JP4249197B2 - Traveling crawler turning mechanism - Google Patents

Description

The present invention relates to a crawler traveling vehicle .

  Conventionally, the driving speed of the left and right traveling crawlers is changed steplessly by operating the traveling shift lever to change the vehicle speed, and the difference in the driving speed of the left and right traveling crawlers is changed steplessly by operating the steering handle. There is a technology to change.

  However, since the traveling crawler turning radius is always kept substantially constant with respect to the steering handle operation, there is a problem that the steering operation suitable for the work content or the traveling road surface condition cannot be easily performed. In addition, when artificially prohibiting the crawler's spin turn operation depending on the road surface condition, automatic horizontal control operation that prohibits and permits the spin turn operation by automatically performing horizontal control that keeps the machine posture horizontal. It is necessary to go in response to and maintain the driving function. Further, when providing a speed change member and a steering member for driving the left and right traveling crawlers, the speed change member and the steering member are connected to the speed change lever and the steering handle via the link mechanism and controlled, so that the link mechanism etc. There are problems such as simplification of the operation structure and changes in traveling functions such as gear shifting and steering. In addition, by continuously changing the rotation of the left and right traveling crawlers by the operation of the steering handle, it is not possible to easily discriminate between the brake turn in which the turning inner traveling crawler rotation decreases and the spin turn in which the turning inner traveling crawler reverses, There is a problem that a traveling crawler is spin-turned in a super wet field and the traveling function is lowered. In addition, since the speed change member or the steering member is formed by a hydraulic continuously variable transmission mechanism using a hydraulic pump and a hydraulic motor, there is a problem that the driving force of the traveling crawler is reduced to an unnecessary level due to transmission loss of the hydraulic pump and the motor. . As described above, there are problems in that it is not possible to easily improve the traveling speed change and turning functions and the driving operability.

However, the present invention provides a crawler traveling in which the airframe is provided with a left and right traveling crawler, and a speed change member that shifts the forward and backward travel of the airframe is connected to a steering member that turns the airframe via a speed change steering controller. In a vehicle, a control reference value for a change in the left and right traveling crawler speed determined based on the detection results of the steering angle sensor that detects the steering handle operation amount and the shift sensor operation position that detects the shift lever operation position is stored in the shift steering controller in advance. The control reference value is stored and corrected by the turning sensitivity setting device, and the rate of change of the steering amount of the steering member with respect to the shifting amount of the transmission member is made variable by the turning sensitivity setting device. It is.

As is apparent from the above-described embodiments, the present invention includes a shift steering controller that includes a left and right traveling crawler on a machine body, a transmission member that shifts the straight traveling in the front-rear direction of the machine body, and a steering member that turns the body. via connected to detect a steering wheel operating amount steering angle sensor and the shift lever operating position in advance the speed steering left and right travel control reference value crawler of change that is determined based on the detection result of the shift sensor for detecting the The control is stored in a controller, the control reference value is corrected by a turning sensitivity setting device, and the rate of change of the steering amount of the steering member with respect to the shifting amount of the transmission member can be changed by the turning sensitivity setting device. was a crawler vehicle, adapted to steer or shift control and, road surface conditions of the average travel crawlers based on the control reference value (control map) (2) The steering or gear shift control can be easily obtained, with the figure and improving driving operability easy, FIG Rukoto and meandering prevention by lateral heterogeneity weight of sideslip reduced and the machine travel crawlers (2) It is something that can be done.

  Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is an overall side view of a combine as an example having a traveling crawler turning mechanism, FIG. 2 is a plan view thereof, and (1) is a track frame on which a pair of left and right traveling crawlers (2) are installed, (3) is a machine base installed on the track frame (1), (4) is a threshing section in which a feed chain (5) is stretched on the left side and a handling cylinder (6) and a processing cylinder (7) are incorporated. (8) is a cutting part provided with a cutting blade (9) and a grain feeder (10), (11) is a hydraulic lifting cylinder for raising and lowering the cutting part (8) via a cutting frame (12), (13) Is a waste disposal unit that faces the end of the waste chain (14), (15) is a grain tank that carries the grain from the threshing unit (4) through the milling cylinder (16), and (17) is the tank A discharge auger that transports the grain of (15) out of the machine, (18) is a steering handle ( Cab with a like 9) and the driver's seat (20), (21) is an engine provided in the driver's seat (20) downward, and configured to threshing continuously harvests culms.

  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.

  In addition, the drive wheels (34) of the left and right traveling crawler (2) are interlocked with the transmission output shaft (31) of the first hydraulic motor (24) via the auxiliary transmission mechanism (32) and the differential mechanism (33). The differential mechanism (33) includes a pair of symmetrical planetary gear mechanisms (35) and (35), and each planetary gear mechanism (35) includes one sun gear (36) and the sun gear. These are formed by three planetary gears (37) meshing with the outer periphery of (36) and a ring gear (38) meshing with these planetary gears (37).

  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, and the driving wheel (34) of the traveling crawler (2) is pivotally supported.

  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 the 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.

  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).

  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 brake shaft (63) and the steering output clutch (64) are provided on the steering output shaft (68) of the second hydraulic motor (27). The clutch shaft (65) is connected to the clutch shaft (65), the right input gear (67) is connected to the clutch shaft (65) via the forward rotation gear (69), and the forward rotation gear (69) is connected to the clutch shaft (65). And the left input gear ( And by connecting the 6). 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).

  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).

  Further, as shown in FIGS. 2 and 4 to 6, 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 cutting clutch lever (75), and the threshing clutch lever (76) are attached to the side column (72).

  Further, the steering column (71) has an upper end portion of a steering input shaft (78) rotatably supported on the steering column (71), and a steering shaft (79) gear (80) connected to the steering handle (19) and steering input. The shaft (78) is engaged with the sector gear (81) to connect the shafts (78) and (79). The gear (80) forms a plurality of teeth (82) in an outer peripheral range of 270 degrees, The outer peripheral range of 90 degrees is formed in an arc (83), the total rotation angle of the steering handle (19) is 270 degrees, the angle of left steering rotation or right steering rotation is set to 135 degrees, and the steering handle (19) It is formed so that the operator can easily perform the rotation operation with one hand. Further, the sector gear (81) forms a plurality of teeth (84) in the outer peripheral range of 130 degrees, forms an outer peripheral range of 230 degrees in the arc cam (85), and the teeth (82) of the gear (80). And the teeth (83) of the sector gear (81) are meshed, and when the respective gears (80) (81) are maximally forward / reversely rotated, stoppers (86) at both ends of the arc (83) and stoppers at both ends of the arc cam (85) ( 87) is abutted to regulate the rotation of the steering handle (19).

