JP4996571B2 - Work vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a working vehicle enabling the turning even when a turning operation position-detecting means is abnormal without causing complication of the construction by effectively utilizing a conventionally possessed manual operation-type commanding means. <P>SOLUTION: The working vehicle is constituted as follows. The turning control is executed based on the detected value of the turning operation position-detecting means 80 when the detected value of the turning operation position-detecting means 80 for detecting the operation position of a turning operation tool 77 is in the normal operation condition by determining whether the detected value is in the normal operation condition in the inside of the set proper region or in the abnormal condition in the outside of the proper output region. When determined in the abnormal condition, a substitutive turning control for controlling the turning operation means 57 is executed based on the command information of a command means for an object to be controlled, and a turning operation-related information providing the relation of the command information and the turning condition to be operated by stopping the execution of the turning control based on the command information of the turning operation position-detecting means 80. <P>COPYRIGHT: (C)2010,JPO&amp;INPIT

Description

The present invention is capable of switching the traveling state of the pair of left and right traveling devices to a straight traveling state, a right turning traveling state, and a left turning traveling state, and that turns in each of the right turning traveling state and the left turning traveling state. A traveling state switching means that can be switched to a plurality of turning states having different radii, and the traveling state switching means are switched to the plurality of turning states in the straight traveling state, the right turning traveling state, and the left turning traveling state, respectively. Forward / reverse direction over the entire range of the predetermined operation range including the turning operation means, the straight turn command position, the right turn command operation area connected to the right side of the straight drive command position, and the left turn command operation area connected to the left side of the straight drive command position A swivel operation tool that can be freely moved,
A turning operation position detecting means for detecting an operation position of the turning operation tool; a manually operated other controlled object command means for commanding command information for controlling another controlled object different from the turning operation means; And a control means for controlling the turning operation means and the other controlled object, wherein the control means positions the turning operation tool at the rectilinear command position based on detection information of the turning operation position detection means. Then, when the turning operation tool is located in the left turn command operation region, the left turn state and the turning operation tool are located closer to the left turn command operation region in the left turn command operation region. When a turning state with a small turning radius is entered, and the turning operation tool is positioned in the right turn command operation region, the turning operation tool is in the right turn command operation region. And based on the turn control for controlling the turning operation means so that the turning radius becomes smaller as the position is farther from the straight advance command position, and the command information of the other controlled object command means, The present invention relates to a work vehicle configured to execute other work control for controlling the other controlled object.

Conventionally, as the above-described work vehicle, there has been one configured as follows as applied to a combine as an example of a work vehicle.
That is, even when the turning operation position detecting means constituted by a potentiometer is in an abnormal state such as a disconnection failure or a short-circuit failure, it is possible to continue the cutting operation to a place where the break is good. Therefore, when the turning operation tool is moved to the set position on the right turn side and the set position on the left turn side within the predetermined operation range, it is turned on so that the turning operation can be performed based on the command of the turning operation tool. A pair of detection switches to be replaced, and an emergency electric wiring for electrically connecting the detection switch and the electromagnetic control valve as the turning operation means, and the turning operation position detection means is included in the electric wiring. Intermittent means for electrically shutting off so that a command to switch to the electromagnetic control valve by the detection switch is not commanded during normal operation, for example, a manually detachable connector Had those to comprise a freely relays such switching on and off the electrical (e.g., see Patent Document 1.).

  In a work vehicle such as a combine, a manually operated other controlled object command means for controlling another controlled object different from the turning operation means is provided. Although other work control for controlling another controlled object is executed based on the command information of the controlled object command means, conventionally, the other controlled object command means is in charge of itself. The configuration is such that a dedicated control command for executing other work control is issued.

  For example, as the control for the other work, a processing depth adjustment process for operating a handling depth adjustment motor for changing and adjusting the handling depth in the threshing apparatus as the other controlled object is executed. There is a switch for adjusting the handling depth for adjusting the handling depth as the command means for other controlled objects. Further, in addition to the handling depth adjustment process, various other work controls are executed, and the other controlled object command means are also provided in various ways. A command for exclusive control for executing the control for other work in charge is instructed.

JP 2000-105620 A

  In the above-described conventional configuration, the detection switch, the electrical wiring, the connector, and the like are not used during the normal operation of the turning operation position detection unit, and thus become a useless device. As a result, the construction of the work vehicle as a whole is complicated, and there is a disadvantage incurring high costs.

  An object of the present invention is to make effective use of a manually operated command means that has been conventionally provided so that the turning can be performed even when the turning operation position detecting means is abnormal without complicating the configuration. Is to provide a work vehicle that can be used.

