JP4681394B2 - Drive control device for mowing machine - Google Patents

Description

  According to the present invention, the traveling means and the cutting processing unit driven by the output of the traveling speed change means, and the transmission blocking means for blocking the output of the traveling speed change means from being transmitted to the traveling means, On the basis of the command of the scraping command means, the transmission state switching operation means for switching to the scraping state, and when the scraping is commanded, the shut-off state is set and the scraping command is not commanded. The present invention relates to a drive control device in a reaping work machine provided with a scraping control means for executing a scraping process for operating the transmission state switching operation means so as to be sometimes in a transmission state.

  The drive control device in such a mowing work machine drives the running means and the mowing work part with the output of the running speed change means, thereby improving the grain speed while increasing / decreasing the driving speed of the mowing work part in accordance with the increase / decrease of the running speed. The cutting operation of the kite can be performed, and when scraping is instructed by the scraping command means, the shut-off state that blocks transmission of the output of the traveling speed change means to the traveling means is established. For example, when the cutting operation is performed, the driving of the cutting unit is continued while the cutting machine is stopped, and the scraping operation is performed to collect the cereals harvested by the cutting unit in the body. It is something that can be done.

As a conventional example of a drive control device in such a mowing machine, a pair of left and right crawler traveling devices are provided as traveling means, a continuously variable transmission for straight traveling is provided as a traveling transmission means, and a continuously variable for turning for turning A transmission is provided, and when traveling straight, a pair of crawler traveling devices is driven by the output of a continuously variable continuously variable transmission, and the turning continuously variable transmission is set to the output speed of the continuously variable continuously variable transmission. The gears are shifted so as to have the same output speed, and at the time of turning, one of the pair of crawler traveling devices is driven by a continuously variable transmission for straight travel, and the other of the pair of crawler traveling devices is shifted to the deceleration side. It is configured to be driven by the output of the continuously variable transmission, and when a scraping command is instructed, it is a cutoff state that blocks transmission of the output of the linearly variable continuously variable transmission to the pair of crawler travel devices Switch to In addition, the output of the continuously variable transmission for turning is switched to a transmission state in which the output is transmitted to a pair of crawler traveling devices, and in addition, the continuously variable transmission for turning is shifted to a stopped state (for example, (See Patent Document 1).
That is, the drive control device in such a reaping work machine, when the rake command is commanded by the rake command means, the traveling means is held in the stopped state by the continuously variable transmission for turning in the stopped state, For example, even if the scraping command means is operated erroneously in a state where the cutting work machine is stopped on an inclined ground, there is no risk that the cutting work machine will move down. It is intended to prevent unexpected movement of the mowing machine due to erroneous operation.

JP 2004-267124 A

In the conventional drive control device for a reaping work machine, in addition to being in a shut-off state that blocks transmission of the output of the traveling speed change means to the traveling means when the scraping command means instructs the scraping. Since the output of the continuously variable transmission for turning is transmitted to the traveling means and the continuously variable transmission for turning is shifted to the stop state, the scraping command means commands the scraping. Since it takes time to shift the continuously variable transmission for turning to the stop state from when the mowing machine is stopped to travel, the mowing machine cannot be stopped quickly.
In other words, switching to the transmission state in which the output of the continuously variable transmission for turning is transmitted to the traveling means is performed by switching the transmission clutch to the on state or the like. Shifting the continuously variable transmission to the stop state is performed by moving the shift operation unit to the stop position using an electric motor, etc., and takes time. The mowing machine could not be stopped quickly based on the command.

  The present invention has been made in view of the above circumstances, and its purpose is to prevent an unexpected downward movement of the mowing work machine due to an erroneous operation of the scraping command means, while also based on the scraping command. It is in the point which provides the drive control apparatus in a mowing work machine which can stop a mowing work machine quickly.

  The drive control device in the harvesting machine according to the present invention includes a travel means and a mowing processing unit driven by the output of the travel speed change means, and a transmission cut-off for shutting off the output of the travel speed change means to the travel means. A transmission state switching operation means for switching the means between a cutoff state and a transmission state, a scraping command means for commanding a scraping command, and a blocking state when the scraping is commanded based on the command of the scraping command means And a scraping control means for performing a scraping process for operating the transmission state switching operation means so as to be in a transmission state when a scraping command is not commanded. Is provided with an inclination angle detecting means for detecting a forward and backward inclination angle of the airframe, and the scraping control means is configured such that the inclination angle detecting means allows the scraping in the scraping process. When detecting a steep inclination than the set inclination angle, the transmission state switching operation means is operated so as to maintain the transmission state regardless of the scraping command by the scraping command means. In the point.

  According to the first characteristic configuration described above, during the work, when the scraping command is not commanded by the scraping commanding means, the traveling means and the cutting working unit are driven by the output of the traveling speed change means, and the cutting is performed. The work machine performs the cutting work of cutting the grain while traveling. In general, the farm field is almost horizontal, and the front and rear tilt angle of the body of the mowing machine that runs on the farm field takes a value close to 0. Since there is no detection of a steep slope than the corner, during the work, when the scraping command is commanded by the scraping command means, the transmission shut-off means is output from the traveling speed change means by the transmission state switching operation means. Is cut off to stop the transmission to the traveling means, and the driving of the cutting work unit is continued in the state in which the cutting machine is stopped, and the cocoon harvested by the cutting work unit is collected into the machine body. Will work. And, when the scraping command is commanded by the scraping command means during non-working etc., if the steep inclination is detected by the tilt angle detecting means than the setting allowable tilt angle, the scraping command The transmission cut-off means maintains the transmission state in which the output of the travel transmission means is transmitted to the travel means regardless of the scraping command by the means.

In this way, during the work, when the scraping command is commanded by the scraping command means, the operation is simply performed so as to cut off the transmission of the output of the traveling speed change means to the traveling means. Since the mowing machine stops traveling, the mowing machine can be stopped quickly, and it is assumed that, during non-working, etc., the scraping command is erroneously commanded by the scraping command means. However, if the forward / backward inclination angle of the airframe is steeper than the setting angle for allowing scraping, the transmission blocking means maintains the transmission state in which the output of the traveling transmission means is transmitted to the traveling means. In the state where the cutting machine is stopped on the slope, even if the scraping command means is mistakenly commanded by the scraping command means, the shut-off state shuts off the output of the traveling speed change means to the traveling means Since it is not made, it is possible to prevent the unexpected descending movement of the cutting working machine.
Accordingly, there is provided a drive control device for a reaping work machine capable of quickly stopping the reaping work machine based on the rake command while preventing an unexpected downward movement of the reaping work machine due to an erroneous operation of the scraping command means. It came to offer.