  A straight notch (88) is formed in the center of the arc cam (85) of the sector gear (81), and the detent arm (90) is rotatably supported via the steering column (71) detent shaft (89). The detent roller (92) is rotatably supported by the detent arm (90) via the roller shaft (91), the detent roller (92) is brought into contact with the arc cam (85), and the rectilinear notch (88 The detent roller (92) is detachably engaged with the steering handle (19), and the steering handle (19) is supported in the straight movement position. Further, one end of a neutral spring (93) wound around the detent shaft (89) is engaged with a detent arm (90), and the other end of the neutral spring (93) is placed on a receiving plate (94) of the steering column (71). The detent roller (92) is brought into elastic contact with the arc cam (85) and the rectilinear notch (88) by the neutral spring (93).

  Further, an arc cam (85) formed on the sector gear (81) is provided separately for a brake cam (95) and a spin cam (96), and the cams (95) (96) are connected by a step (97) to be operated. The detent roller (92) is brought into contact with the brake cam (95) at the brake turn position of the operation angle of about 90 degrees straight from the direction handle (19), and the detent immediately before the turning inner traveling crawler (2) is driven in reverse. The roller (92) is brought into contact with the step (97), and the detent roller (92) is brought into contact with the spin cam (96) at the spin turn position where the turning inner traveling crawler (2) is driven in reverse rotation. 93) The operation force of the steering handle (19) determined by the force is increased stepwise to shift from the brake turn operation to the spin turn operation. As the detent means, the step (92) is formed, the operating force is greatly changed at the maximum brake turn operating angle of the steering handle (19), and the operator recognizes the boundary between the brake turn and the spin turn. The spin turn operation of (19) is prevented, and the decrease in running performance due to the spin turn is prevented in advance. In this way, the operation force of the steering handle (19) for operating the steering member (28) is changed stepwise, the brake turn for driving the left and right traveling crawler (2) in the same direction and the inside of the turn The operator recognizes the switching position of the spin turn that reverses the traveling crawler (2) by the change of the steering handle (19) operating force, and prevents, for example, the spin turn on the soft mud road surface where the traveling performance tends to deteriorate. To improve driving operability.

  Further, one end of a steering output arm (98) is fixed to the steering input shaft (78), and a pair of left and right straight springs (99) (99) for returning the steering handle (19) to a straight position, and the springs The return resistance absorber (100) that slows down the rotational speed of the steering handle (19) against (99) is connected to the output arm (98), and the steering handle (19) is rotated left and right manually. When the operator removes the handle (19) from the handle (19), the handle (19) is automatically and gently returned to the straight-ahead position, and the operator does not need to return the handle (19) to the straight-ahead position. The mold steering angle sensor (101) is connected to the output arm (98), and the steering operation amount of the steering handle (19) is detected by the steering angle sensor (101).

  Further, as shown in FIG. 7, the left and right track frames (1) are connected to the machine base (3) via the left and right swing arms (102), and the left and right swing arms (102) are hydraulically connected to the machine base (3). And the right and left cylinders (103) are connected, and the vertical distance between the machine base (3) and the left and right track frames (1) can be freely changed by the left and right cylinder (103) control, and the machine table (3) is tilted left and right. The left and right cylinders (103) are automatically operated based on the detection result of the tilt sensor (104), and the left and right swing arms (102) are swung by each cylinder (103). The left and right track frames (1) are raised and lowered, and the grounding side of the traveling crawler (2) is raised and lowered to perform automatic horizontal control for supporting the machine base (3) substantially horizontally. That.

  Further, as shown in FIGS. 3 and 8, an electric transmission motor (105) that is operated by manual operation of the main transmission lever (73) and a transmission brake that operates a transmission brake (106) that brakes the transmission output shaft (31). A cylinder (107) is provided. Then, the main transmission lever (73) is operated to operate the transmission motor (105) to change the swash plate angle of the first hydraulic pump (23), and the transmission output shaft (31) of the first hydraulic motor (24). ) In a stepless manner, and a forward / reverse switching operation in which the output shaft (31) of the first hydraulic motor (24) is reversed, and a neutral operation of the main transmission lever (73) is performed. The shift brake cylinder (107) is operated, the output brake (106) of the first hydraulic motor (24) is braked by the shift brake (106), and the forward / reverse rotation of the output shaft (31) during the neutral operation is prevented. It is configured.

  Furthermore, the steering steering wheel (19) is operated by manual operation, and the steering steering cylinder (109) is operated by linear operation of the steering steering handle (19) and neutral switching of the auxiliary transmission mechanism (32). ) And a clutch cylinder (110). Then, the steering handle (19) is operated to operate the steering motor (108) to change the swash plate angle of the second hydraulic pump (26), and the steering output shaft of the second hydraulic motor (27). The left and right steering operation is performed to change the rotation number of (68) steplessly or reversely, change the traveling direction to the left and right to change the direction on the field headland, correct the course, and the steering handle The steering brake cylinder (109) is actuated by the straight operation of (19) and the neutral operation of the subtransmission mechanism (32), and the steering output shaft (2) of the second hydraulic motor (27) is operated by the steering output brake (62). 68) is braked to prevent the left and right steering rotation of the output shaft (68) during the straight running operation, while the clutch cylinder (110) is operated to disengage the steering output clutch (64) and the input gear (66 ) Steering to tell (67) It is configured so as to stop the output.