The work vehicle according to the present invention can switch the traveling state of the pair of left and right traveling devices to a straight traveling state, a right turning traveling state, and a left turning traveling state, and the right turning traveling state and the left turning traveling state. A traveling state switching means capable of switching to a plurality of turning states having different turning radii,
A turning operation means for switching the traveling state switching means to each of the plurality of turning states in the straight traveling state, the right turning traveling state and the left turning traveling state;
It is movable in the forward and reverse directions over the entire range of a predetermined operating range including a straight turn command position, a right turn command operation area continuous to the right side of the straight advance command position, and a left turn command operation area connected to the left side of the straight advance command position. A swivel operation tool;
A turning operation position detecting means for detecting an operation position of the turning operation tool;
A manually operated other controlled object command means for commanding command information for controlling another controlled object different from the turning operation means;
A control means for controlling the turning operation means and the other controlled object;
The control means is
Based on the detection information of the turning operation position detecting means, when the turning operation tool is located at the straight advance command position, the straight movement state is established, and when the turning operation tool is located in the left turn instruction operation region, the left turn state is established. And the turning operation tool is located in the left turn command operation region, the turning radius becomes smaller as the turn operation tool is located farther from the straight travel command position, and the turning operation tool is positioned in the right turn command operation region. The turn for controlling the turning operation means so that the turning radius becomes smaller as the turning operation tool is located in the right turning command operation region in the right turning command operation region and is located on the side farther from the rectilinear command position. Control, and
Based on the command information of the other controlled object command means, it is configured to execute another work control for controlling the other controlled object, and the first characteristic configuration is:
The control means is
When it is determined that the detected value of the turning operation position detecting means is a normal operation state within a set appropriate range or an abnormal state outside the proper output range, and is determined to be the normal operation state Executes the turning control based on the detection value of the turning operation position detecting means, and if it is determined that the abnormal state, the turning control based on the command information of the turning operation position detecting means. An alternative for stopping the execution and controlling the turning operation means on the basis of the command information of the command means for controlled object and the turning operation relation information defining the relation between the command information and the turning state to be operated It is in the point comprised so that turning control may be performed.

  According to the first characteristic configuration, the control unit determines whether the detection value of the turning operation position detection unit is a normal operation state within a set proper range or an abnormal state outside the proper output range. . When the normal operation state is determined, the turning control is executed based on the detection value of the turning operation position detection means. When the turning operation position is determined to be abnormal, the turning operation position detection is performed. Command information of the manually operated other controlled object command means for stopping the execution of the turning control based on the command information of the means and commanding command information for controlling another controlled object different from the turning operation means; And the alternative turning control which controls the said turning operation means is performed based on the turning operation relationship information which defined the relationship between the command information and the turning state which should be operated.

  That is, if the detected value of the turning operation position detecting means is in an abnormal state that is outside the appropriate setting range, the turning control cannot be performed based on the detected value. The control means controls the turning operation means to make a turn using the command information of the manually operated other controlled object instruction means for executing the other work control for controlling the controlled object. be able to. At that time, since the command information of the command means for the other controlled object is information for controlling the other controlled object, the control means turns the relationship between the command information and the turning state to be operated. The turning operation means is controlled based on the operation related information. The turning operation related information is information that determines what turning state should be selected from among a plurality of turning states as a turning state to be operated when the command information is commanded by the command means for other controlled object. .

  In this way, by using the command means for other controlled objects that has been conventionally provided, it is not necessary to provide a special abnormality countermeasure device or the like that is used only in the case of an abnormal state, and the configuration is complicated. Therefore, it is possible to perform the turning operation without incurring. As a result, even if the turning operation position detection means becomes abnormal in the middle of work on the field, a place where work can be continued to a good place or where maintenance work is performed It is possible to move the vehicle body to

  Therefore, according to the first characteristic configuration, it is possible to turn even when the turning operation position detection means is abnormal without effectively complicating the configuration by effectively using the manually operated command means provided conventionally. It was possible to provide a work vehicle capable of doing so.

  In the second feature configuration of the present invention, in addition to the first feature configuration, when the turning operation related information is commanded as command information for the controlled object command means, command information corresponding to a left turn is commanded, When the left turn state and the turn state on the larger turn radius side among the plurality of turn states, and the command information corresponding to the right turn is commanded as the command information of the controlled object command means, It is in the point determined to be the turning state on the larger turning radius side among the plurality of turning states in the right turning state.

  According to the second characteristic configuration, when the control means executes the alternative turning control, when the command information corresponding to the left turn is commanded as the command information of the controlled object command means, the left turning state And it becomes a turning state by the side of the turning radius large side among these turning states. Further, when command information corresponding to a right turn is commanded as command information of the command means for the controlled object, the turning state in the right turning state and the turning radius larger side of the plurality of turning states It becomes. In other words, the turning operation based on the command information of the command means for the controlled object is performed in the turning state on the large turning radius side even when turning in either the left turn or the right turn, and the vehicle body is loosened. Will turn.

  The alternative turning control is executed based on the command information of the other controlled object command means different from the turning operation tool when the turning operation position detecting means is abnormal. Since the means does not originally command turning, there is a risk of causing an operation error such as a wrong turning direction, and it is not preferable for safety that an unexpected sudden turning is performed in the alternative turning control. Therefore, by making the turning operation based on the command information of the command means for controlled object turn gently in the turning state on the larger turning radius side, even if there is an operation mistake such as wrong turning direction, the desired direction It is possible to turn in the desired traveling direction without any disadvantage such as turning rapidly in the opposite direction. Note that when the vehicle is in an abnormal state as described above, it is common to travel with the vehicle speed set to a low speed. Can be done.

  Therefore, according to the second feature configuration, the vehicle can be turned in the desired traveling direction based on the command information of the command means for the controlled object without any disadvantage such as sudden turning in the opposite direction to the desired direction. Is possible.

