linkage bolt (97) is opened in the input connecting body (96), and the steering input shaft (87) is centered on the core wire. The long hole (149) is formed on the same circumference, and the speed change input shaft (91) is fixed at the traveling speed neutral position by the engagement of the bolt type reference setting member (98) and the neutral setting hole (150). Thus, only the steering input member (95) is rotated and rotated to the left and right with respect to the transmission input shaft (91) to correct the relative position of the steering input member (95). The steering handle (19) A neutral position for turning determined by operation and a neutral position for traveling speed are set.
[0031]
As is apparent from the above, the differential mechanism (33) that transmits the driving force of the engine (21) to the left and right traveling crawler (2) and the speed change member (25) that changes the driving speed of the left and right traveling crawler (2) steplessly. And a steering input rotated by a steering handle (19), which is a steering operating tool, in a mobile agricultural machine provided with a steering member (28) for steplessly changing the difference in driving speed between the left and right traveling crawlers (2). The input connector (96) is detachably fixed to the member (95) with a bolt (97), and the speed change coupling member (121) to be connected to the speed change member (25) and the steering to be connected to the steering member (28). The coupling member (115) is coupled to the input coupling body (96), and the relative control relationship between the transmission member (25) and the steering member (28) is maintained substantially constant by the input coupling body (96). And improved steering performance Performed, also to attach and detach the input coupling member (96) in a state of attaching the shift coupling member (121) and steering coupling member (115), attempt to improve workability such as assembly and maintenance. Further, the input connector (96) is rotated around the steering input shaft (87) by the guide of the elongated hole (149) to change the mounting position, and the steering handle (19) and the input connector (96) are changed. By changing the relative position, the input coupling body (96) is formed so as to be adjustable with respect to the steering input member (95), and the relative position between the transmission coupling member (121) and the steering coupling member (115) is substantially set. While maintaining constant, the relative positions of the coupling members (115) and (121) and the steering input member (95) are changed to simplify adjustment work during assembly or maintenance, and the speed change operation tool. The steering input member (95) is attached to the transmission input shaft (91) to be connected to the main transmission lever (73), and the reference setting member (98) for fixing the transmission input shaft (91) at the reference position is freely detachable. Bolt stop shown in FIG. 98a) is removed, and the tip of the reference setting member (98) is engaged with the neutral setting hole (150) as shown in FIG. 15, so that the neutral position and the straight traveling position of the traveling speed are set to the neutral setting hole (150) and the reference setting member. The connection length of the transmission coupling member (121) or the steering coupling member (115) is determined by the screwing operation of the joint nut (121a) (115a) shown in FIGS. Adjustment is made at the time of assembling to expand and contract, thereby improving the assembling workability.
[0032]
Further, as shown in FIG. 16 to FIG. 18, the gear (88) forms a plurality of teeth (151) in an outer peripheral range of 270 degrees, and forms an outer peripheral range of 90 degrees in an arc (152). The total rotation angle of the handle (19) is set to 270 degrees, the angle of left steering rotation or right steering rotation is set to 135 degrees, and the steering handle (19) can be rotated easily with one hand. Form. Further, the sector gear (89) forms a plurality of teeth (153) in an outer peripheral range of 130 degrees, forms an outer peripheral range of 230 degrees in an arc cam (154), and teeth (151) of the gear (88) Are engaged with the teeth (153) of the sector gear (89), and when the maximum forward / reverse rotation of each gear (88) (89), the stoppers (155) on both ends of the arc (152) and the stoppers on both ends of the arc cam (154) ( 156) and restricting the rotation of the steering handle (19), and the steering input member (95) and the input coupling body (96) around the core line of the steering input shaft (87) within a range of 65 degrees. The space where the shift input shaft (91) and the upper end of the main transmission member (110) are arranged on the plane on which the steering input member (95) rotates is moved forward and backward, and the shift input shaft (91) core is secured. Steering input connector (116) is provided on the line And a structure in which the input connecting portions (116) and (122) are separated by 90 degrees on the same circumference can be easily obtained, and the structure can be made compact and the design and assembly can be simplified. .