  Further, as shown in FIG. 8, a potentiometer-type main transmission sensor (111) for detecting a shift operation position, a neutral position, and a forward / reverse switching operation of the main transmission lever (73) and a sub transmission mechanism (32) for switching the sub transmission mechanism (32). A potentiometer-type sub-shift sensor (112) for detecting a shift operation position and a neutral position of the shift lever (74), and a potentiometer-type steering angle sensor (for detecting a left / right steering operation position and a rectilinear position of the steering handle (19)). 113) and a speed change output ratio of the first hydraulic motor (24) with respect to the turning angle (steering amount) of the steering handle (19) by the operation of the photographing hand operating member (114) switched by the operator ) To change the main speed change lever (73) by operating the volume type deceleration sensitivity setting device (115) and the photographing hand operating member (116) to be switched by the operator. A volume type turning sensitivity setting device (117) for changing the steering output (speed ratio of the left and right traveling crawler (2)) of the second hydraulic motor (27) with respect to the speed change amount (shifting output of the first hydraulic motor (24)); The left and right vehicle speed sensors (118) and (119) for detecting the rotational speed of the left and right carrier shafts (40) are connected to a shift steering controller (120) formed by a microcomputer.

  Further, an acceleration / deceleration circuit (121) (122) for normal rotation or reverse rotation of the transmission motor (105) is connected to the controller (120), and the operation amount (operation angle) for the main transmission lever (73) is connected. The swash plate angle of the first hydraulic pump (23) by the transmission motor (105) is changed in an approximately direct proportion to obtain a vehicle speed according to the tilting operation of the main transmission lever (73), and the transmission brake cylinder (107) is operated. The main transmission circuit (123) to be operated is connected to the controller (120), and when the main transmission lever (73) is neutral, the transmission output shaft (31) of the first hydraulic motor (24) is stopped and maintained, and the main transmission lever (73 ) The traveling crawler (2) is prevented from being driven by the first hydraulic motor (24) under the neutral operation state.

  Further, a left / right turning circuit (124) (125) for rotating the steering motor (108) forward or backward is connected to the controller (120), 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 (108) is changed in an approximately 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 steering output shaft (68) of the second hydraulic motor (27) is stopped and maintained, The absolute value of the swash plate angle of the second hydraulic pump (26), which is prevented from turning by the operation of the handle (19) in the main shift neutral state and increases with the turning angle of the steering handle (19), is the main shift. The lever (73) is controlled to be proportional to the absolute value of the operating angle, and the steering handle (19) keeps the turning radius constant even if the vehicle speed is changed when the turning angle is constant, and the same steering as a four-wheeled vehicle Turn by movement. Further, a straight circuit (126) for operating the steering brake cylinder (109) and the clutch cylinder (110) is connected to the controller (120), and the output shaft (68) is automatically operated by the sub-shift neutral or the steering wheel (19). The steering output is stopped. In addition, a steering sensor (127) for detecting the position of the cutting unit (8) with respect to the uncut grain row and a steering circuit for automatically controlling the steering motor (108) based on the detection result of the sensor (127) ( 128), giving priority to the steering angle sensor (113) input by manual operation of the steering handle (19), and operating the steering motor (108) by the steering sensor (127) input, The course is automatically corrected along the line, and the harvesting work is performed.

  Further, a spin turn switch for switching between a spin turn permission operation for reversing the turning inner traveling crawler (2) by a maximum operation of the steering handle (19) and a spin turn prohibiting operation for driving the left and right traveling crawler (2) only in the same direction. (129) is provided, and the spin turn operation of the traveling crawler (2) is prohibited by operating the spin turn switch (129) during the super wet field work where the traveling performance is likely to be deteriorated by the spin turn. The threshing clutch motor (131) for turning on and off the power transmission to the threshing portion (4) by operating the threshing clutch lever (76) or the threshing switch (130), and driving the threshing portion (4). A reaping sensor (132) for detecting, and a reaping clutch motor (134) for turning on and off the power transmission of the engine (21) to the reaping part (8) by operating the reaping clutch lever (75) or the reaping switch (133); The cutting sensor (135) for detecting the driving of the cutting unit (8) is provided, and the driving of the threshing unit (4) and the cutting unit (8) is detected by the controller (120).

  Further, a rotation sensor (136) for detecting the rotation speed of the engine (21), a fuel solenoid (137) for increasing / decreasing the rotation speed of the engine (21), and the rotation speed of the engine (21) as an accelerator operation amount. The electronic governor (138) is automatically controlled based on the electronic governor (138) to keep the rotation of the engine (21) substantially constant. As shown in FIG. 9, the electronic governor (138) is normally controlled when the steering handle (19) is operated in the spin turn region. The mode is switched from the mode to the turning mode, and the engine (21) rotation is automatically increased from the accelerator operation amount to temporarily increase the output, and the steering handle (28) 19) The engine (21) output is automatically increased by operation, and the traveling crawler (2) is turned during turning when the traveling load of the traveling crawler (2) increases. Constant and is driven, to prevent such engine (21) rotation reduction by insufficient output, achieving and improving driving operation as well as the engine (21) durability of such.

  Furthermore, the tilt sensor (104) for detecting the horizontal tilt of the machine base (3) with respect to the ground, and the tilt setter (139) for setting the horizontal tilt angle of the machine base (3) are provided. An electromagnetic left and right valve (141) (142) for operating the left and right cylinders (103) (103) and a mechanism for the track frame (1) are provided in the horizontal control controller (140) for automatically correcting the inclination. Potentiometer-type left and right sensors (143) and (144) for detecting the amount of left and right elevation of the platform (3) are connected to the shift steering controller (120), and the left and right cylinders are detected based on the detection result of the tilt sensor (104). (103) The machine (3) is automatically controlled to keep the machine base (3) horizontal, while the cylinder (103) is controlled by switching the spin turn switch (129) To select the field or Shitsuden control, and machine base (3) permit the spin turn operation of the traveling crawlers (2) by the height and to select permission or prohibition.

  As described above, the tilt sensor (104) that detects the left / right tilt of the machine, the left and right sensors (143) (144) that are the ground height sensors that detect the height of the machine, and the Left and right cylinders (103) that are rolling members that change the horizontal tilt and height to the ground are provided, and the left and right cylinders are supported at a low position by a dry field switching operation of a spin turn switch (129) that is a work switch. (103) It is configured so that the control is performed, and the horizontal control operation for automatically correcting the inclination of the machine and the turning control operation of the traveling crawler (2) are set to the optimum state for the dry paddy, Improve driving operability.