The third characteristic configuration of the present invention includes, in addition to the second characteristic configuration, a harvesting unit that harvests the planted cereal mash, and a threshing unit that threshs the harvested sorghum harvested by the harvesting unit, and ,
As the other controlled object, a handling depth adjusting means for changing and adjusting the handling depth in the threshing portion of the harvested cereal cocoon is provided, and as the other controlled object command means, the handling depth is set in the depth handling direction. A deep-handling switch that can be switched between an ON state that commands a deep-handling operation command to be changed and an OFF state that does not issue a deep-handling operation command, and a shallow-handing operation command that changes the working depth in the shallow-handing direction. There is a shallow handle switch that can be switched between the ON state to command and the OFF state to not command the shallow handle operation command,
The control means is
As the other work control, the working depth is changed to the deep handling direction based on the deep handling side operation command of the deep handling switch and the working depth is reduced based on the shallow handling side operation command of the shallow handling switch. A handling depth adjustment process for controlling the handling depth adjustment means so as to change to the handling direction; and
In the turning operation related information, one of the deep handling operation command of the deep handling switch and the shallow handling command of the shallow handling switch is set as command information corresponding to the left turning, and the other is set to the right turning. The point is that it is defined in the relationship of corresponding command information.

  According to the third characteristic configuration, the control means changes the handling depth in the deep handling direction based on the deep handling side operation command of the deep handling switch as the other work control and the shallow handling switch. A handling depth adjustment process for controlling the handling depth adjusting means is executed so as to change the handling depth in the shallow handling direction based on the shallow handling side operation command. When it is determined that the detected value of the turning operation position detection means is in an abnormal state outside the appropriate output range and the alternative turning control is executed, the deep handling side operation command and the shallow handling of the deep handling switch are executed. When one of the shallow handle operation commands of the switch is commanded, the swing operation means is controlled as if command information corresponding to the left turn is commanded, and the deep handle side operation command of the deep handle switch and the When one of the shallow handling operation commands of the shallow handling switch is commanded, the turning operation means is controlled assuming that the command information corresponding to the right turn is commanded.

  In a work vehicle equipped with a threshing section for threshing a harvested cereal meal, the handling depth changing means is equipped as standard, and a deep handling switch and a shallow switch for operating the handling depth changing means are provided. The handling switch is provided in the control unit so that an operator who operates the vehicle body can operate the vehicle during work. Therefore, since the deep handling switch and the shallow handling switch are used as the command means for the other controlled object, it is easy for the operator to operate while operating, and the turning operation is instructed when the alternative turning control is executed. It becomes easy to do.

  By the way, even if the handling depth adjustment processing is executed in parallel based on the command of the command means for the other controlled object, for example, the desired handling depth is obtained when the vehicle body is stopped traveling. By executing the alternative turning control while running the vehicle body in a state adjusted in advance as described above, it is possible to prevent the deviation from the desired handling depth as much as possible. Incidentally, the turning operation during the cutting operation is often performed only for a short time in order to adjust the direction of the vehicle body to the planting line, and there is little possibility that the turning operation is greatly deviated from the desired handling depth.

  Therefore, according to the third characteristic configuration, it has become possible to provide a work vehicle capable of appropriately performing the alternative turning control using the deep handling switch and the shallow handling switch for operating the handling depth changing means. .

The fourth feature configuration of the present invention includes, in addition to the third feature configuration, travel state detection means for detecting whether the vehicle body is in a travel state or a travel stop state,
The control means as the alternative turning control,
When it is detected by the running state detecting means that the running stop state is detected, the turning is performed in a form in which the handling depth adjustment processing is executed in parallel based on commands from the deep handling switch and the shallow handling switch. When the operating means is controlled and the running state detecting means detects that the vehicle body is in a running state, the handling depth adjustment process is performed based on commands from the deep handling switch and the shallow handling switch. It is the point which is comprised so that the said turning operation means may be controlled in the form which is not performed.

  According to the fourth feature configuration, when the alternative turning control is executed, when the vehicle is in the travel stop state, the handling depth adjustment processing is executed in parallel based on the commands of the deep handling switch and the shallow handling switch. To control the turning operation means. Thus, when the vehicle is in the travel stop state, even if the turning operation means is operated, the vehicle body is not running and no substantial turning operation is performed, but the handling depth adjustment process can be executed. That is, in the travel stop state, the handling depth adjustment process is executed based on the commands of the deep handling switch and the shallow handling switch.

  Then, when the vehicle body is in a running state, the turning operation means is controlled in a form in which the handling depth adjustment process is not executed based on the commands of the deep handling switch and the shallow handling switch. In this way, when the vehicle body is in a running state, the turning operation means can be operated to adjust the traveling direction of the vehicle body to a desired direction, but at this time, the depth of handling based on the commands of the deep handling switch and the shallow handling switch The adjustment process is not executed.

  Therefore, according to the fourth feature configuration, when it is necessary to perform the cutting operation by the cutting unit when moving the vehicle body from the location where the abnormality has occurred to the specific location, the desired handling depth can be obtained while the vehicle body is stopped. Execute the depth adjustment process based on the commands of the deep handle switch and the shallow handle switch, and turn the vehicle based on the commands of the deep handle switch and the shallow handle switch after starting running. Can do. As a result, while turning to change the direction of the vehicle body along the crop line, and after performing the cutting operation with the handling depth adjusted to the desired handling depth, the vehicle body reaches a specific location. Can be moved.