[0033]
A straight notch (157) is formed at the center of the circular arc cam (154) of the sector gear (89), and a detent shaft (158) is rotatably supported on the upper surface wall of the steering column (71). 158) The detent arm (159) is fixed to the lower end, the detent arm (159) is rotatably supported by the detent arm (159) via the roller shaft (160), and the arc cam (154) is detent-rolled. (161) is brought into contact, and the detent roller (161) is detachably engaged with the rectilinear notch (157) to support the steering handle (19) in the rectilinear position. Further, the detent lever (162) is fixed to the upper end side of the detent shaft (158), and one end of the neutral spring (163) wound around the detent shaft (158) is locked to the detent lever (162), and the steering column ( 71) is brought into contact with the receiving plate (164) of the neutral spring (163), and the detent roller (161) is brought into elastic contact with the arc cam (154) and the straight notch (157) by the neutral spring (163). ing. Further, a microswitch type rectilinear sensor (165) that electrically detects the rectilinear position of the steering handle (19) by switching on and off is attached to the detent lever (162).
[0034]
Furthermore, as shown in FIG. 12 and FIG. 13, an expansion / contraction damper (166) is provided at an intermediate portion of the swiveling rod (143), and a spring case (167) fixed to the end of one rod (143) and the other rod (143) Spring seats (168) and (169) which are slidably engaged with the end portions, and compression springs (170) which are wound around the rod (143) in a compressed state via the spring seats (168) and (169) Is provided in the damper (166), and when a certain pushing force is applied to the rod (143) in both the pushing direction and the pulling direction by the steering operation of the steering handle (19), that is, the steering When the steering control arm (141) is moved to the maximum output position by operating the cutting
[0035]
Further, as shown in FIGS. 12, 19, and 20, a pin (171) is fixed to the vehicle speed control arm (136), and a long hole (172) through which the pin (171) is slidably inserted is provided. Formed at the end of the vehicle speed rod (138), the vehicle speed rod (138) is connected to the vehicle speed control arm (136) via a long hole (172) and a pin (171) and coaxial with the vehicle speed control arm (136). The detent cam (173) is fixed to the cam (173), the detent roller (174) is elastically pressed by the spring (175), and the vehicle speed control arm (136) is moved to the neutral position by the cam (173) and the roller (174). The first hydraulic motor (24) is stopped and maintained by neutral support of the arm (136), and the arm (136) is neutral and the main transmission lever (73 Is in the neutral operation position, the pin (171) is positioned substantially in the center in the longitudinal direction of the long hole (172), and the stroke (approximately 171) is approximately equal to both forward and backward speed changes by pushing and pulling of the rod (138). ), And is configured such that the arm (136) performs substantially symmetrical (forward / reverse) operation in both forward and backward speed changes.
[0036]
As shown in FIG. 20, the speed change lever (73) in the neutral position (O) is operated to move the dead zone (P) to the shift start position (Q), thereby moving the vehicle speed rod ( 138) causes the pin (171) to come into contact with the longitudinal end portion of the long hole (172) to connect the main speed change lever (73) and the vehicle speed control arm (136), and to move the main speed change lever (73). Further, the vehicle speed control arm (136) at the neutral position (T) is maximized by shifting the shift zone (R) to support the tilting to the maximum output position (S) of the shift member (25) by shifting operation. The shift zone (R) up to the output position (S) is moved in proportion to the amount of operation of the main shift lever (73), and the first hydraulic motor (24) of the shift member (25) is output in a stepless manner. Traveling crawler (2) etc. It is configured to forward and backward by driving in the same direction in degrees.