  In addition, the tilt sensor (104) for detecting the horizontal tilt of the machine, the left and right sensors (143) (144) for detecting the ground height of the machine, and the horizontal tilt and the ground height of the machine are changed. The left and right cylinders (103) are provided, and the machine is supported at a high position by the wet-field switching operation of the spin turn switch (129) so that the left and right cylinders (103) are controlled to automatically tilt the machine. The horizontal control operation to be corrected and the turning control operation of the traveling crawler (2) are set to the optimum state for the wet field, thereby simplifying the driving operation and improving the driving operability.

  Furthermore, the potentiometer type cutting height sensor (145) for detecting the height of the cutting portion (8) with respect to the ground, and the cutting portion (8) are set to a non-working position (headland turning height) or a working position (cutting height sensor (145). ) A lift switch (146) for raising or lowering the detection height) and a manual switch (147) for manually raising and lowering the cutting part (8) are provided in the lift control controller (148) for automatically raising and lowering the cutting part (8). In addition, an electromagnetic elevating valve (149) for operating the elevating cylinder (11) and a mowing unit height sensor (150) for detecting the height of the machine base (3) of the mowing unit (8) are provided with a shift steering controller. (120), the lifting cylinder (11) is automatically controlled based on the detection result of the cutting height sensor (145) to keep the cutting height of the cereals substantially constant, while the working position of the lifting switch (146) The spin crawling operation of the traveling crawler (2) is prohibited by the descending operation, and the spinning crawler operation of the traveling crawler (2) is permitted by the lifting operation of the lift switch (146), and the cutting part (8) is at a low position. This prevents spin-turning while it is supported.

  Furthermore, the rotational speed of the variable speed rotation sensor (151) and the steering rotation sensor (152) for detecting the output rotation speed of the first and second hydraulic motors (24), (27) and the rotation speed of the left and right traveling crawler (2) are displayed. The turning indicator (153) to be connected is connected to the shift steering controller (120), and the rotational speed of the left and right traveling crawler (2) is calculated based on the detection results of the sensors (151) and (152) to calculate the indicator (153). As shown in FIG. 10, the driving state of the traveling crawler (2) is divided into stop, straight ahead (forward and reverse), slow turn, brake turn (left and right turn), and spin turn (right and left direction change). A steering angle sensor (113) that detects the amount of operation of the steering handle (19), and a main transmission sensor (111) that detects the main transmission lever (73) switching position. The crawler rotation sensors (151) and (152) for detecting the output rotation of the speed change member (25) and the steering member (28) are provided, and the detection results of the sensors (111), (113), (151) and (152) are provided. The left and right traveling crawler (2) speed is calculated based on this, and the left and right traveling crawler (2) speed is automatically controlled, and the speed change member (25) or steering member (28) output directly by the crawler rotation sensors (151) and (152) is directly controlled. The detection prevents the rotation sensors (151) and (152) from being damaged, and the driving situation can be confirmed by displaying the left and right traveling crawler (2) speed.

  Further, as shown in FIGS. 11 to 15, by operating the main speed change lever (73) in the forward (reverse) direction, the speed change motor (105) is operated to control the output of the speed change member (25), and the forward (reverse) ) Moves forward (backward) after shifting, and turns the left (right) by rotating the steering handle (19) to the left (right) while operating the main shift lever (73). By performing the operation, the speed change input operation amount for controlling the speed change motor (105) changes into a quadratic curve, and the steering motor starts from the straight position with a phase difference of 90 degrees with respect to the speed change input operation amount. The steering input operation amount for controlling (108) changes into a quadratic curve shape, and the shift member is proportional to the steering angle of the steering handle (19) by the shift input operation amount in which the rising is a gently curved quadratic curve. (25) is decelerated and the rise is The speed of the steering member (28) is controlled in proportion to the steering angle of the steering handle (19) by the amount of steering input operation that forms a quadratic slope, and the speed change member (25) and the steering member An electric speed change motor (105) and a steering motor (108) for adjusting the output of (28) are provided, and the output adjustment of the speed change member (25) and the steering member (28) is caused to have a time delay so as to operate smoothly. In addition, simplification of the maintenance of the speed change and steering operation structure is achieved.

  Further, FIG. 11 shows the operation by operating the steering handle (19) when the forward (reverse) forward operation amount of the main transmission lever (73) is maximum, half, and quarter. The output displacement amount of the steering motor (108) in which the steering member (28) is speed-up controlled is expressed as the steering speed-increasing operation amount, and the relationship between the rotation of the steering handle (19) and the steering operation output. Is shown. The steering acceleration operation amount, which is the output displacement amount of the steering motor (108), is set to be larger than the substantially linear proportional change with respect to the angle change of the steering handle (19), and the steering member (28 ) Is increased to compensate for the hydraulic power transmission loss, and the actual output of the steering member (28) is within the set appropriate range (100% efficiency output state).