In addition to the third feature configuration or the fourth feature configuration, the fifth feature configuration of the present invention is provided with a cocoon length detection means for detecting the cocoon length of the harvested cereal cocoon cut by the reaping part,
The control means is
Performing automatic handling depth control for operating the handling depth changing means so that the handling depth becomes an appropriate handling depth based on a detection result of the saddle length detected by the saddle length detection means, and When a deep handling side operation command of a deep handling switch or a shallow handling operation command of the shallow handling switch is commanded, the handling depth adjustment processing is executed prior to the automatic handling depth control. There is in point.

  According to the fifth characteristic configuration, the control means operates the handling depth changing means so that the handling depth becomes an appropriate handling depth based on a detection result of the saddle length detected by the saddle length detection means. The automatic handling depth control is performed, so that the threshing process is satisfactorily performed in a state where the handling depth is always maintained at an appropriate handling depth, but the deep handling side operation command of the deep handling switch or When the shallow handling operation command of the shallow handling switch is commanded, the handling depth adjustment processing is executed in preference to the automatic handling depth control, so the handling depth adjustment processing based on the manual command is prioritized. Can do.

  When the alternative turning control is executed, the turning is performed in such a manner that the handling depth adjustment processing is executed in parallel based on the commands of the deep handling switch and the shallow handling switch even when the vehicle body is running. When the operation means is configured to be controlled, the turning operation means is controlled based on the command of the deep handling side operation command of the deep handling switch or the shallow handling command of the shallow handling switch. Since the processing is also executed, the handling depth operating means is unnecessarily operated. However, even if the handling depth operating means is operated unnecessarily in this way, by executing the automatic handling depth control, the handling depth operating means is automatically operated and the handling depth is appropriate. It will be manipulated to the handling depth.

  Therefore, according to the fifth feature configuration, when the cutting operation is performed while performing the alternative turning control, even when the handling depth adjustment process is performed in parallel, the handling depth is set as appropriate as possible. The cutting operation can be performed while maintaining the handling depth.

  According to a sixth characteristic configuration of the present invention, in addition to any one of the third characteristic configuration to the fifth characteristic configuration, the deep handling switch and the shallow handling switch have a finger on a grip portion of a speed change operation lever for changing a vehicle speed. It is that it is provided in an operable state.

  According to the sixth characteristic configuration, the operator can operate the deep handling switch and the shallow handling switch with the fingers without releasing the hand while gripping the speed change operation lever.

  Therefore, according to the sixth feature configuration, it is possible to satisfactorily issue a command for changing the depth of handling and a command for turning for the alternative turning control without troublesome operation.

  In addition to any one of the first feature configuration to the sixth feature configuration, the seventh feature configuration of the present invention is provided with notifying means for notifying that the abnormal state is present, and the control means has the abnormal state If it determines that it is, it exists in the point comprised so that the alerting | reporting process which operates the said alerting | reporting means may be performed.

  According to the seventh characteristic configuration, when it is determined that the detected value of the turning operation position detecting means is in an abnormal state that is outside the proper output range, the notification means is activated. It is possible to recognize that it is in a state, and it is possible to quickly shift to the alternative turning control based on the command of the other controlled object command means.

  Therefore, according to the seventh feature configuration, the operator can recognize that it is in an abnormal state and can quickly move in a state in which the turning operation by the alternative turning control is performed. It is possible to ensure safety without the disadvantage of continuing the work by misjudging that it is in a normal operating state.

Hereinafter, a case where an embodiment of a work vehicle according to the present invention is applied to a combine as an example of a work vehicle will be described with reference to the drawings.
As shown in FIG. 1, a combine is a planted grain such as rice or wheat at the front part of a vehicle body provided with a pair of left and right crawler traveling devices 1, a threshing device 2 for threshing a harvested cereal culm, and a control unit 3. The reaping part 4 that cuts the cocoon and supplies it to the threshing device 2 as the reaping grain cocoon is connected to the horizontal axis P so as to be movable up and down.

  The mowing unit 4 raises a raising device 5 that causes a planted culm, a cutting blade 6 that cuts the root of the planted culm and makes it a harvested culm, and collects the harvested cereal and transports it backward. An auxiliary conveying device 7 for carrying out, a vertical conveying device 9 for changing the harvested cereal rice cake received from the auxiliary conveying device 7 into a laid-down posture at the conveying terminal portion and conveying it to the threshing feed chain 8 of the threshing device 2, etc. It is configured to swing up and down around the horizontal axis P by driving C1.

  The vertical transport device 9 includes a stock transport device 9a for holding and transporting the stock side of the grain straw, a tip transport device 9b for locking and transporting the stock tip side of the grain straw, and a tip guide plate 9c. A vertical conveying device is supported by a handling depth motor (corresponding to a handling depth adjusting means) M1, which is supported by an electric motor with a gear-type reduction mechanism and is swingably supported around the same axis as the dynamic axis P. By adjusting the swing of 9, the support position in the cocoon length direction of the harvested cereal rice cake at the time of delivery from the auxiliary transport device 7 to the vertical transport device 9 is changed to adjust the handling depth in the threshing device 2. It is configured. That is, when the vertical conveying device 9 is swing-adjusted by the handling depth motor M1, the receiving support position of the harvested cereal mash from the auxiliary conveying device 7 of the vertical conveying device 9 is changed in the cocoon length direction, and the threshing device 2 It is configured so that the handling depth of the harvested cereal meal can be changed and adjusted in the handling room.