[0037]
Furthermore, as shown in FIGS. 14, 21, and 22, the bearing (90) is provided with a notch (176) to form a recess (177), and the steering handle (19) is turned to the maximum left turning angle (135). The shift input connecting portion (122) and the shift coupling member (121) are inserted into the recess (177) when the operation is performed, compared with a structure in which the connecting portion (122) contacts the bearing portion (90). The maximum speed reduction rate when the steering handle (19) is turned left and right is greatly increased. The linkage bolt (97) is centered on the straight position (U) of the steering handle (19), and the phase adjusting hole (149) ) A constant speed zone (V) is formed until it abuts against the edge, and the course is corrected while the aircraft center speed is kept substantially constant by the steering operation of the steering handle (19) within 15 degrees. Further, the steering handle (19) is further steered to move the turning zone (W), and the steering handle (19) to the maximum output position (X) of the steering member (28) is between 116 cutting angles. The steering control arm (141) is moved to the maximum output position (X) in proportion to the rotation angle of the steering handle (19), and the second hydraulic motor of the steering member (28) is rotated. (27) is output steplessly to change the speed difference between the left and right traveling crawlers (2) steplessly, and the vehicle speed rod (138) and vehicle speed control arm ( 136) is moved backward in the neutral direction of the shift, the traveling speed of the left and right traveling crawler (2) is steplessly reduced, and the turning angle of the steering handle (19) is increased, thereby reducing the turning radius and the traveling speed. Slow down and turn left and right Divide. Further, the steering handle (19) having a cutting angle of 116 degrees is further steered to rotate the inside of the spin turn zone (Y) to the maximum steering position (Z) having a cutting angle of 135 degrees, thereby providing a damper. The vehicle speed rod (138) and the vehicle speed control are performed in a state where the turning rod (143) (connection length) is expanded and contracted by the expansion and contraction absorbing operation of (166) and the steering control arm (141) is maintained at the maximum output position (X). The arm (136) is further moved backward in the gear shifting neutral direction to perform a spin turn operation in which the direction is changed around the turning center formed in the middle of the left and right width of the left and right traveling crawler (2).
[0038]
Further, as shown in FIGS. 19, 20, and 22, the vehicle speed rod (138) and the vehicle speed control arm (136) are connected by a long hole (172), and the speed change operation stroke (L) of the main speed change lever (73) is set. A recess (177) is formed in the bearing portion (90) provided in the left-turning direction of the shift input connecting portion (122) so that the connecting portion (122) enters and exits the recessed portion (177). The vehicle speed reduction rate is set to 25% with the steering handle (19) maximum turning angle (135 degrees) during the maximum output operation of the main speed change lever (73), and the speed reduction rate is reduced to 40% by the speed change mechanism (124). On the other hand, the deceleration rate is further increased to 25%, the spin turn operation is performed, the aircraft is turned about 180 degrees in the field headland, and the next uncut grain harvesting process It is configured to move to. As shown in FIG. 22, at the maximum output of the main speed change lever (73), the damper (166) is operated at a turning angle of 116 degrees of the steering handle (19), and the steering member (28) is maintained at the maximum output. And the deceleration rate of the left and right traveling crawler (2) is kept substantially equal in the range of 116 to 135 degrees of the steering handle (19). Thus, the speed difference between the left and right traveling crawlers (2) is maximized, and the speed difference between the left and right traveling crawlers (2) is maintained substantially constant in the range of the turning angle of the steering handle (19) from 116 degrees to 135 degrees. The handle (19) is decelerated in proportion to the turning angle.
[0039]
As is clear from the above, the speed reduction operation range of the speed change member (25) by the steering operation of the steering handle (19) as the steering operation tool is formed larger than the steering operation range of the steering member (28). , To ensure the deceleration control amount of the speed change member (25) when performing the spin turn operation by controlling the maximum output of the steering member (28) by the steering operation, and the direction changing operation by the spin turn operation in the field headland In order to improve the turning function such as, the turning speed of the steering member (28) is maintained at the maximum output when the steering handle (19) exceeds a certain amount of steering operation, and the traveling speed is reduced, so that the turning performance at low speed traveling is achieved. In addition to improving the rotation resistance, it is possible to obtain a stable turning operation by reducing a change in the turning force with respect to a change in running resistance, and the connection length of the turning rod (143) that is a turning operation member with a certain steering operation amount or more. Steering member ( 8) A damper (166) that is a maximum output member that maintains the maximum output is provided, and the steering handle (19) is further steered while the steering member (28) is maintained at the maximum output, thereby reducing the traveling speed. Secure the amount. Further, a steering input connecting portion (116) for connecting the steering input member (95) and the steering coupling member (115) is disposed on the core line of the transmission input shaft (91), and the transmission input member (96) and the transmission are changed. A speed change input connecting portion (122) for connecting the connecting member (121) is arranged on a straight line intersecting the core line of the speed change input shaft (91), and each of the input members (95) (96) and the steering connecting member (115). ) And the bottom circular part of the inverted conical locus for moving the transmission coupling member (121) is supported by the transmission input shaft (91), and the steering handle (19) is steered by holding the neutral position of the transmission input shaft (91). The turning output by the operation is stopped and maintained, and the left and right turning performance and the deceleration performance at the time of turning by forward / reverse switching are obtained evenly to improve the steering function.