  FIG. 12 shows the rotation of the steering handle (19) when the forward (reverse) forward operation amount of the main transmission lever (73) is the maximum, half, and quarter. It shows the relationship with the turning output rotation speed of the hydraulic motor (27) of the direction member (28), and the operation amount of the steering handle (19) is constant with respect to the operation of the main transmission lever (73) (change of the vehicle speed). Since the turning output speed of the steering member (28) is changed proportionally at the time, the speed (V1) of the turning inner traveling crawler (2) and the speed of the turning outer traveling crawler (2) as shown in FIG. When the steering wheel (19) rotation angle is constant, the ratio to (V2) is kept constant even if the vehicle speed is changed by operating the main transmission lever (73), and the vehicle speed of the main transmission lever (73) is changed. On the other hand, the turning radius (R) is kept constant. That is, as shown in FIG. 3, the rotation output of the speed change member (25) is transmitted to the left and right traveling crawler (2) via the left and right planetary gear mechanism (35) to drive the left and right traveling crawler (2) at the same speed in the same direction. At the same time, the rotational output of the steering member (28) is reversed left and right by the input steering gears (66) and (67) and transmitted to the left and right planetary gear mechanism (35), and the left and right traveling crawler (2) is moved in the opposite direction at the same speed. When the vehicle is driven (forced differential structure), when the vehicle speed is changed by changing the rotational output of the transmission member (25) by operating the main transmission lever (73), the rotational output of the steering member (28) is constant. When the vehicle speed is maintained, the speed difference (V2-V1) between the left and right traveling crawlers (2) is kept constant with respect to the change in the vehicle speed, and the turning radius (R) is increased by the increase (deceleration) of the vehicle speed. Is enlarged (reduced) and the steering handle (1 Even keeping the rotational angle of the constant), the turning radius (R) is changed by a change in the vehicle speed. On the other hand, as is apparent from FIGS. 11 and 12, when the rotation angle of the steering handle (19) is kept constant, the main shift that changes the vehicle speed by changing the rotation output of the transmission member (25). By operating the lever (73), the rotational output of the steering member (28) changes in proportion, and the turning radius (R) of the left and right traveling crawler (2) is kept constant. Each operation of shifting the main transmission lever (73) and steering the steering handle (19) can be performed with substantially the same operation feeling as the pedal and handle operations.

  As described above, the speed change member (25) is operated by operating the main speed change lever (73), which is a speed changer, and both the left and right traveling crawlers (2) are driven at the same speed in the same direction to increase or decrease the speed. In a crawler working vehicle in which a steering member (28) is operated by operating a steering handle (19) as a steering tool to drive the left and right traveling crawlers (2) to generate a difference in driving speed, The left and right traveling crawler (2) is shift-controlled while the ratio between the rotational speed of (2) and the rotational speed of the turning inner traveling crawler (2) is kept substantially constant. When the steering wheel (19) is turned left or right, the turning radius can be changed even if the vehicle speed is changed by increasing or decreasing the left / right traveling crawler (2) by operating the main shift lever (73). Is maintained at a substantially constant level, and the steering and shifting operations can be performed with a driving feeling similar to that of a four-wheeled vehicle. It is easy to change direction to the next work process position on the ground.

  Further, FIG. 14 shows that the shift by the operation of the steering handle (19) when the forward (reverse) forward operation amount of the main shift lever (73) is the maximum, half, and quarter. The amount of output displacement of the speed change motor (105) whose member (25) is controlled to be decelerated is expressed as a speed change / deceleration operation amount, and shows the relationship between the rotation of the steering handle (19) and the speed change operation output. The speed reduction operation amount, which is the output displacement amount of the speed change motor (105), is set smaller than a substantially linear proportional change with respect to the angle change of the steering handle (19), and the output of the speed change member (28) is set. The transmission power loss is increased to compensate for the hydraulic power transmission loss, and the actual output of the speed change member (28) is configured to be within the set appropriate range (efficiency 100% output state). As apparent from FIGS. 11 and 14, the output of the speed change member (25) or the steering member (28) is configured to be larger than a linear change during the stop or maximum output, To eliminate the problem of insufficient driving force of the traveling crawler (2) due to power transmission loss of the transmission member (25) or the steering member (28), to maintain the traveling performance of the traveling crawler (2) and to improve the driving operability. In particular, it improves the running performance during slow speed running where the loss ratio is large.

  FIG. 15 shows the rotation of the steering handle (19) when the forward (reverse) forward operation amount of the main transmission lever (73) is maximum, half, and quarter, This shows the relationship with the shift output speed of the hydraulic motor (24) of the member (25). When the operation amount of the main shift lever (73) is constant, the steering handle (19) shifts with respect to the steering operation. Since the speed change output speed of the member (25) is changed proportionally, as shown in FIG. 16, when the sub speed change lever (74) is kept at a constant position and the sub speed is maintained at the same speed, the straight position is steered. In the cutting path correction range in which the handle (19) is rotated about 15 degrees leftward (rightward), the speed change motor (105) slightly moves in the deceleration direction with respect to the rotation of the steering handle (19), and the speed change member ( 25) is maintained in almost the same output state as straight running and steering The second hydraulic pump (26) of the material (28) turns the second hydraulic motor (27) in the forward direction (reverse direction) to turn leftward (rightward), and the uncut cereal (crop) row The course is corrected to match the curve. 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 transmission motor (105) operates in the deceleration direction in proportion to the rotation of the steering handle (19), and the transmission member (25) is rotated counterclockwise. The vehicle is decelerated in both rotation and right turn, decelerates the traveling shift output of the first hydraulic pump (23) and the motor (24), and drives the left and right traveling crawlers (2) to rotate forward in the same direction. ), And a brake turn operation that turns leftward (rightward) due to the difference in traveling speed between the left and right traveling crawlers (2) is performed, and when it comes off the uncut grain row, it returns to the original row or next to it. The course is moved to the next row. Further, when the steering handle (19) is rotated about 116 degrees, the turning member (28) reaches the maximum output and the turning output is maintained at the maximum output. The traveling crawler (2) on the inner side of the turn is driven in reverse, and a spin turn operation is performed in which the aircraft turns around the turning center between the left and right traveling crawlers (2). ) Is shifted in the turning direction by the left-right width of), turning the aircraft 180 degrees, turning the steering handle (19) in the range of the steering wheel operation amount from 0 degrees to the steering wheel operation amount of 135 degrees, and turning left or right The operation is performed, and the alignment course correction that moves along the uncut grain culm (crop) row within the rotation range of the left and right 15 degrees handle (19) centered on the straight traveling position, while maintaining the traveling speed during straight traveling To do and left By rotating the steering wheel (19) from 116 degrees to 135 degrees, while maintaining the maximum output of the swivel member (28), the spin turn operation for changing the direction of the machine on the field headland and moving to the next work process is This is done by automatically decelerating to about a quarter of the running speed (deceleration rate 25%).