  Then, at the detection position on the lower side of the grain culm conveyance path than the position where the depth of handling by the handling depth motor M1 is adjusted (the part where the harvested corn grains are transferred from the auxiliary conveyance device 7 to the vertical conveyance device 9), A saddle length detection sensor S is provided as a saddle length detection means for detecting the saddle length. This culm length detection sensor S includes a stalk-side sensor S1 that detects the presence or absence of the tip side part of the harvested cereal rice bran and a stock source side sensor S2 that detects the presence or absence of the stock side part of the harvested cereal cocoon in the cocoon length direction of the harvested grain culm. They are arranged side by side at a predetermined interval. Each of the tip side sensor S1 and the strainer side sensor S2 is configured as a switch type that swings and turns on when the cereal comes into contact with the cereal side sensor S1. It is configured to detect the presence of a cocoon and to detect the absence of a cocoon when the rice candy is in an off state where it is not in contact.

  As shown in FIG. 5, a control device 64 having a microcomputer is provided. Detection information of the saddle length detection sensor is input to the control device 64, and the control device 64 is an automatic device provided in the control unit. When the handling depth control on / off switch 83 is turned on and an instruction to turn on automatic handling depth control is given, the tip of the cereal bud is located between the tip sensor S1 and the stock sensor S2 (FIG. 9). Reference) is set to an appropriate handling depth state, and automatic handling depth control for automatically controlling the operation of the handling depth motor M1 is performed so as to be maintained in the appropriate handling depth state.

  Further, as shown in FIGS. 5 and 8, the gripping portion of a shift lever 61 for changing the vehicle speed, which will be described later, is provided with a deep handle switch SW1 and a shallow handle in a state where the gripping portion can be pushed and operated by a finger. The switches SW2 are provided side by side in the vertical direction, and these pieces of detection information are input to the control device 64. When the deep handling switch SW1 is pushed, the control device 64 controls the handling depth motor M1 to the shallow handling side while the deep handling switch SW1 is pushed, and when the shallow handling switch SW2 is pushed, While it is being pressed, a handling depth adjustment process for controlling the handling depth motor M1 to the shallow handling side is executed in preference to the handling depth control.

  Next, the power transmission system of the combine will be described. As shown in FIG. 2, the driving force of the engine E is transmitted to a continuously variable vehicle speed transmission (hereinafter referred to as a transmission) 11 via a belt transmission, and the output after the transmission of the transmission 11 is a transmission case. 10 is transmitted to rotate the travel device 1. The driving force of the engine E is also transmitted to the threshing device 2 via the threshing clutch 12.

Next, the transmission mechanism inside the mission case will be described with reference to FIG.
An input shaft 22 is supported on the upper part of the transmission case 10, and transmission gears 23 and 24 are fixed to the input shaft 22 by a spline structure. An output shaft 11c of the transmission 11 is inserted into the transmission case 10 and is connected to the transmission gear 24 (input shaft 22) by a spline structure. Further, a high-speed gear 25 and a low-speed gear 26 are externally fitted to the sub-transmission transmission shaft 27 supported on the upper portion of the transmission case 10 so as to be relatively rotatable, and the transmission gear 23 and the high-speed gear 25, the transmission gear 24 and the low-speed gear 26 are fitted. The shift member 28 is externally fitted to the sub-transmission transmission shaft 27 so as to be integrally rotatable and slidable by a spline structure. The transmission gear 23 and the high-speed gear 25, the transmission gear 24 and the low-speed gear 26, and the shift member 28 constitute an auxiliary transmission, and the shift member 28 is engaged with the high-speed gear 25 and the low-speed gear 26 is engaged. By switching to, the power of the input shaft 22 is shifted to high and low two stages (low speed and high speed position) and transmitted to the sub-transmission transmission shaft 27.
The auxiliary transmission is normally slid to a position where the shift member 28 meshes with the high speed gear 25 to set the high speed position.

  A linear transmission shaft 29 is supported at the lower part of the transmission case 10, and a transmission gear 31 is fixed to the linear transmission shaft 29. The transmission gear 31 is engaged with a transmission gear 30 fixed to the auxiliary transmission transmission shaft 27. Yes. Further, a pair of left and right output gears 32R and 32L are externally fitted to the linear transmission shaft 29 so as to be relatively rotatable, and a pair of left and right occlusion portions 33R and 33L are integrally rotated with the linear transmission shaft 29 by a spline structure. It is slidably fitted outside. And the right side clutch 34 is comprised between the right output gear 32R and the right occlusion part 33R, and the left side clutch 34 is comprised between the left output gear 32L and the left occlusion part 33L.

Next, the right and left side clutches 34 will be described.
Spline portions are formed on the outer surfaces of the right and left side portions of the straight transmission shaft 29, and the right occlusion portion 33R and the left occlusion portion 33L are externally fitted to the spline portion of the straight movement transmission shaft 29 so as to be integrally rotatable and slidable. The receiving member 40 is externally fitted to the spline portion of the linear transmission shaft 29 so as to be integrally rotatable. The right and left occlusal portions 33R and 33L are urged by the receiving member 40 and the spring 41 to the occlusal side of the right and left output gears 32R and 32L. The right and left occlusal portions 33R and 33L are engaged with the right and left output gears 32R and 32L, so that the right and left side clutches 34 are in a transmission state. And transmitted to the right and left traveling apparatuses 1 via the left side clutch 34.
Further, by supplying hydraulic oil into the oil chambers formed between the right and left output gears 32R and 32L and the right and left occlusion portions 33R and 33L, the right and left occlusion portions 33R and 33L The right and left occlusal portions 33R and 33L are slid to the side where they are separated against the biasing force of the spring 41, and the right and left side clutches 34 are in a clutch disengaged state (disengaged state). When the hydraulic oil is discharged, the right and left side clutches 34 are engaged (transmission state) by the biasing force of the spring 41.