  In addition to the first feature configuration, a second feature configuration of the present invention is provided with a travel speed detection means for detecting a travel speed, and the scraping control means is configured to detect the travel speed detection means in the scraping process. The transmission state switching operation means is operated so as to maintain the transmission state regardless of the scraping command by the scraping command means when a speed higher than the setting speed for allowing scraping is detected. It is characterized by that.

According to the second feature configuration, when the scraping command is instructed by the scraping command means, the scraping command is detected when the traveling speed detecting means detects a speed higher than the setting speed for allowing the scraping. The transmission blocking means maintains the transmission state in which the output of the traveling speed change means is transmitted to the traveling means regardless of the scraping command by the means, so that the scraping command is erroneously issued when the mowing machine is traveling at high speed. Even if it is done, since it will not be in the interruption | blocking state which interrupts | blocks transmission of the output of a driving | running | working transmission means to a driving | running | working means, it becomes possible to prevent that the mowing machine which travels at high speed stops suddenly. By the way, at the time of dredging where a scraping command is commanded, the mowing machine is run at a low speed, and when the scraping command is commanded before the tack, etc. A scraping command is not issued when the mowing machine is traveling at a high speed.
Therefore, it came to provide the drive control apparatus in a mowing work machine which can prevent a sudden stop of a mowing work machine.

In addition to the first or second feature configuration described above, the third feature configuration of the present invention includes a threshing unit that threshs the cereal that is harvested and supplied by the harvesting processing unit, and is mounted on the aircraft. An artificially operated reaping clutch for turning on and off the transmission of the output of the transmission means to the reaping processing unit, and an artificially operated threshing clutch for turning on and off the transmission of driving power to the threshing unit Provided,
A cutting clutch detecting means for detecting whether or not the cutting clutch is in an engaged state, and a threshing clutch detecting means for detecting whether or not the threshing clutch is in an engaged state, the scraping control means, The scavenging clutch detecting means detects the engaged state, and the threshing clutch detecting means is configured to execute the scraping process when detecting the engaged state.

  According to the third feature configuration, the cutting clutch detecting means detects the input state where the output of the traveling transmission means is transmitted to the cutting processing section, and the threshing clutch detecting means transmits the driving power to the threshing section. In other words, when the entering state is detected, in other words, the rake processing unit and the threshing unit perform the scraping process during the operation of driving, for example, the reaping processing unit travels on the road, Even when a scraping command is mistakenly commanded during non-working in which the threshing unit is not driven, it is possible to prevent the scraping process from being executed.

  Accordingly, the present invention has provided a drive control device for a reaping work machine that can prevent the scraping process from being executed during non-working.

  According to a fourth feature of the present invention, in addition to any one of the first to third features described above, the output of the continuously variable transmission for straight travel as the travel transmission means is the right and left as the travel means. The straight-running transmission state that is transmitted to each of the travel devices, the output of the continuously variable continuously variable transmission is transmitted to the right travel device, and the output of the continuously variable transmission for turning is transmitted to the left travel device. Rotating transmission state and transmission state for right turn transmitting the output of the continuously variable transmission for straight travel to the left traveling device and transmitting the output of the continuously variable transmission for turning to the right traveling device A transmission state switching means that can be switched to, a turning command means that commands straight, left-turning, and right-turning, a speed command means that commands a traveling speed, the continuously variable continuously variable transmission and the turning Speed control means for shifting the continuously variable transmission of the And a traveling state switching control means for switching the transmission state switching means so as to be in the traveling state commanded by the turning command means, and the speed control means is commanded to go straight by the turning command means. The first continuously variable continuously variable transmission and the continuously variable continuously variable transmission are operated so as to achieve the traveling speed commanded by the speed command means, And performing a straight-ahead control process for shifting the speed of the other continuously variable transmission so as to be the same as the speed detected by the speed detecting means for detecting the speed of the one continuously variable transmission; and When the left turn and the right turn are instructed by the means, the linearly variable continuously variable transmission is operated to change to the traveling speed instructed by the speed instruction means, and the turning For turning continuously variable transmission It characterized that it is configured to perform a turning control process of shifting operation to be the target speed.

According to the fourth characteristic configuration described above, when the straight command is commanded by the turning command means, the output of the continuously variable continuously variable transmission is transmitted to each of the left and right travel devices as the travel means. To change the speed of one of the continuously variable transmission for straight travel and the continuously variable transmission for turning to the traveling speed commanded by the speed command means, and The continuously variable transmission is operated so as to be the same speed as the detection speed of the speed detecting means for detecting the speed of one of the continuously variable transmissions, and the left turn and the right turn are commanded by the turn command means. Sometimes, from the straight transmission state in which the output of the continuously variable transmission for straight travel is transmitted to the left and right traveling devices, the output of the continuously variable transmission for straight travel is transmitted to one of the left and right traveling devices and turned. The output of the continuously variable transmission is transmitted to the other traveling device. To the turning transmission state to change the speed of the continuously variable transmission for straight travel to the traveling speed commanded by the speed command means, and to turn the continuously variable transmission for turning Because the speed change operation is performed to achieve the target speed of the left and right, the output of the continuously variable transmission provided separately is transmitted to the left and right traveling devices respectively. Even if the travel speed of the apparatus is deviated and the straight command is commanded by the turning command means, it is possible to avoid the inconvenience that the mowing machine does not move straight.
Therefore, it came to provide the turning control apparatus of the work vehicle which can maintain operativity.

  According to a fifth characteristic configuration of the present invention, in addition to the fourth characteristic configuration, the speed control means includes a mechanical servo means and a speed change control means for operating a speed change by operating a speed change actuator, The mechanical servo means shifts the linearly variable continuously variable transmission so as to have a traveling speed commanded as a change in operating position by a position change operation-type shift operating tool as the speed command means. The speed change control means is configured to change the speed of the continuously variable transmission for turning by the speed change actuator so that the speed is the same as the speed detected by the speed detection means. Features a point.

According to the fifth characteristic configuration, when the position change operation type shift operation tool is operated, the mechanical servo means is used for straight traveling so that the traveling speed is commanded by the position change operation type shift operation tool. Of the continuously variable transmission, and the shift control means shifts the continuously variable transmission for turning with the shift actuator so that the speed is the same as the speed detected by the speed detection means. Even in the event of a failure, it is possible to change the speed of the continuously variable continuously variable transmission using mechanical servo means.
Accordingly, the present invention has provided a drive control device for a reaping work machine that can maintain operability even in the event of a failure of the speed change control means.