[0040]
Further, the shift coupling member (121) and the shift input connecting portion (122) are inserted into the recess (177) formed in the bearing portion (90) of the shift input shaft (91) by the maximum operation of the steering handle (19). The shift input shaft (91), the steering input connecting portion (116), and the shift input connecting portion (122) are arranged on a substantially same plane and have a compact and functional structure. The vehicle speed control arm (136), which is the vehicle speed control member of the speed change member (25), and the vehicle speed rod (138), which is the vehicle speed operation member, are interchangeably connected to the main speed change lever (73). ) Is set to be smaller than the operation amount of the vehicle speed rod (138), and the vehicle speed control by the steering handle (19) is compared with the structure in which the operation amounts are equal. In order to improve the direction change function in the field headland, the deceleration rate required for the spin turn operation can be easily obtained by increasing the deceleration operation amount of the screen (136), The vehicle speed control arm (136) and the vehicle speed rod (138) are connected by the long hole (172) and the pin (171), and the operation amount of the vehicle speed rod (138) or the size of the long hole (172) and the pin (171) The amount of deceleration operation of the vehicle speed control arm (136) can be easily determined, and the output characteristics of the transmission member (25) and the steering member (28) and the deceleration control operation of the steering handle (19) can be easily considered. Further, the vehicle speed rod (138) mounting structure is simplified, handling properties such as assembly work are improved, and manufacturing costs are reduced.
[0041]
Further, the input member (95) (96) is shifted from the neutral position (P) to the shift start position (Q) around the shift input shaft (91) by operating the dead zone (P) of the main shift lever (73). The operating ratio of the steering control arm (141) with respect to the steering angle of the steering wheel (19) in the constant speed zone (V) centered on the straight traveling position of the steering steering wheel (19) is increased, and the main transmission lever (73) Is shifted to the speed change zone (R) and travels at a slow speed, the operation of the steering control arm (141) is increased by the operation in the constant speed zone (V) of the steering handle (19). The rotation change rate of the second hydraulic pump (26) of the member (28) is increased with respect to the change in the turning angle of the handle (19), the turning operation time at the very low speed output of the second hydraulic pump (26) is shortened, The motor (27) performs a turning operation in the slow output range. To prevent, it is configured such that the turning operation of the steering wheel (19) of the main speed change lever (73) a very low speed running state is performed by increasing the second hydraulic pump (26) or constant output. In this way, by preventing the second hydraulic pump (26) from turning at the very low speed rotation output, even if the second hydraulic pump (26) has low efficiency in the very low speed output region, the second hydraulic pump (26). The turning operation can be performed while ensuring a certain output or more. Further, after setting the control of the steering member (28) by the steering handle (19) to ensure a turning force of a certain level or more by the shift operation of the main shift lever (73), the travel shift operation is performed. Can be delayed to prevent shortage of the turning force of the steering member (28) at the time of slow movement, reducing the manufacturing cost of the steering member (28) and improving the turning performance of the left and right traveling crawler (2). Therefore, by operating the main speed change lever (73), the steering and the speed change input members (95) (96) are rotated by a certain angle around the core line of the speed change input shaft (91), and then each input member (95) (96 ) Is connected to the speed change member (25) to operate the speed change member (25), and each input member (95) (96) is moved to the steering operation state by the speed change operation, and then output from the speed change member (25). To drive the traveling crawler (2) Even when moving at a slow speed with a low travel output, the amount of control of the steering member (28) by the steering operation of the steering handle (19) is increased to ensure the necessary turning force, and the turning performance at a slow speed is improved. It is comprised so that it can plan.