  The left and right transmission shafts 35 are supported on the same axis so as to be arranged side by side on the same axis, and the left and right transmission gears 36 fixed to the left and right transmission shafts 35 are connected to the right output gear 32R and the left. The left and right transmission gears 37 fixed to the left and right transmission shafts 35 are engaged with the transmission gears 39 fixed to the right and left axles 38, respectively. The right and left axles 38 are connected to the sprockets of the right and left traveling devices 1.

  If both the left and right side clutches 34 are engaged, the power of the input shaft 22 is transmitted to the sub-transmission transmission shaft 27, the transmission gears 30 and 31, the straight transmission shaft 29, the right and left side clutches 34, When the right and left output gears 32R and 32L, the transmission gear 36, the transmission shaft 35, the transmission gears 37 and 39, and the right and left axles 38 are transmitted to the right and left crawler travel devices 1, the aircraft goes straight. It becomes the transmission state which runs in the state.

Next, the structure of the turning transmission system for turning the vehicle body will be described.
A transmission shaft 44 is supported in the transmission case 10, and a transmission gear 45 fitted on the transmission shaft 44 so as to be relatively rotatable is engaged with a gear portion on the outer periphery of the right occlusion portion 33 </ b> R. A slow turning clutch 46 is provided between the gear 45. The slow swing clutch 46 is configured as a friction multi-plate type, and is operated to a transmission state (on state) when hydraulic oil is supplied, and is operated to a cut-off state (off state) when the hydraulic oil is discharged. .

  A revolving clutch case 47 is fitted on the linear transmission shaft 29 so as to be relatively rotatable, and a transmission gear 48 fixed to the transmission shaft 44 and a transmission gear 47 a on the outer periphery of the revolving clutch case 47 are engaged with each other. The turning clutch case 47 is configured to be bilaterally symmetrical, and a right and left turning clutch 49 is formed between the turning clutch case 47 and the right and left output gears 32R and 32L. The right and left turning clutch 49 is configured as a friction multi-plate type, and is operated in a transmission state by supplying hydraulic oil. The right and left turning clutches 49 are arranged so that the friction plates are dense with each other, and the right and left turning clutches 49 are in a semi-transmission state even when the hydraulic oil is discharged. .

  When the slow swing clutch 46 is operated in the transmission state, the power of the straight drive shaft 29 is used for the straight drive via the right occlusal portion 33R, the transmission gear 45, the slow swing clutch 46, the transmission shaft 44, and the transmission gear 48. Rotation in the same direction as the transmission shaft 29 is transmitted to the turning clutch case 47 as power lower than that of the linear transmission shaft 29. When one of the right and left side clutches 34 is operated in a disconnected state and the one of the right or left turning clutch 49 on the side where the side clutch 34 is disconnected is operated in a transmission state, a transmission state is established. Through the turning clutch 49, the power in the same direction as that of the straight transmission shaft 29 is transmitted to one of the right and left output gears 32R and 32L by the rotation in the same direction as that of the straight transmission shaft 29. Low speed power is transmitted to the traveling device 1. At that time, the power of the straight drive shaft 29 is transmitted as it is to the other of the right or left output gears 32R, 32L.

  A transmission gear 52 is fitted on the transmission shaft 44 so as to be relatively rotatable. The transmission gear 52 is engaged with a transmission gear 51 provided on the auxiliary transmission transmission shaft 27 so as to be integrally rotatable. A reverse clutch 53 is provided between the transmission shaft 44 and the transmission gear 52. The reverse clutch 53 is configured as a friction multi-plate type, and is operated in a transmission state when hydraulic oil is supplied, and is operated in a cutoff state when the hydraulic oil is discharged. By adjusting the oil supply pressure, it can be operated even in a braking state as will be described later.

  When the reverse clutch 53 is operated in the transmission state, the power of the sub-transmission transmission shaft 27 is reverse to the linear transmission shaft 29 via the transmission gears 51 and 52, the reverse clutch 53, the transmission shaft 44 and the transmission gear 48. It is transmitted to the turning clutch case 47 as directional rotation power. When one of the right and left side clutches 34 is operated in a disconnected state and the one of the right or left turning clutch 49 on the side where the side clutch 34 is disconnected is operated in a transmission state, a transmission state is established. The rotational power in the direction opposite to that of the straight transmission shaft 29 is transmitted to one of the right or left output gears 32R and 32L via the turning clutch 49, and the reverse rotation is transmitted to the traveling device 1 on the corresponding side. Power is transmitted. At that time, the power of the straight drive shaft 29 is transmitted as it is to the other of the right or left output gears 32R, 32L.