The sixth characteristic configuration of the present invention, the fourth or fifth in addition to the features configuration, the transmission state switching means, the output of the output and continuously variable transmission for the rotation of the continuously variable transmission for the straight Can be switched to a neutral state that does not transmit to the left and right traveling devices, the transmission blocking means sets the blocking state to the neutral state of the transmission state switching means, and the transmission state is used for straight traveling of the transmission state switching means. In the form of a transmission state, a left turning transmission state, and a right turning transmission state, the transmission state switching means is also used, and the scraping control means is configured to be the driving state switching control means. Prior to the switching operation of the transmission state switching means, the scraping process is executed in such a manner that the transmission state switching means is switched to the neutral state.

According to the sixth characteristic configuration, in the state where the scraping command means instructs to drive, the transmission state switching means is used for straight traveling in preference to the switching operation of the transmission state switching means by the traveling state switching control means. Since the output of the continuously variable transmission and the output of the continuously variable transmission for turning are switched to a neutral state in which the output is not transmitted to the left and right traveling devices, the transmission blocking means is also configured as the transmission state switching means. As a result, the configuration can be simplified.
Therefore, it came to provide the drive control apparatus in the mowing machine which can aim at the simplification of a structure.

[First Embodiment]
Hereinafter, the case where the drive device of a harvesting harvester according to the present invention is applied to a combine as a harvesting harvester will be described with reference to the drawings.
FIG. 1 shows an overall side view of a combine that is an example of a harvesting and harvesting machine. The combine is driven by a pair of left and right crawler type traveling devices 1L and 1R (an example of traveling means). An example) is configured to be able to travel, and at the front part of the traveling machine body 2, a harvesting processing device 3 (of the harvesting processing unit) that can be moved up and down and harvests the planted culm on the field and conveys the harvested culm backward. Threshing device 4 (an example of a threshing unit) that receives the harvested cereal rice harvested by the harvesting processing device 3 and performs the threshing and sorting process, and the threshing device 4 for threshing and sorting A grain tank 5 that stores the grain obtained by processing is mounted, and a boarding operation unit 6 is formed at a location in front of the grain tank 5.

Next, the transmission structure of this combine will be described.
As shown in FIGS. 2 and 3, the power of the engine E is transmitted to the continuously variable transmission 7 (an example of traveling transmission means) and the continuously variable transmission 8 for turning through the transmission belt 14 and the transmission pulley 15. The transmission output of these continuously variable transmissions 7 and 8 is transmitted to each of the traveling devices 1R and 1L via the mission case 9. Of these continuously variable transmissions 7 and 8, the speed change output of the continuously variable continuously variable transmission 7 is transmitted to the harvesting processing device 3 via the harvesting clutch 10 after passing through the mission case 9. Is provided with a reaping sensor 11 (an example of reaping clutch detection means) for detecting the on / off state. Further, the power of the engine E is transmitted to the threshing device 4 via the threshing clutch 12, and the threshing clutch 12 is provided with a threshing sensor 13 (an example of a threshing clutch detecting means) that detects the on / off state.

  The continuously variable continuously variable transmission 7 and the continuously variable continuously variable transmission 8 are variable hydraulic pumps 7A and 8A that are driven by power from an engine mounted on a combined traveling machine body, and the variable hydraulic pump 7A. , A hydrostatic continuously variable transmission (HST) having a well-known structure constituted by a pair of hydraulic motors 7B and 8B that are rotationally driven by supply oil from 8A. Incidentally, the power of the engine E is transmitted to the transmission shaft 16 of the variable hydraulic pumps 7A and 8A via the transmission belt 14 and the transmission pulley 15.

  The transmission case 9 has an output shaft 17 of the continuously variable transmission 7 for straight traveling and an output shaft 18 of the continuously variable transmission 8 for turning inserted therein. The shift output from the left and right traveling devices 1R, 1L is transmitted to the pair of left and right traveling devices 1R, 1L, while the shift output from the output shaft 17 of the continuously variable transmission 7 for straight travel is transmitted to the cutting processing device 3. ing. A right output gear 18a and a left output gear 18b are fixed to the output shaft 18 of the continuously variable transmission 8 for turning.

  A pair of large and small output gears 17a, 17b for sub-shifting and an output gear 17c for driving the cutting part are fixed to the output shaft 17 of the continuously variable transmission 7 for linear movement. The sub-transmission shaft 19 supports a sub-transmission small-diameter gear 19a and a large-diameter gear 19b that are always meshed with the output gears 17a and 17b. The sub-transmission shaft 19 supports the sub-transmission shaft 19 at an intermediate position between the two gears 19a and 19b. A sub-shift gear 19d that rotates integrally with the transmission shaft 19 is externally fitted to be slidable in the axial direction. A sub-transmission device is configured in which the sub-shift gear 19d is slidably operated to change the speed in two steps. An output gear 19e is fixed to the auxiliary transmission shaft 19, and a center gear 21 provided integrally with the support shaft 20 is always in mesh with the output gear 19e.

  The support shaft 20 is provided with transmission state switching means A on both sides of the center gear 21. The transmission state switching means A has a left outer peripheral gear portion 22a that is always meshed with the left output gear 18a. The left multi-plate friction clutch 22 provided on the left side, the right multi-plate friction clutch 22 provided with the right outer peripheral gear portion 22b always meshed with the right output gear 18b, and both side surfaces of the center gear 21 are opposed thereto. And a pair of left and right meshing clutches 24, 24 formed between the shift gear 23.

  The left friction clutch 22 constitutes a left clutch that can be switched to a state in which transmission between the continuously variable transmission 8 for turning and the left traveling device 1L is cut off. The right friction clutch 22 is used for turning. A right-side clutch that can be switched to a state in which transmission between the continuously variable transmission 8 and the right-side traveling device 1R is cut off is configured.

  The left and right shift gears 23 can be shifted in the direction of the axis of rotation, and when the shift operation is performed, the meshing clutch 24 meshes and enters a transmission state, and the meshing clutch 24 shuts off a transmission that does not mesh. The friction plate in the shift gear 23 is configured to be shiftable with respect to the main body of the friction clutch 22, and the multi-plate friction clutch 22 is in pressure contact and enters a transmission state. The plate-type friction clutch 22 is configured to be switchable to a state in which transmission that is not in pressure contact is cut off.