[0042]
The present embodiment is configured as described above. When the main speed change lever (73) is neutral, the steering input shaft (87) is rotated around the core by the forward rotation (reverse rotation) of the steering handle (19). Each input member (95) (96) and each coupling member (115) (121) moved on a conical locus, and each said output member (114) (120) and each output shaft (113) (119) stopped. State is maintained.
[0043]
Further, by the forward (reverse) operation of tilting the main transmission lever (73) forward (rearward), the input members (95) (96) are tilted forward (rearward) around the core line of the speed change input shaft (91) and operated. While maintaining the state where the direction input connecting portion (116) is stopped at a certain position, the shift input connecting portion (122) is moved upward (downward), and the shift output member (120) is swung upward (downward). The transmission output shaft (119) is rotated forward (reverse), and the first hydraulic motor (24) is rotated forward (reverse) by switching the swash plate angle of the first hydraulic pump (23) of the transmission member (23). The left and right traveling crawler (2) is driven forward (reverse) by forward rotation (reverse rotation) of the output shaft (31) of the hydraulic motor (24). Further, the rotation speed of the output shaft (31) changes in proportion to the tilt angle of the main transmission lever (73), and the forward (reverse) speed of the traveling crawler (2) is steplessly changed.
[0044]
Further, under the condition that the main shift lever (73) is moved forward (rearward) and the forward (reverse) operation is performed, the steering handle (19) is rotated leftward (rightward) to thereby input the shift. The steering input member (95) rotates forward (reversely) about the steering input shaft (87) around the core line in a posture in which the steering input member (95) is tilted forward (rearward) around the axis (91), and the steering input connecting portion (116) is The steering output shaft (113) is normally rotated (reversed) by the downward (upward) swing of the steering output member (114), and the second hydraulic pump ( 26) forward rotation (reverse rotation) of the second hydraulic motor (27) by switching the swash plate angle, and left rotation crawler (2) by forward rotation (reverse rotation) of the output shaft (68) of the second hydraulic motor (27). Is decelerated (accelerated) and the right traveling crawler (2) is accelerated (decelerated) to the left (right To thereby pivot the body to correct the path to the left (right). Simultaneously with the course correcting operation, the shift input member (96) is tilted forward (rear) around the core line of the shift input shaft (91) by the leftward (rightward) rotation of the steering handle (19). The steering input shaft (87) rotates forward (reversely) around the core wire, the shift input connecting portion (122) moves downward (upward), and the shift output (120) swings downward (upward) to produce shift output. The shaft (119) is reversely rotated (normally rotated), and the speed change member (25) is controlled to return to the neutral direction to reduce the rotational speed of the output shaft (31), thereby reducing the traveling speed (vehicle speed). As described above, by the left / right steering operation of the steering handle (19) during traveling, the turning radius (angle) for correcting the course is proportional to the rotation angle of the steering handle (19), and the traveling speed is reduced. By changing the amount and rotating the steering handle (19) largely, the speed difference between the left and right traveling crawlers (2) is increased to reduce the turning radius, and at the same time, the amount of deceleration of the traveling speed increases and the vehicle speed decreases. At the time of forward movement and backward movement, the movement of the turning input connecting portion (116) is reversed with respect to the rotation of the steering handle (19), and the steering handle (19) is rotated in both forward and backward movements. By adjusting the operation direction and the turning direction of the aircraft and rotating the round steering handle (19) to rotate, for example, a course correction and a direction change with a driving feeling similar to that of a four-wheeled vehicle such as a tractor or a rice transplanter. Cormorant.