  In addition, when the operation pressure is adjusted to prevent the rotation of the transmission shaft 44 by adjusting the supply pressure of the hydraulic oil, the brake can be brought into a braking state. In this braking state, the transmission shaft 44 and the transmission gear 48 are set. Through this, the turning clutch case 47 enters the braking state. When one of the right and left side clutches 34 is operated to the disconnected state, and the one of the right or left turning clutch 49 on the side where the side clutch 34 is disconnected is operated to the transmission state, the right or left side clutch 34 is operated. Of the output gears 32R and 32L, the side where the side clutch 34 is not disengaged is in a braking state, and the power on the opposite side transmits the power of the straight transmission shaft 29 as it is.

  Therefore, the transmission mechanism provided in the transmission case 10 as described above can switch the traveling state of the pair of left and right traveling devices to the straight traveling state, the right turning traveling state, and the left turning traveling state, and the right side. This corresponds to the traveling state switching means 100 that can be switched to a plurality of turning states having different turning radii in each of the turning traveling state and the left turning traveling state.

Next, the operation of the hydrostatic continuously variable transmission 11 for traveling speed change will be described with reference to FIG.
The pump 11P of the hydrostatic continuously variable transmission 11 is configured to be continuously variable from the neutral position N and the neutral position N to the high speed side of the forward F and the high speed side of the reverse R. The hydrostatic continuously variable transmission Eleven motors 11M are configured to be variable in two levels. A hydraulic cylinder 59 for operating the swash plate of the pump 11P of the hydrostatic continuously variable transmission 11 and a control valve 60 for supplying / discharging hydraulic oil to / from the hydraulic cylinder 59 are provided, and a shift lever 61 provided in the control unit 3 is provided. And the control valve 60 are mechanically linked. Thus, by operating the speed change lever 61, the control valve 60 is operated and the hydraulic cylinder 59 is operated, and the pump 11P of the hydrostatic continuously variable transmission 11 is tilted to a position corresponding to the operation position of the speed change lever 61. Operate the board.

  A hydraulic cylinder 62 that operates the swash plate of the motor 11M of the hydrostatic continuously variable transmission 11 and an electromagnetically operated control valve 63 that supplies and discharges hydraulic oil to and from the hydraulic cylinder 62 are provided. A shift switch (not shown) is provided, and by operating this shift switch, the control valve 63 is operated by the control device 64 and the hydraulic cylinder 62 is operated, so that the motor 11M of the hydrostatic continuously variable transmission 11 is operated. The swash plate is configured to be operated at high speed and low speed positions.

  Then, left and right axle rotation sensors 66R and 66L for detecting the rotation speeds of the left and right axles for detecting the traveling speed of the airframe are provided, and the detection values of the left and right axle rotation sensors 66R and 66L are input to the control device 64. ing. In this embodiment, the left and right axle rotation sensors 66R and 66L are configured to function as running state detecting means.

Next, the hydraulic unit 57 that supplies and discharges hydraulic oil to and from the right and left side clutches 34 (the right and left occlusion portions 33R and 33L), the right and left turning clutch 49, the slow turning clutch 46, and the reverse rotation clutch 53. explain.
As shown in FIG. 4, the hydraulic unit 57 includes a right turn control valve 67, a left turn control valve 68, a relief valve 69, an unload valve 70, a proportional control valve 71, a turn switching control valve 72, a super-reliable point. A turning pilot valve 74 is provided. The external pipe 58 from the hydraulic pump 56 driven by the output shaft 11 c of the hydrostatic continuously variable transmission 11 is connected to the hydraulic unit 57, and the right turning control valve 67 is the oil path 29 b of the straight transmission shaft 29. Are connected to the right side clutch 34 and the right turning clutch 49, and the left turning control valve 68 is connected to the left side clutch 34 and the left turning clutch 49 via the oil passage 29b of the straight transmission shaft 29. ing.

  The right turn control valve 67 and the left turn control valve 68 are configured by electromagnetic operation that can be switched to two positions of supply positions 67a and 68a and discharge positions 67b and 68b, respectively. The return is energized. The unload valve 70 is configured in an electromagnetic operation type that can be switched between two positions of a blocking position 70a and a discharging position 70b, and is urged to return to the blocking position 70a. A proportional control valve 71 and a turning switching control valve 72 are connected in series to an oil passage 75 branched from between the right and left turning control valves 67 and 68 and the oil passage 29b of the transmission shaft 29 for straight travel. A switching control valve 72 is connected to the slow swing clutch 46 and the reverse clutch 53 via an oil passage 44 a of the transmission shaft 44.

  The proportional control valve 71 is constituted by an electromagnetic proportional pressure reducing valve, and changes and adjusts a control current supplied from the control device 64 as will be described later, whereby the friction type hydraulic clutches M ( The supply pressure to the slow turning clutch 46 and the reverse clutch 53) can be changed and adjusted.

  The turning switching control valve 72 is configured as a pilot operated type that can be freely operated at the slow turning position 72a and the super turning position 72c, and is urged to return to the slow turning position 72a. A super turning pilot valve 74 is configured so that the pilot hydraulic oil branched from the oil passage 75 is supplied to the turning switching control valve 72 and operated to the super turning position 72c. The super pivot pilot valve 74 has a supply position for supplying pilot hydraulic oil to the turning switching control valve 72 and a stop position for stopping the supply of pilot hydraulic oil and returning the turning switching control valve 72 to the slow turning position 72a. These are electromagnetically operated so that they can be switched to the two positions and are urged to return to the stop position.