  That is, the power transmission to the pair of left and right traveling devices 1L, 1R is a transmission state in which the power from the straight transmission 7 is transmitted and the friction clutch 22 is in pressure contact in the transmission state in which the meshing clutch 24 is engaged. Then, if the power from the continuously variable transmission 8 for turning is transmitted and both the meshing clutch 24 and the friction clutch 22 are in the transmission state, the continuously variable transmission 7 for straight traveling and the continuously variable transmission 8 for turning are used. If both the meshing clutch 24 and the friction clutch 22 are in the transmission cut-off state, the power is transmitted from both the continuously variable transmission 7 for straight travel and the continuously variable transmission 8 for turning. Is configured not to be transmitted.

  The left and right shift gears 23, 23 are urged into a transmission state in which the meshing clutches 24, 24 are meshed by the pressing force of the pressure springs 25, 25, respectively. By shifting the hydraulic cylinders 26L and 26R for shutting off against the pressing force of the clutch 25, the operation can be switched to the transmission shut-off state where the meshing clutches 24 and 24 are not engaged.

In this transmission cut-off state, the friction plate in the shift gear 23 is shifted by the steering hydraulic cylinders 27L and 27R, so that the operation can be switched to the transmission state in which the friction clutches 22 and 22 are in pressure contact. The steering hydraulic cylinders 27L and 27R and the cutoff hydraulic cylinders 26L and 26R are operated by switching the steering solenoid valves 29L and 29R and the cutoff solenoid valves 28L and 28R. .
The shift gear 23 is transmitted to the pair of left and right traveling devices 1L and 1R via the final gear 30. The shift gear 23 is configured to always mesh with the relay gear 31 of the transmission system to the traveling device when the meshing clutch 24 is meshed and not meshed.

  As a result, the left and right meshing clutches 24 are switched to the transmission engagement state, and the left and right friction clutches 22 are switched to the transmission cutoff state, whereby the straight meshing transmission state is established, and the right meshing clutch 24 is switched to the transmission engagement state, and the right friction The clutch 22 is switched to the transmission cut-off state, the left meshing clutch 24 is switched to the transmission cut-off state, and the left friction clutch 22 is switched to the transmission-engaged state to enter the left-turning transmission state, and the right meshing clutch 24 is cut off from the transmission. Switch to the state, switch the right friction clutch 22 to the transmission-entered state, switch the left meshing clutch 24 to the transmission-entered state, and switch the left friction clutch 22 to the transmission cut-off state, thereby entering the right-turning transmission state. The left and right meshing clutches 24 are switched to the transmission cut-off state, and the left and right friction clutches 22 are By switching to dynamic cut-off state, and is configured such that a neutral state.

  That is, with the left and right meshing clutches and the left and right friction clutches as the main parts, a straight transmission state in which the transmission output of the continuously variable transmission 7 for straight traveling is transmitted to each of the pair of left and right traveling devices 1L and 1R, The left turn transmission state in which the speed change output of the continuously variable transmission 7 is transmitted to the right traveling device 1R and the speed change output 8 of the turning continuously variable transmission is transmitted to the left traveling device 1L. A right-turn transmission state in which the shift output of the transmission device 7 is transmitted to the left travel device 1L and the shift output of the continuously variable transmission device 8 is transmitted to the right travel device 1R. A transmission state switching means A is configured which can be switched to a neutral state in which neither the transmission output of the transmission 7 nor the continuously variable transmission 8 for turning is transmitted to each of the pair of left and right traveling devices 1L, 1R.

The boarding operation unit 6 can be freely moved along a front-rear direction over a predetermined front-rear operation range, and a manually operated main transmission lever 41 (speed command means, An example of a position change operation type speed change operation tool), a rectilinear command position N for commanding straight travel, a left turn command position for commanding a left turn adjacent to the straight travel command position N, and a rectilinear command position N It is possible to move freely around the right turn command position that commands the right turn at the adjacent position, and the turn lever 57 that commands straight, left turn, and right turn by the left and right move operation, turns by dial operation There are provided a turning mode switching operation tool 63 for switching the mode to three stages, a scraping pedal 65 for commanding a scraping command by a stepping operation, and the like.
The linearly variable continuously variable transmission 7 is configured to be capable of performing a stepless speed change operation in both the forward direction and the reverse direction from the neutral position, and the main transmission lever 41 provided in the boarding operation unit 6 Shifting operation can be performed by manual operation.

  In other words, the main transmission lever 41 is configured to be swingable by a manual operation over a predetermined front-rear operation range along the front-rear direction from the neutral position. As shown in FIG. 4, the straight traveling swash plate 42 of the variable hydraulic pump 7 </ b> A is linked to the main transmission lever 41 via the hydraulic servo mechanism SV (an example of mechanical servo means), and the operation of the main transmission lever 41 is performed. By changing the angle of the straight traveling swash plate 42 based on the command, the output state on the hydraulic motor 7B side is changed steplessly. In other words, if there is a manual operation on the main transmission lever 41, the shift operation can be lightly operated by performing an assist operation with a hydraulic operation force by the action of the hydraulic servo mechanism SV. .

  Then, as shown in FIG. 6, when the main transmission lever 41 is in the neutral range and the neutral state is commanded, the straight traveling swash plate 42 becomes neutral, and the hydraulic motor 7B does not rotate and is maintained in the stopped state. If the command from the main speed change lever 41 is a speed change command to the forward speed increasing side or the reverse speed increasing side, the angle of the straight traveling swash plate 42 is rotated forward by the hydraulic servomechanism SV according to the operation command of the main speed changing lever 41. The hydraulic motor 7B is tilted by a command amount by the main transmission lever 41 in the direction (forward acceleration direction) or reverse direction (reverse acceleration direction) by the hydraulic operating force, and the hydraulic motor 7B rotates in the forward or reverse direction at a speed according to the command. The gears are operated so as to be rotationally driven.

As with the continuously variable continuously variable transmission 7, the turning continuously variable transmission 8 is configured to be continuously variable in both the forward direction and the reverse direction. Shifting operation can be performed by HS.
In other words, the turning swash plate 43 of the variable hydraulic pump 8A is linked to the hydraulic shift operation means HS, and the output state on the hydraulic motor 8B side is changed by changing the swash plate angle by the shift operation means HS. Is configured to do. As shown in FIG. 4, the shift operation means HS includes a double-acting shift hydraulic cylinder 44 (an example of a shift actuator) that is interlocked and connected to the turning swash plate 43 in the turning continuously variable transmission 8. The hydraulic control unit VU is configured to switch the supply / discharge state of the hydraulic oil to / from the shift hydraulic cylinder 44. The shift hydraulic cylinder 44 is configured as a double-acting type that can be operated from the neutral position in the forward direction and in the reverse direction, and is urged to return to the neutral position by the urging force of the pair of left and right springs 44a and 44b. It becomes the composition which is done.