  As is apparent from the above, vehicle speed sensors (118) (119) for detecting the left and right traveling crawler (2) speed, a steering angle sensor (113) for detecting the steering handle (19) operation amount, 73) A shift sensor (111) for detecting the operation position is provided, and the speed of the left and right traveling crawler (2) is automatically controlled so that the turning radius is determined by the operation amount of the steering handle (19). Simplify the operating structure of the direction handle (19) and the speed change lever (73) and improve or change the steering function and speed change function of the traveling crawler (2) to improve turning performance and driving operability. For example, depending on the detection result of one or both of the main transmission sensor (111) and the left and right vehicle speed sensors (118) (119) that detect a change in the transmission amount of the transmission member (25). The steering amount of the steering member (28) is automatically changed, and the speed difference between the turning inner traveling crawler (2) and the turning outer traveling crawler (2) is changed only by changing the vehicle speed. While increasing the speed difference between the left and right traveling crawlers (2) by the amount of expansion, the speed difference between the left and right traveling crawlers (2) is decreased by a smaller amount of the turning radius due to deceleration, and the vehicle speed is changed without changing the turning radius. The vehicle speed of the traveling crawler (2) is changed with a driving feeling substantially similar to that of a four-wheeled vehicle to increase and decrease the traveling speed and steering function of the traveling crawler (2).

  Further, either the main transmission sensor (111) or the left and right vehicle speed sensors (118) (119) in proportion to the increase / decrease / rotation change in the same direction of the left / right carrier shaft (40), which is the shift amount of the transmission member (25). Alternatively, the steering amount of the steering member (28) is automatically changed by the calculation output of the controller (120) based on both detection results, and when the steering operation is constant, the turning radius is made constant only by the speed change operation. The vehicle speed is increased / decreased, and the ratio of the speed of the inner crawler (2) to the outer crawler (2) is kept constant with respect to the change of the vehicle speed. Improvement of gear shifting and steering functions and simplification of traveling gear shifting and steering control. Further, the rate of change of the steering amount of the steering member (28) with respect to the transmission amount of the transmission member (25) (the vehicle speed ratio of the left and right traveling crawler (2)) is configured to be freely changeable by the turning sensitivity setting device (117). By changing the speed ratio of the inner traveling crawler (2) and the outer traveling crawler (2) with respect to the change in vehicle speed according to the road surface condition or the left-right balance of the weight of the machine, the skid of the traveling crawler (2) is reduced and the Prevents meandering due to uneven weight on the left and right. Further, the driving speed of the left and right traveling crawler (2) is determined by the steering operation amount of the steering handle (19) and the transmission operation amount of the main transmission lever (73), as shown in the output diagram of FIG. Based on the control reference value (control map) formed by calculating the relationship between the steering operation amount and the shift operation amount, the operation amount of the steering handle (19) and the left and right are controlled regardless of the shift amount of the transmission member (25). A control reference value for the speed change of the left and right traveling crawler (2), which is determined based on the detection results of the steering angle sensor (113) and the speed change sensor (111), is stored in advance. And the control reference value is corrected by the turning sensitivity setter (117), and the steering or shift control of the average traveling crawler (2) based on the control reference value (control map), and the traveling road surface (Field) condition It is obtained a steer or shift control adapted to the desired driving feeling of an operator, achieving and improving driving operability.

  Furthermore, turning control is performed in the road traveling mode by sub-shift high-speed switching, and main shift deceleration control and steering control are performed based on the steering handle (19) operation by sub-shift standard switching and sub-shift low-speed switching. As shown in FIG. 16, the driving speed of the left and right traveling crawler (2) is changed by operating the steering handle (19) and the main speed change lever (73) to correct the alignment course and change the direction by spin turn on the field headland. And performing a harvesting operation for continuously harvesting and threshing the grains, and operating the auxiliary transmission lever (74) to operate the auxiliary transmission mechanism (32) at high speed or standard (reaping operation) as shown in FIG. Alternatively, when the speed is switched to a low speed, the speed difference between the left and right traveling crawlers (2) is kept substantially constant and the vehicle speed is changed, and the turning radius (R) of the left and right traveling crawlers (2) also changes as the vehicle speed changes. .

  Further, as shown in FIG. 18, by operating the deceleration sensitivity setter (115) by the hand operating member (56), the speed change member (25) based on the turning angle (steering amount) of the steering handle (19). The rate of change of the deceleration amount changes, and when traveling on a swampy mud road surface (low-speed traveling work) where the running resistance is large and slips easily, the deceleration change rate with respect to the turning angle of the steering handle (19) is reduced, or the spin turn By reducing the rate of change in deceleration to zero when vehicle speed is unnecessary, the vehicle speed is reduced throughout the entire steering operation, or as shown by the solid line in FIG. To do. On the other hand, in dry field traveling (high speed traveling work) with low traveling resistance, by increasing the deceleration change rate with respect to the turning angle of the steering handle (19), as shown by the phantom line in FIG. A direction change such as a spin turn can be performed stably, and a vehicle speed reduction operation and a vehicle speed return operation associated with a steering operation (direction change or straight advance) can be omitted.

  Further, as shown in FIGS. 16 and 19, a spin turn switch that is a work switch is an operation that causes the traveling crawler (2) to perform a spin turn operation in the dry paddy field operation and stops the spin turn operation of the traveling crawler (2) in the wet paddy field operation. (129) is configured to perform the spin turn prohibition and permission switching by operating the spin turn switch (129) without interrupting the operation even when the field is entirely dry and partly wet. A spin turn switch (129) for switching the control operation of the steering member (28) according to the traveling road surface condition of the traveling crawler (2). The traveling control of the traveling crawler (2) is changed to FIG. 16 or FIG. 19 by operating the spin turn switch (129). Achieving such maintenance and improvement of the driving operation of the turning function of the travel crawler in field (2).

  Further, when the spin turn switch (129) is operated to prohibit the spin turn as shown in FIG. 19, the change in the speed of the brake turn until the turning inner traveling crawler (2) is reversed is shown in FIG. The spin turn operation area (operation amount 100) of the steering handle (19) in which the turning crawler (2) is rotated in reverse by the spin turn permission operation of the spin turn switch (129). In the range of degrees to 135 degrees), the speed of the crawler inside traveling crawler (2) can be kept substantially zero and the spin turn can be prohibited, while the operation amount of the steering handle (19) is maximum as shown in FIG. Brake turn to stop the crawling inner traveling crawler (2) at the (135 degree) position, and the operating range of the steering handle (19) Speed is the quadratically slowly deceleration of the turning inner running crawler band (2), also performed to prohibit spin turn.