[0045]
Further, FIG. 22 shows the relationship between the turning angle of the steering handle (19) and the speed of the left and right traveling crawler (2) when the aircraft is turning left and right. The speed difference of the crawler (2) becomes large, and the airframe center speed, which is the average speed of the left and right traveling crawlers (2), is also reduced according to the traveling speed (high speed / standard / low speed) state of the auxiliary transmission lever (74). The In the cutting path correction range in which the steering handle (19) in the straight traveling position is rotated about 15 degrees leftward (rightward), the speed change input connecting portion (122) is substantially tangent to the rotation of the steering input member (95). The shift output member (120) is maintained at substantially the same position as the straight travel, and the second hydraulic motor (27) is rotated forward (reverse) by the second hydraulic pump (26) of the steering member (28). ) Is turned leftward (rightward) by the steering output, and the course is corrected to match the curvature of the uncut grain culm (crop) row. At this time, the deceleration amount of the traveling crawler (2) inside the turning and the acceleration amount of the traveling crawler (2) outside the turning become substantially equal, and the body center speed is kept at substantially the same speed as the straight traveling. Further, when the steering handle (19) is rotated by 15 degrees or more from the straight traveling position, the shift coupling member (121) is pushed and pulled by the rotation of the steering input member (95), and the shift output member (120) is turned to the left. In both the right turn and the right turn, the traveling shift output of the first hydraulic pump (23) and the motor (24) is decelerated, and the left and right traveling crawlers (2) and (2) are rotationally driven in the same direction to move forward ( Or reverse), and a brake turn operation that turns leftward (rightward) due to the difference in travel speed between the left and right traveling crawlers (2) and (2) is performed. Make a course correction to return to the next row or move to the next row. Further, when the steering handle (19) is rotated about 116 degrees, the damper (166) is operated and the turning output is maintained at the maximum output, and the center speed of the aircraft is about 4 minutes at the straight angle range of 135 degrees. 1, the traveling crawler (2) inside the turn is driven in reverse, and a spin turn operation is performed in which the body turns around the turning center between the left and right traveling crawlers (2). Turn the
[0046]
Further, when the sub-shift is maintained at a standard speed (1.5 meters per second) and the steering handle (19) is rotated by 90 degrees, the main shift output is set to a high speed and two thirds by operating the main shift lever (68). Even if it is changed to 1/3, only the turning speed (aircraft center speed) is changed in a state where the turning radius of the airframe is kept substantially constant. In addition, the first hydraulic pump (23) and the first hydraulic motor (24) are maintained in a straight traveling state within a set range of the linkage bolt (97) and the phase adjustment hole (149) with reference to the straight traveling position, and the crop row during farming Or, even if the steering operation is carried out along the dredger, etc., the traveling speed is prevented from changing unevenly, and the course can be corrected during farm work while maintaining the same traveling speed. Appropriate steering operation can be performed by substantially matching the traveling motion of the aircraft. Further, the sub-shift lever (74) for switching the shift reference value of the main shift lever (73) changes the turning radius from a small diameter to a large diameter in proportion to the low speed, standard and high speed switching of the sub-shift operation, and the first hydraulic pump ( 23) and the reduction ratio between the motor (24) and the traveling crawler (2) and the reduction ratio between the second hydraulic pump (26) and the motor (27) and the traveling crawler (2), or necessary for the spin turn operation. While ensuring the driving force required for small radius turning, and operating the main speed change lever (73) at the same sub-shift operation position, the running speed during turning is changed with the turning radius kept substantially constant. Thus, the driving operation can be performed according to the skill level of the worker, and the mobility and the driving operability are improved.
[0047]
Further, FIG. 23 shows a modified embodiment, wherein a potentiometer-type main transmission sensor (178) for detecting a shift operation position, a neutral position, and a forward / reverse switching operation of the main transmission lever (73), and the auxiliary transmission mechanism A potentiometer-type sub-shift sensor (179) for detecting the shift operation position and neutral position of the sub-shift lever (74) for switching (32) and a potentiometer for detecting the steering operation position (cut angle) of the steering handle (19). Volume type turning sensitivity setting device (182) for changing the speed reduction ratio of the vehicle speed with respect to the increase in the turning angle of the steering handle (19) by operating the mold steering angle sensor (180) and the hand operating member (181) switched by the operator. The left and right vehicle speed sensors (183) and (184) and the straight-ahead sensor (165) are a shift steering controller formed by a microcomputer ( And inputs connected to 85).