  As shown in FIG. 5, the hydraulic control unit VU includes a hydraulic pilot type control valve 45 for controlling the hydraulic pressure supply state so as to drive the shift hydraulic cylinder 44 in the forward and reverse directions from the neutral shift position. It is configured. The control valve 45 includes a spool 46 which can be moved to a forward output position moved in the forward direction from the neutral position, and a reverse output position moved in the reverse direction from the neutral position, and the spool 46 is moved to the neutral position. And a pair of coil springs 47 and 48 as biasing means for returning and biasing, and a relief valve 49 for a pilot oil passage.

Further, the control valve 45 is supplied with hydraulic oil for moving forwardly to move the spool 46 in the forward direction and hydraulic oil for moving the spool 46 in the reverse direction. A pressure operating section 51 for reverse rotation to be supplied is provided, and a forward solenoid valve 52 for pilot pressure control for controlling the supply state of hydraulic oil to the pressure operating section 50 for forward rotation, and a pressure operating section 51 for reverse rotation. A reverse pressure solenoid valve 53 for pilot pressure control that controls the supply state of hydraulic oil to the engine can be switched between a supply state for supplying hydraulic oil and a discharge state for discharging hydraulic oil, and is urged to return to the discharge state. It is provided in the state.

  That is, the pair of pilot pressure control solenoid valves 52 and 53 stop supplying the hydraulic oil supplied from the hydraulic pump (not shown) to the pressure operating units 50 and 51 and the supply from the hydraulic pump. The solenoid valves 52 and 53 for pilot pressure control are made up of two-position switching type solenoid valves that can be switched to two positions of a discharge state where the pressure operating sections 50 and 51 are connected to the oil drain passage 54. It is configured to be urged to return to the discharge state by 55 and 56, and by energizing and energizing the solenoids 57 and 58, the valve body is operated against the urging force of the springs 55 and 56 to enter the supply state. It is configured to switch. Therefore, when the energization is stopped, the pilot pressure control solenoid valves 52 and 53 are always in the discharged state and maintain the state.

  The control valve 45 is provided with a pair of output ports OP1 and OP2 that are individually connected to the pair of hydraulic oil chambers 44A and 44B of the hydraulic cylinder 44 for speed change. In the neutral position as shown in FIG. Each of the pair of output ports OP1 and OP2 is configured not to be connected to either the input port IP or the discharge port DP. Therefore, the shift hydraulic cylinder 44 is in a state of maintaining the shift position at that time.

When the spool 46 reaches the forward output position, one forward output port OP1 connected to the hydraulic fluid chamber 44A for forward operation of the shifting hydraulic cylinder 44 out of the pair of output ports OP1 and OP2. Is connected to the input port IP, and the reverse output port OP2 connected to the hydraulic oil chamber 44B for reverse operation of the shift hydraulic cylinder 44 is connected to the discharge port DP. Therefore, the shifting hydraulic cylinder 44 is moved and operated in the forward direction (forward acceleration direction).
When the spool 46 is in the reverse output position, the forward output port OP1 is connected to the discharge port DP, and the reverse output port OP2 is connected to the input port IP. Therefore, the shifting hydraulic cylinder 44 is moved in the reverse direction (reverse acceleration direction).

  When the speed change operation of the continuously variable continuously variable transmission 7 and the continuously variable continuously variable transmission 8 is described, as shown in FIG. The shift output (traveling speed) is zero if it is in the neutral region having a predetermined width including the width, and when the shift position of the swash plates 42 and 43 is rotated from the neutral region to the predetermined direction, there is no traveling speed in the forward direction. When the swash plates 42 and 43 are operated in stages, and the swash plates 42 and 43 are operated in the direction opposite to the predetermined direction from the neutral region, the traveling speed in the backward direction is increased steplessly.

As shown in FIG. 4, the output rotation speeds of the turning lever sensor 58, which is a rotary potentiometer for detecting the operation position of the turning lever 57, and the pair of continuously variable transmissions 7, 8, are output to the output gear 19e and the right output. Rotation sensors 59 and 60 (an example of travel speed detection means and speed detection means) that are detected by counting the number of teeth of the gear 18a, and the swash plate angle of the straight traveling swash plate 42 of the continuously variable transmission 7 for straight travel. A potentiometer-type linear shift position sensor 61 for detecting, a potentiometer-type shift position sensor 62 for turning that detects the slope angle of the turning swash plate 43 of the continuously variable transmission 8 for turning, and a turning mode switching operation tool 63. A mode sensor 68 for detecting the operation position, a horizontal sensor 64 for detecting the front / rear inclination angle with respect to the horizontal reference plane of the traveling machine body 2 (an example of the front / rear inclination angle detection means), A scraping sensor 69 for detecting the depression operation of the setting pedal 65, a cutting sensor 11 for detecting the on / off state of the cutting clutch 10, and a threshing sensor 13 for detecting the on / off state of the threshing clutch 12 are provided. A control device H using a microcomputer is provided as a control means for controlling the operation means HS, the steering hydraulic cylinders 27R and 27L, and the shutoff hydraulic cylinders 26R and 26L. Also, the pedal for scraping and the scratching sensor constitute the scraping command means KS, and the turning lever 57 and the turning lever sensor 58 constitute the turning command means SS.
The straight shift position sensor 61 outputs a voltage according to the angle (tilt position) of the straight swash plate 42 in the straight transmission 7 without being subjected to A / D conversion. The straight shift detection value is input to the control device H, and the turning shift position sensor 62 outputs a voltage corresponding to the angle (tilt position) of the turning swash plate 43 in the turning continuous transmission 8. The voltage is A / D converted and input to the control device H as a detection value for turning.