  Further, FIG. 21 is an output diagram showing the relationship between the rotation of the traveling crawler (2) and the turning sensitivity setting device (117). By lowering the steering sensitivity by operating the setting device (117), The inward turning crawler (2) is driven in the steering sensitivity insensitive state shown, and the turning radius becomes larger with the same steering wheel (19) operation amount than the standard steering sensitivity setting shown by the solid line, and the steering handle ( 19) No spin turn is made even with the maximum manipulated variable (135 degrees). Further, by increasing the steering sensitivity by operating the setting device (117), the turning inner traveling crawler (2) is driven in a steering sensitivity sensitive state indicated by a two-dot chain line, and the steering wheel has the same handle as the steering sensitivity standard setting. (19) The turning radius decreases with the operation amount. In addition, the turning outer traveling crawler (2) maintains a substantially straight traveling speed regardless of the steering sensitivity setting, and turns with respect to the steering handle (19) operation amount by the sensitivity setting of the turning sensitivity setting device (117). The inner traveling crawler (2) speed is changed, the turning outer traveling crawler (2) speed is changed in a substantially constant relationship with respect to the operation amount of the steering handle (19), and the turning radius of the steering operation is changed. The vehicle speed reduction amount is set by setting and steering operation, and selection of the driving feeling and simplification of the assembly adjustment work are aimed at.

  This embodiment is constructed as described above. As shown in the turning control flowchart of FIG. 22, the deceleration feeling input during turning of the deceleration sensitivity setting device (115) and the steering handle of the turning sensitivity setting device (117). The turning feeling input of (19), the spin turn permission (dry field) or prohibition (wet field) determination input of the spin turn switch (129), and the machine base (3) height of the left and right sensors (143) (144) 16, FIG. 18, FIG. 19 (or FIG. 20), FIG. 21, based on the dry field or wet field determination input based on the cutting position and the working position or non-working determination input of the cutting section height sensor (150). The output of the speed control reference value (control map) of the traveling crawler (2) based on the output diagram is automatically corrected, and the deceleration feeling, turning feeling, and switching between the dry field and the wet field are performed. The calculated control map is formed, the main transmission lever (73) operation input of the main transmission sensor (111), the auxiliary transmission lever (74) switching input of the auxiliary transmission sensor (112), and the steering angle sensor (113). ) Steering handle (19) operation (operation amount) input and left and right vehicle speed sensors (118) and left and right carrier shaft (40) rotation input, one of the main and sub transmission levers (73) (74) Alternatively, when both are neutral, the steering brake (62) is turned on to keep the second hydraulic motor (27) stopped and the steering clutch (40) is disengaged, and the main transmission lever (73) is neutral. At this time, the shift brake (106) is turned on to stop the output shaft (31) of the first hydraulic motor (24). Further, when the sub-shift is at medium speed or low speed, the main shift is other than neutral, and the steering handle (19) is operated other than straight travel, the main shift sensor (53) and steering angle sensor (55) are input. The travel speed (vehicle speed), the steering angle and the steering direction are determined by the corrected control map, and the transmission motor (105) and the steering motor (108) are operated by the main transmission and the steering control. In the dry rice field operation state of FIG. 21, the driving speed of the left and right traveling crawler (2) is changed to correct the alignment course and change the direction by spin turn on the field headland, and continuously harvest the cereal and thresh. Do work. Further, when the spin turn switch (129) is prohibited, or when the machine base (3) is in the wet position and in the high position, or when the cutting part (8) is in the low position in the work state, FIG. 20) In the wet field operation state where the spin turn is prohibited, the driving speed of the left and right traveling crawler (2) is controlled to change the alignment course and change the direction by the brake turn.

  Further, FIG. 23 is a horizontal control flowchart, in which the machine base (3) of the tilt sensor (104) is input to the left / right tilt direction, the set tilt input of the tilt setter (139), and the left and right sensors (143) (144). Machine base (3) Left / right height input, cutting position height sensor (150) cutting position (8) working position or non-working position determination input, spin turn switch (129) spin turn permission (dry field) Alternatively, the amount of lift of the left and right sides of the machine base (3) is calculated based on the prohibition (wet field) judgment input, and the machine base (3) is lowered according to the dry rice field work and the spin turn operation is permitted. Alternatively, while turning and decelerating based on the output diagram of FIG. 21, the ground height of the machine base (3) is lowered, and the left or right inclination of the machine base (3) is raised by raising the left and right cylinders (103). Due to movement and lowering movement On the other hand, the machine base (3) is moved up and the spin turn operation is prohibited by the judgment of the wet field work, and the machine base (3) is rotated and decelerated based on the output diagram of FIG. 19 (FIG. 20). The ground height in (3) is increased and the left or right tilt of the machine base (3) is corrected by raising and lowering the left and right cylinders (103). Further, based on the detection results of the left and right sensors (143) and (144), when the ground height of the machine base (3) becomes below a certain level by the automatic horizontal control of the cylinder (103), The spin turn operation of FIG. 16 or FIG. 21 that reverses 2) is automatically permitted, while the spin turn prohibition operation of FIG. 19 (FIG. 20) when the ground height of the machine base (3) exceeds a certain level. Then, the turning control of FIG. 22 is performed.

  Furthermore, FIG. 24 is an engine control flowchart, in which the engine (21) rotation speed input of the rotation sensor (136), the left and right carrier shaft (40) rotation speed inputs of the left and right vehicle speed sensors (118) (119), and the steering angle. It is determined whether or not the turning crawler (2) is in a pin-turn operation by reversing the direction of the steering handle (19) of the steering wheel (19) of the sensor (113). While automatically controlling the engine (21) rotational speed, the engine (21) rotational speed is automatically controlled to switch to the turning mode shown in FIG. Is maintained in a high output state for a certain period of time, and a spin turn operation is performed.