[0048]
Further, an acceleration / deceleration circuit (187) (188) for forward or reverse rotation of the transmission motor (186) is connected to the controller (185) so that the operation amount (operation angle) of the main transmission lever (73) is reduced. The swash plate angle of the first hydraulic pump (23) is changed approximately in direct proportion by the transmission motor (186) to obtain the vehicle speed according to the tilting operation of the main transmission lever (73), and the transmission brake cylinder (189) is operated. The main transmission circuit (190) to be connected is connected to the controller (185), the output shaft of the first hydraulic motor (24) is stopped and maintained when the main transmission lever (73) is neutral, and the main transmission lever (73) is in a neutral operation state. The traveling crawler (2) is prevented from being driven by the first hydraulic motor (24).
[0049]
Further, a left / right turning circuit (192) (193) for rotating the steering motor (191) forward or backward is connected to the controller (185), and the steering operation amount (left / right rotation angle) of the steering handle (19) is connected. The swash plate of the second hydraulic pump (26) by the steering motor (191) is changed in a substantially direct proportion, and the steering handle ( The left / right turning output is reversed with respect to the left / right rotation of 19) to prevent reverse steering during forward traveling and reverse traveling, and the same steering operation as that of a four-wheeled vehicle is performed to move forward and backward. When the main transmission lever (73) is neutral, the swash plate angle of the second hydraulic pump (26) is kept at zero, the output shaft of the second hydraulic motor (27) is stopped and maintained, and the main transmission lever is in a neutral state. The absolute value of the swash plate angle of the second hydraulic pump (26), which is increased according to the turning angle of the steering handle (19), is prevented while the turning operation by the steering wheel (19) operation is prevented. Control is performed in proportion to the absolute value of the angle, and the turning radius is kept constant even if the vehicle speed is changed when the steering angle of the steering handle (19) is constant, and the vehicle is turned by the same steering operation as that of a four-wheeled vehicle. Further, a straight travel circuit (197) for operating the steering brake cylinder (195) and the clutch cylinder (196) by switching the straight travel valve (194) is connected to the controller (185) so that the sub-shift is neutral or the handle (19) is traveled straight. Thus, the second hydraulic motor output (27) is automatically stopped. In addition, a steering sensor (198) for detecting the position of the cutting part (8) with respect to the uncut grain row and a steering circuit for automatically controlling the steering motor (191) based on the detection result of the sensor (198) ( 199), the steering angle sensor (180) input by manual operation of the steering handle (19) is given priority, the steering motor (191) is operated by the steering sensor (198) input, and the uncut grain The course is automatically corrected along the line, and the harvesting work is performed. As shown in FIGS. 4 to 22, the speed change motor (186) and the steering motor (191) are electrically controlled by the controller (185) so as to perform the respective operations of the shifting speed and the steering. The mechanical control can be replaced with electrical control using the controller (185) of FIG.
[0050]
Further, as shown in FIGS. 3 and 24, the input shaft (29a) of the transmission member (25) is connected to the output shaft (21a) of the engine (21) via the transmission belt (30a) for traveling. The input shaft (29b) of the steering member (28) is connected to the input shaft (29a) via the steering transmission belt (30b), and the steering drive side of the transmission belt (30b) or the like is damaged. Even when the direction operation is not performed, the speed change member (25) can be driven by the power from the engine (21), and straight running such as emergency escape can be performed.