The turning control by the control device H will be further described. Shifting of the hydraulic servomechanism SV for changing the speed of the continuously variable continuously variable transmission 7 and the speed change operation means HS for changing the speed of the continuously variable transmission 8 for turning. Hydraulic cylinder 44 and a control device H for controlling the operation of the shift operation means HS and switching the transmission state switching means A so as to be in the running state commanded by the turning lever 57, and the control device When H is instructed to go straight by the turning lever 57, the continuously variable transmission 7 for straight running is operated to change to the traveling speed commanded by the main speed changing lever 41, and no turning is made. A straight-ahead control process for shifting the step transmission 8 so as to be the same as the detection speed of the rotation sensor 59 that detects the rotation speed of the continuously variable continuously variable transmission 7 is executed. Left turn When the right turn is commanded, the straight-line continuously variable transmission 7 is shifted so as to reach the traveling speed commanded by the main shift lever 41, and the continuously variable transmission 8 for turning is turned on. It is configured to execute a turning control process in which a speed change operation is performed so as to achieve a turning target speed.
Accordingly, the shift control means HS and the control apparatus H are used to operate the shift hydraulic cylinder 44 to shift the turning continuously variable transmission 8, and the hydraulic servo mechanism SV, By using the speed change operation means HS and the control device H, a speed control means for performing speed change operations on the continuously variable transmission 7 for straight travel and the continuously variable transmission 8 for turning is configured. The control device H functions as a traveling state switching control means.

  The hydraulic servo mechanism SV is configured to shift the linearly variable continuously variable transmission device 7 so as to have a traveling speed commanded by the main shift lever 41 as a change in the operation position. The control device H that controls the operation of the HS and the speed change operation means HS performs the speed change operation of the turning continuously variable speed change device 8 at the speed change hydraulic cylinder 44 so that the speed is the same as the speed detected by the rotation sensor 59. Is configured to do.

The scraping control performed by the control device H will be described. A pair of left and right traveling devices 1L and 1R driven by the output of the continuously variable transmission 7 for straight travel, and a cutting processing device 3, and a straight traveling The transmission state switching means A that blocks transmission of the output of the step transmission 7 to the left and right traveling devices 1L, 1R includes a neutral state as a cutoff state, a straight transmission state as a transmission state, and a left turn transmission state. And when the cut-off hydraulic cylinders 26L and 26R and the steering hydraulic cylinders 27L and 27R are switched to the right-turning transmission state, and the take-in pedal 65 is instructed, the neutral state and the take-up are made. When the command is not commanded, when the turning lever 57 is commanded to go straight, the straight-turning transmission state is set. When the turning lever 57 is commanded to turn left, the left-turning transmission state is set. And, when the right turn is instructed by the turning lever 57, the cutoff hydraulic cylinders 26L and 26R and the steering hydraulic cylinders 27L and 27R are operated so as to be in the right turning transmission state. A control device H that performs the scraping process is provided.
Therefore, the output of the continuously variable continuously variable transmission 7 is blocked from being transmitted to the pair of left and right traveling devices 1L, 1R by using the hydraulic cylinders 26L, 26R for steering and the hydraulic cylinders 27L, 27R for steering. Transmission state switching operation means for switching the transmission cutoff means between a cutoff state and a transmission state is configured. The transmission cutoff means sets the cutoff state to the neutral state of the transmission state switching means A, and sets the transmission state to the straight state transmission state, the left turning transmission state, and the right turning transmission state of the transmission state switching means A. The transmission state switching means A is also used. Further, the control device H functions as a scraping control means, and the control device H puts the transmission state switching means A in a neutral state in preference to the switching operation of the transmission state switching means A by the traveling state switching control means. The scraping process is executed in the form of switching operation.

  When the horizontal sensor 64 detects a steeper inclination than the setting allowable tilt angle θ1 in the scraping process, the control device H is used for straight traveling regardless of the scraping command by the scraping pedal 65. The shut-off hydraulic cylinders 26L and 26R and the steering hydraulic cylinders 27L and 27R are configured to operate so as to maintain the transmission state, the left-turning transmission state, and the right-turning transmission state. Further, when the rotation sensor 59, 60 detects a speed higher than the setting speed v1 for allowing scraping in the scraping process, the control device H is used for straight traveling regardless of the scraping command by the pedal 65 for scraping. The shut-off hydraulic cylinders 26L and 26R and the steering hydraulic cylinders 27L and 27R are operated so as to maintain the transmission state, the left-turning transmission state, and the right-turning transmission state. Further, the control device H is configured to execute a scraping process when the cutting sensor 11 detects the entering state and the threshing sensor 13 detects the entering state.

  Next, a description will be given of the control operation of the control device H based on the flowchart of FIG. 7. When the main shift lever 41 is operated and the vehicle is running, a scraping command is issued by the depression operation of the scraping pedal 65. When instructed, a scraping process is executed (step 1). When the turning lever 57 is in the neutral position, the control means H switches the transmission state switching means A to the straight traveling transmission state, so that the turning continuously variable transmission 8 is the same as the straight traveling continuously variable transmission 7 or A straight-ahead control process for shifting the speed so as to be substantially the same speed is executed (steps 2 to 4). When the turning lever 57 is turned to the left from the neutral position, the control means H switches the transmission state switching means A to the left turning transmission state, and the continuously variable transmission 8 for turning turns the target speed for turning. A turning control process is performed to change the speed so as to become (steps 2, 5, 6, and 7). When the turning lever 57 is turned to the right from the neutral position, the control means H switches the transmission state switching means A to the right turning transmission state so that the turning continuously variable transmission 8 becomes the turning target speed. A turning control process for shifting the speed is executed (steps 2, 5, 8, and 9).

  Next, a description will be given of the scraping process based on the flowchart of FIG. 8. When a scraping command is instructed by the depression operation of the scraping pedal 65, the scraping operation state is entered, and the front / back tilt detected by the horizontal sensor 64 is detected. The angle is slower than the setting inclination angle θ1 for allowing scraping, the speed detected by the rotation sensors 59, 60 is lower than the setting speed v1 for allowing scraping, and the cutting sensor 11 is in the on state, and When the threshing sensor 13 is in the on state, the cutoff hydraulic cylinders 26L and 26R and the steering hydraulic cylinders 27L and 27R are operated so that the transmission state switching means A is in a neutral state (steps 1 to 5). Then, if the operation of depressing the pedal 65 for release is released and no instruction is issued, the stoppage of the continuously variable transmission 7 for straight travel is detected by the speed change position sensor 61 for straight travel. (Steps 6 and 7).