  Further, FIG. 25 is a steering control flowchart for following the uncut grain rows in the field. When the threshing part (4) and the cutting part (8) are operated by clutch engagement, the main transmission sensor (111) is operated. The main shift position input, the sub shift position input of the sub shift sensor (112), the steering handle (19) operation amount input of the steering angle sensor (113), and the cutting unit (150) of the cutting unit height sensor (150) 8) Based on the ground height input, the left or right turn is determined by the uncut grain row detection input of the steering sensor (127) in the state where each manual operation of traveling speed change and steering is off, and the steering Based on the detection result of the sensor (127), the steering motor (108) is automatically controlled to perform a left or right turning operation, and is automatically moved along an uncut grain row in the field to harvest. To do.

  Further, FIG. 26 is an elevation control flowchart for raising and lowering the cutting unit (8). When the manual switch (147) for raising and lowering the cutting unit (8) by manual operation is off, the cutting unit (145) of the cutting height sensor (145) 8) Ground height input, automatic lifting input of lifting switch (146), cutting part height sensor (150) cutting part (8) machine height input, and spin turn switch (129) spin turn When the cutting part (8) is raised above the cutting work position by the permission or prohibition input and the cutting part (8) operation input of the cutting switch (133), the lifting cylinder (146) is turned on by turning on the lifting switch (146). 11) automatically descends, the cutting part (8) descends to the cutting height sensor (145) control range, and the spin turn operation of FIG. 16 is prohibited. Further, when the cutting unit (8) is lowered to the cutting work position, the lift cylinder (11) is automatically controlled based on the detection result of the cutting height sensor (145) in a state where the spin turn operation is prohibited. The harvesting operation is performed with the mowing unit (8) supported at a substantially constant height, and the elevating cylinder (11) is turned on when the elevating switch (146) is turned on while the mowing unit (8) is lowered to the mowing operation position. Automatically turn up, spin turn operation is permitted, and based on the output diagram of FIG. 16 or FIG. 21, a spin turn operation is performed by operating the steering handle (19), the direction is changed at the field headland and the next work process Move to position.

  Further, FIG. 27 is provided with a transmission linear actuator (154) and a steering linear actuator (155) in place of the transmission motor (105) and the steering motor (108) of FIG. ) (122) The transmission electric motor (156) operated by the output and the transmission cylinder (157) driven by the motor (156) form a transmission linear actuator (154), and the piston rod of the cylinder (157) (158) is connected to the operating arm (159) of the first hydraulic pump (23) of the transmission member (25), and the operating arm (159) is operated by the control of the piston rod (158) to move in and out, so that the first hydraulic pump The swash plate angle adjustment of (23) is performed, the rotation of the speed change output shaft (31) of the first hydraulic motor (24) is changed, and the left The traveling crawlers (2) speed is simultaneously accelerated or decelerated to change the vehicle speed. Further, a steering linear actuator (160) driven by the left and right turning circuits (124) and (125) and a steering cylinder (161) driven by the motor (160) are used. 155), the piston rod (162) of the cylinder (161) is connected to the operating arm (163) of the second hydraulic pump (26) of the steering member (28), and the piston rod (162) is moved in and out. The operation arm (163) is operated by control to adjust the swash plate angle of the second hydraulic pump (26), and the rotation of the steering output shaft (68) of the second hydraulic motor (27) is changed to change the left and right traveling crawlers. One of (2) is accelerated (forward rotation) and the other is decelerated (reverse rotation), and a turn such as a brake turn or a spin turn is performed. As described above, an electric cylinder type linear actuator (154) (155) is provided to control the shift and steering of the traveling crawler (2), whereby the operation arm (159) (163) is operated by the link mechanism or the hydraulic cylinder. Compared with the structure in which the speed is switched, the operating speed is slowed down to cause a time delay, so that the speed of the traveling crawler (2) can be changed and maintenance can be easily performed.

The side view of a combine. FIG. Explanatory drawing of a mission case. Plane explanatory drawing of a steering handle attachment part. The partial top view. FIG. Front explanatory drawing of a traveling crawler part. Steering and shift control circuit diagram. Engine output diagram. Display explanatory drawing of a turning indicator. The output diagram which shows the relationship between a steering handle and steering operation output. The output diagram which shows the relationship between a steering wheel rotation angle and a steering member output. Turning explanatory view of the left and right traveling crawler. The output diagram which shows the relationship between a steering handle and a speed change operation output. The output diagram which shows the relationship between a steering wheel rotation angle and a transmission member output. The output diagram which shows the relationship between steering and main transmission switching, and driving | running | working crawler rotation. The output diagram which shows the relationship between steering and auxiliary transmission switching, and driving | running | working crawler rotation. Steering output diagram without traveling deceleration. Steering output diagram prohibiting spin turn. The steering output diagram which shows the modification of FIG. The output diagram which shows the relationship between driving | running | working crawler rotation and turning sensitivity setting. The turning control flowchart. Horizontal control flowchart. Engine control flowchart. The steering control flowchart. The elevation control flowchart. Explanatory drawing of a shift steering control structure.

Explanation of symbols

(2) Traveling crawler (19) Steering handle (21) Engine (25) Transmission member (28) Steering member (73) Main transmission lever (103) Left and right cylinders (rolling member)
(104) Inclination sensor (105) Transmission motor (108) Steering motor (111) Main transmission sensor (113) Steering angle sensor (117) Turn sensitivity setting device (118) (149) Left / right vehicle speed sensor (129) Spin turn switch (143) (144) Left / right side sensor (151) (152) Crawler rotation sensor

Claims (1)

Includes left and right traveling crawlers body, a transmission member for shifting the straight traveling in the longitudinal direction of the machine body, in the crawler vehicle with a steering member for pivoting the fuselage and connected through a shift steering controller, the steering wheel The control reference value of the left and right traveling crawler speed change determined based on the detection result of the steering angle sensor that detects the operation amount and the shift sensor that detects the shift lever operation position is stored in the shift steering controller in advance, and the control reference The crawler travel is characterized in that the value is corrected by a turning sensitivity setting device, and the rate of change of the steering amount of the steering member with respect to the shifting amount of the transmission member can be changed by the turning sensitivity setting device. car.

Images