[0051]
【The invention's effect】
As is clear from the above embodiments, the present invention changes the driving speed of the differential mechanism (33) for transmitting the driving force of the engine (21) to the left and right traveling crawler (2) and the driving speed of the left and right traveling crawler (2) in a stepless manner. Steering input to be rotated by a steering operation tool (19) in a mobile agricultural machine provided with a steering member (28) that changes the difference between the driving speed of the shifting member (25) and the left and right traveling crawler (2) steplessly The input coupling body (96) is detachably fixed to the member (95), and the transmission coupling member (121) coupled to the transmission member (25), and the steering coupling member (115) coupled to the steering member (28). Is connected to the input connector (96), and the relative control relationship between the speed change member (25) and the steering member (28) can be maintained substantially constant, and traveling speed change and steering performance improvement can be easily performed. Can also be variable speed joint (121) and steering coupling member (115) the mounting state at the input coupling member can detachably (96), in which the workability improvement, such as the assembly and maintenance can be easily achieved.
[0052]
Further, the input coupling body (96) is formed so that the mounting position can be adjusted with respect to the steering input member (95), and the relative position of the transmission coupling member (121) and the steering coupling member (115) is made substantially constant. While maintaining, the relative positions of the coupling members (115) and (121) and the steering input member (95) can be changed, and the adjustment work during assembly or maintenance can be simplified.
[0053]
Further, the steering input member (95) is attached to the transmission input shaft (91) to be coupled to the transmission operation tool (73), and the reference setting member (98) for fixing the transmission input shaft (91) at the reference position is engaged / disengaged. It is provided freely, and the neutral position and the straight steering position can be determined by the engagement of the reference setting member (98), and the connection length of the transmission coupling member (121) or the steering coupling member (115), etc. Adjustment during assembly for expanding and contracting can be easily performed, and improvement of assembly workability can be easily achieved.
[Brief description of the drawings]
FIG. 1 is an overall side view of a combine.
FIG. 2 is an overall plan view of the combine.
FIG. 3 is an explanatory diagram of a mission drive system.
FIG. 4 is an explanatory perspective view of a traveling speed change and steering operation unit.
FIG. 5 is an operation explanatory view of the same part.
FIG. 6 is a side view of a steering column.
FIG. 7 is an enlarged side view of the upper part.
FIG. 8 is an enlarged side view of the lower part.
FIG. 9 is a front view of a steering column.
FIG. 10 is an enlarged front view of the upper part.
FIG. 11 is an enlarged front view of the lower part.
FIG. 12 is an explanatory plan view of FIG. 4;
FIG. 13 is an enlarged view of the same.
FIG. 14 is a cross-sectional view of a steering column.
FIG. 15 is an explanatory diagram of a setting operation.
FIG. 16 is a partial plan view of the upper part of the steering column.
FIG. 17 is a partial view thereof.
18 is an operation explanatory view of FIG. 16. FIG.
FIG. 19 is an explanatory diagram of the operation of the speed change member.
FIG. 20 is an explanatory diagram of main shift operation.
FIG. 21 is an explanatory diagram of a steering operation.
FIG. 22 is a diagram showing main shift and steering handle operation.
FIG. 23 is a travel shift and steering control circuit diagram.
FIG. 24 is a side view of the mission case part.
[Explanation of symbols]
(2) Traveling crawler
(19) Steering handle (steering tool)
(21) Engine
(25) Speed change member
(28) Steering member
(33) Differential mechanism
(73) Main transmission lever (shifting operation tool)
(91) Speed change input shaft
(95) Steering input member
(96) Input connector
(98) Reference setting member
(115) Steering coupling member
(121) Transmission coupling member
Claims (3)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP32458498A JP3946888B2 (en) | 1998-10-28 | 1998-10-28 | Mobile farm machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP32458498A JP3946888B2 (en) | 1998-10-28 | 1998-10-28 | Mobile farm machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2000128016A JP2000128016A (en) | 2000-05-09 |
| JP3946888B2 true JP3946888B2 (en) | 2007-07-18 |
Family
ID=18167455
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP32458498A Expired - Lifetime JP3946888B2 (en) | 1998-10-28 | 1998-10-28 | Mobile farm machine |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3946888B2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108840128A (en) * | 2018-07-25 | 2018-11-20 | 福建联创机械设备有限公司 | A kind of fully automatic environmental-friendly cement truck-loading facilities |
-
1998
- 1998-10-28 JP JP32458498A patent/JP3946888B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JP2000128016A (en) | 2000-05-09 |
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