When adding a description based on the operation of the combine for detecting the front and rear inclination of the traveling machine body 2 and performing the scraping process, in the case of harvesting the planted cereal at the edge of the field based on the scraping command, The farm field is almost horizontal, and the front / rear tilt angle detected by the horizontal sensor 64 is never steeper than the setting allowable tilt angle θ1 for scraping. In the state, the transmission state switching means A is in a neutral state, and a scraping operation is performed to collect the harvested cereal grains harvested by the harvesting processing device 3 in a state where the traveling of the combine is stopped. At this time, setting the transmission state switching means A to the neutral state operates the cutoff hydraulic cylinders 26L, 26R and the steering hydraulic cylinders 27L, 27R to cut off the transmission of the left and right meshing clutches 24 and the left and right friction clutches 22. Since it is performed by switching to a state, it becomes possible to stop the traveling of the combine quickly. When the combine is stopped on an inclined ground, even if a scraping command is instructed by the scraping pedal 65 by mistake, the front / rear tilt angle detected by the horizontal sensor 64 is based on the scraping permission setting tilt angle θ1. If the slope is too steep, the transmission state switching means A will not be in a neutral state, so there is no risk that the combine will move down, and even if the combiner pedal 65 is accidentally depressed on a slope, the combine will move down unexpectedly. It will prevent you from doing.
Further, when the harvesting operation is performed by traveling the combine at a high speed, even if the scraping pedal 65 is mistakenly commanded by the scraping pedal 65, the rotation sensors 59 and 60 may exceed the scraping allowable setting speed v1. When the high speed is detected, the transmission state switching means A is not in the neutral state, so that it is possible to prevent the combine traveling at a high speed from being suddenly stopped.
Further, when the combine is traveling on the road, even if the scraping pedal 65 is erroneously instructed to scrape, the cutting sensor 11 detects the cutting state of the cutting clutch 10 and the threshing sensor 13 threshing. If the disengagement state of the clutch 12 is detected, the transmission state switching means A will not be in a neutral state. Therefore, even when the scraping command is commanded by mistake during non-working in which the reaping processing device 3 and the threshing device 4 are not driven, It is possible to prevent the scraping process from being executed.

  When the process for controlling the operation of the speed change operation means HS so that the turning continuously variable transmission 8 becomes the turning target speed, the turning lever 57 moves in the direction away from the neutral position, and The relationship with the speed ratio corresponding to the turning radius is determined and stored as the relationship corresponding to the quadratic function as shown in FIG. On the other hand, the target shift position as the target speed of the continuously variable transmission 8 for turning, that is, the target swash plate position, from the detected value for straight travel from the shift position sensor 61 for straight travel and the function having the relationship as shown in FIG. Is demanded. Then, the shift operation is performed by controlling the operation of the shift operation means HS so that the detected value for turning from the turning shift position sensor 62 becomes the target shift value. Incidentally, the speed change position of the continuously variable transmission 7 for straight traveling is adjusted by manual operation with respect to the speed change lever 41.

9, the line L1 in FIG. 9 indicates the speed of the reference continuously variable transmission, the line L2 indicates the change in the target rotational speed in the slow turning mode, and the line L3 indicates the signal. A change in the target rotation speed in the ground turning mode is shown, and a line L4 shows a change in the target rotation speed in the super turning mode, and the turning mode designated by the turning mode switching operation tool 63 is selected. become. In other words, in the gentle turning mode indicated by the line L2, when the turning lever 57 is operated to the maximum operating position, the turning side traveling device is about 1/3 of the traveling speed V of the opposite side traveling device. A change characteristic of the speed ratio of the left and right traveling apparatuses 1R and 1L with respect to the operation position of the turning lever 57 is set in advance so as to be decelerated to the speed. In the belief turning mode indicated by the line L3, when the turning lever 57 is operated to the maximum operating position, the operation position of the turning lever 57 is decelerated until the running speed of the turning side traveling device becomes zero. The speed ratio of the left and right traveling devices 1R, 1L is preset. Also, in the super turning mode indicated by the line L4, when the turning lever 57 is operated to the maximum operating position, the running speed of the turning side traveling device is rotated in the opposite direction to the driving rotation direction of the opposite side traveling device. The speed ratio of the left and right traveling devices 1R, 1L with respect to the operation position of the turning lever 57 is set in advance so that the speed is the same as the speed of the opposite traveling device.

  Processing for controlling the operation of the speed change operation means HS when the speed change operation of the turning continuously variable transmission 8 is performed will be described. For example, when the continuously variable transmission 8 for turning is shifted in the forward acceleration direction in accordance with the operation of the turning lever 57, the spool 46 in the control valve 45 is moved to the forward output position. Specifically, a pulse current that repeatedly turns on and off at each set cycle is supplied to the solenoid 57 in the pilot pressure control solenoid valve 52 for the pressure operation unit 50 for forward rotation, and according to the duty ratio. Thus, the solenoid valve 52 is switched between a supply state and a discharge state. As a result, the spool 46 is moved by the electromagnetic force against the urging force of the spring 48 and moved to the forward output position. When shifting the continuously variable transmission 8 for turning in the reverse speed increasing direction, the spool 46 in the control valve 45 is moved to the reverse output position. At this time, the pilot pressure applied to the reverse pressure operating portion 51 is controlled. The control solenoid valve 53 is similarly controlled.

  When the output rotational speed of the continuously variable transmission 8 for turning reaches the target rotational speed by the speed increasing operation, the spool 46 is moved to the neutral position. As a result, the hydraulic oil is not discharged from the transmission hydraulic cylinder 44, and the transmission hydraulic cylinder 44 maintains the transmission position at that time. Note that the same processing is performed for the operation at the forward holding position even when the holding is performed at the backward holding position.

[Second Embodiment]
Hereinafter, the second embodiment of the harvesting and harvesting machine drive device according to the present invention will be described with reference to the drawings. Since the basic configuration is substantially the same as that of the first embodiment, The same reference numerals as those in the first embodiment are attached and the description thereof is omitted.
As shown in FIG. 10, a main transmission lever sensor 70 comprising a rotary potentiometer for detecting the operation position of the main transmission lever 41, a turning lever sensor 58 comprising a rotary potentiometer for detecting the operation position of the turning lever 57, etc. Based on the sensor input information, the operation of the two shift operation means HS, the steering hydraulic cylinders 27R and 27L, and the cutoff hydraulic cylinders 26R and 26L provided corresponding to the main transmission lever 41 and the turning lever 57 are controlled. When the shift operation means HS and the control device H are instructed to go straight by the turning lever 57, the continuously variable continuously variable transmission device 7 is connected to the main transmission lever 41. The speed is changed so that the travel speed is instructed, and the turning continuously variable transmission 8 is detected, and the rotational speed of the continuously variable continuously variable transmission 7 is detected. When the left turn and right turn are instructed by the turning lever 57, a continuously variable transmission for straight running is executed. 7 is executed to change the speed of the gear 7 to the traveling speed commanded by the main speed change lever 41, and the turning control process of changing the speed of the continuously variable transmission 8 for turning to the target speed for turning is executed. Is configured to do.

[Another embodiment]
(1) In the above embodiment, the amount of movement of the turning lever 57 is detected by the potentiometer 58, and the turning continuously variable transmission 8 is operated steplessly as the turning lever 57 is operated. However, the present invention is not limited to such a configuration. For example, the displacement of the moving operation amount of the turning lever 57 can be detected step by step with a plurality of switches, or the turning radius can be determined by the time for pressing the turning command switch. You may implement in various forms, such as the structure commanded so that it may differ.

(2) In the above embodiment, the control valve is applied to the shift operation means HS for shifting the turning continuously variable transmission 8. However, the control valve is a double-action type controlled object. For example, as long as the fluid pressure cylinder or the like is controlled to be switched, the present invention can be applied to any device without being limited to the shift operation device.

(3) In the above embodiment, as a process for controlling the operation of the speed change operation means HS so that the turning continuously variable transmission 8 has the turning target speed, the target from the swash plate position of the turning swash plate 43 is determined. Although what calculated | required speed was illustrated, it may replace with this and you may comprise so that target speed may be calculated | required from the output rotational speed of the rotation sensor 60. FIG.

(4) In the above embodiment, a combine as a harvesting harvester has been illustrated. However, the present invention is not limited to a combine, and may be a tractor or other farm work machine or a construction work vehicle.

Overall side view of the combine in the first embodiment Schematic configuration diagram showing the transmission structure in the first embodiment Schematic configuration diagram showing the transmission structure in the first embodiment Control block diagram in the first embodiment The figure which shows the structure of the hydraulic control unit in 1st Embodiment. The figure which shows the relationship between the speed change position and speed change output in 1st Embodiment. Flowchart of control operation in the first embodiment Flow chart of scraping process in the first embodiment The figure which shows the operation position and speed ratio of the turning lever in 1st Embodiment. Control block diagram in the second embodiment

Explanation of symbols

2 Airframes 26L, 26R, 27L, 27R Transmission state switching operation means 64 Inclination angle detection means KS Scratching command means H Scratching control means θ1 Scratching allowance setting inclination angle

Claims (6)

Traveling means driven by the output of the traveling speed change means and the cutting processing unit;
Transmission state switching operation means for switching the transmission interruption means for blocking the output of the traveling speed change means from being transmitted to the traveling means between a cutoff state and a transmission state;
A scraping command means for commanding a scraping command;
Based on the command of the scraping command means, a scraping process for operating the transmission state switching operation means so as to be in a shut-off state when the scraping command is commanded and in a transmission state when the scraping command is not commanded. A drive control device in a reaping work machine provided with a scraping control means to be executed,
Inclination angle detection means for detecting the longitudinal inclination angle of the aircraft is provided,
In the scraping process, the scraping control means transmits when the tilt angle detecting means detects a steeper slope than the scraping permission setting tilt angle regardless of the scraping command by the scraping command means. so as to maintain a state, the drive control device in cutting preparative work machine that is configured to activate the transmission state switching operation means. Travel speed detection means for detecting the travel speed is provided,
In the scraping process, when the running speed detecting means detects a speed higher than the set speed for allowing scraping, the scraping control means changes the transmission state regardless of the scraping command by the scraping command means. 2. The drive control device for a reaping machine according to claim 1, wherein the transmission state switching operation means is operated so as to be maintained. A threshing unit for threshing cereals that are harvested and supplied by the harvesting processing unit is mounted on the aircraft,
An artificially operated reaping clutch for turning on and off the output of the travel transmission means to be transmitted to the reaping processing unit, and an artificially operated threshing for turning on and off the transmission of driving power to the threshing unit A clutch is provided,
A cutting clutch detecting means for detecting whether or not the cutting clutch is in an engaged state, and a threshing clutch detecting means for detecting whether or not the threshing clutch is in an engaged state;
The scraping control means is configured to execute the scraping process when the cutting clutch detection means detects an engaged state and the threshing clutch detection means detects an engaged state. The drive control apparatus in the cutting work machine of 1 or 2. A straight transmission state in which the output of the continuously variable continuously variable transmission as the traveling transmission means is transmitted to each of the left and right traveling apparatuses as the traveling means, and the output of the continuously variable continuously variable transmission as the right traveling apparatus. And the output of the continuously variable transmission for turning to the left traveling device, and the output of the continuously variable transmission for straight travel to the left traveling device and the turning Transmission state switching means switchable to the right-turning transmission state for transmitting the output of the continuously variable transmission for the right traveling device;
Turn command means for commanding straight, left turn and right turn;
Speed command means for commanding the running speed;
Speed control means for shifting the straight-line continuously variable transmission and the turning continuously variable transmission; and
A traveling state switching control means for switching the transmission state switching means so as to be in the traveling state commanded by the turning command means;
The speed control means is
When the straight command is commanded by the turning command means, one of the continuously variable continuously variable transmission and the continuously variable transmission for turning is commanded by the speed command means. A straight-ahead control in which a speed change operation is performed so that the traveling speed is reached, and the other continuously variable transmission is operated to have the same speed as the speed detected by the speed detecting means for detecting the speed of the one continuously variable transmission. Execute the process, and
When left turn and right turn are commanded by the turn command means, the continuously variable transmission for straight travel is operated to change to a traveling speed commanded by the speed command means, and The drive in the reaping work machine according to any one of claims 1 to 3, wherein a turning control process is performed to change a speed of the continuously variable transmission for turning to a target speed for turning. Control device. The speed control means comprises mechanical servo means and speed change control means for operating the speed change actuator to change speed,
The mechanical servo means shifts the linearly variable continuously variable transmission so as to have a traveling speed commanded as a change in operating position by a position change operation-type shift operating tool as the speed command means. Configured to
5. The reaper according to claim 4, wherein the speed change control means is configured to change the speed of the continuously variable transmission for turning by the speed change actuator so that the speed becomes the same as the speed detected by the speed detection means. Drive control device for a work machine. The transmission state switching means is configured to be switchable to a neutral state in which the output of the continuously variable continuously variable transmission and the output of the continuously variable transmission for turning are not transmitted to the left and right traveling devices;
The transmission shut-off means sets the shut-off state to the neutral state of the transmission state switching means, and the transmission state includes a straight-running transmission state, a left-turning transmission state, and a right-turning transmission state of the transmission state switching means. In the form to be configured to serve also as the transmission state switching means,
The scraping control means executes the scraping process in such a manner that the transmission state switching means is switched to a neutral state in preference to the switching operation of the transmission state switching means by the traveling state switching control means. The drive control apparatus in the cutting work machine of Claim 4 or 5 comprised by these.

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