  The right turn control valve 67, the left turn control valve 68, the unload valve 70, the proportional control valve 71, and the super pivot pilot valve 74 are controlled by a control device 64 as described later. Therefore, the hydraulic unit 57 corresponds to the turning operation means.

  Then, as shown in FIG. 5, the return command is urged to return to the straight command position N, and the turn command operation region extends from the straight command position N to the maximum operation position Rm on the right side and the maximum operation position Lm on the left side. A swing lever 77 as a swing command tool that can be swung freely is provided in the control unit 3, and a swing lever sensor 80 including a potentiometer as a turn command position detecting means for detecting an operation position of the swing lever 77 is provided. Detection information of the turning lever sensor 80 is input to the control device 64.

  The swivel lever 77 can be freely moved over the straight command position N and the swivel command operation area connected thereto, and the swivel lever sensor 80 has a maximum operation position (Rm, The detection information corresponding to the target turning force that increases as the movement to Lm) is commanded to the control device 64, and the steering command means 200 is constituted by the turning lever 77 and the turning lever sensor 80. Therefore, the steering command means 200 is configured to continuously command a target value between the minimum target value and the maximum target value.

  Further, a turning mode switch 78 for instructing to switch the turning state to a slow turning state as a low speed turning state, a belief turning state as a stop turning state, and a super faith turning state as a sudden turning state is provided to the control unit 3. The operation position of the turning mode switch 78 is input to the control device 64, and the turning mode switch 78 has a gentle turning position corresponding to the gentle turning state, a belief turning position corresponding to the belief turning state, It is configured to be freely switchable to a super pivot position corresponding to the pivot position.

  When the turning lever 77 is operated to the rectilinear command position N, the right and left turning control valves 67 and 68 are operated to the discharge positions 67b and 68b, the unload valve 70 is operated to the discharge position 70b, and the right and left The hydraulic oil is discharged from the side clutch 34 and the right and left turning clutch 49, the right and left side clutch 34 are operated to the transmission state, and the right and left turning clutch 49 are operated to the half transmission state. Since the right and left turning control valves 67 and 68 are operated to the discharge positions 67b and 68b and the unload valve 70 is operated to the discharge position 70b, the hydraulic oil from the hydraulic pump 56 passes to the transmission case 10 through the unload valve 70. Returned.

  As a result, the power of the input shaft 22 is transmitted to the sub-transmission transmission shaft 27, the transmission gears 30, 31, the linear transmission transmission shaft 29, the right and left side clutches 34 (the right and left occlusion portions 33R, 33L), the right and The aircraft is transmitted straight to the right and left crawler travel devices 1 via the left output gears 32R and 32L, the transmission gear 36, the transmission shaft 35, the transmission gears 37 and 39, and the right and left axles 38.

Next, the case where the turning lever 77 is operated to the turning command operation area when the turning mode switch 78 is operated to the slow turning position will be described.
When the turning mode switch 78 is operated to the slow turning position and the turning lever 77 is operated to the right from the straight command position N to move out of the dead zone, the right turning control valve 67 is operated to the supply position 67a to unload. The valve 70 is switched to the shut-off position 70a, hydraulic oil is supplied to the right side clutch 34 (right occlusion portion 33R) and the right turning clutch 49, and the right side clutch 34 (right occlusion portion 33R) is shut off. The hydraulic oil is supplied to the right turning clutch 49 and is operated to the transmission state.

  In this case, since the left turning clutch 49 is in a semi-transmission state, the power of the left side clutch 34 is transmitted from the left output gear 32L and the left turning clutch 49 to the right output gear 32R via the right turning clutch 49. The power slightly lower than that of the linear transmission shaft 29 is transmitted to the right output gear 32R by rotation in the same direction as the linear transmission shaft 29. As a result, the aircraft gently turns to the right.

  When the swivel lever 77 is operated rightward from the rectilinear command position N and moves out of the dead zone, the proportional control valve 71 and swivel switching are almost simultaneously with the right swivel control valve 67 being operated to the supply position 67a as described above. The hydraulic oil begins to be supplied to the slow swing clutch 46 via the control valve 72, and as the swing lever 77 is moved to the right in a direction away from the straight advance command position after moving out of the dead zone, the proportional control valve 71 becomes slower. The operation pressure of the swing clutch 46 is increased.

  As the operation pressure of the slow swing clutch 46 is increased by the proportional control valve 71 based on the operation position of the swing lever 77, the power of the straight drive shaft 29 is changed to the right occlusal portion 33R, the transmission gear 45, Through the turning clutch 46, the transmission shaft 44, the transmission gear 48, the turning clutch case 47 and the right turning clutch 49, the motive power at a lower speed than the straight traveling transmission shaft 29 is rotated in the same direction as the straight traveling transmission shaft 29. It is transmitted to the output gear 32R.

  In this case, the power from the left side clutch 34 (the left occlusal portion 33L) and the power from the slow turning clutch 46 are transmitted to the right output gear 32R at the same time. In the range where the operation pressure is low, the power from the left side clutch 34 (the left occlusion portion 33L) overcomes the power from the slow swing clutch 46, and the power from the left side clutch 34 (the left occlusion portion 33L). As a result, the right output gear 32R is driven. As a result, when the operating pressure of the gentle turning clutch 46 is low, the aircraft gradually turns to the right.

  When the amount of movement of the turning lever 77 to the right increases and the operating pressure of the slow turning clutch 46 increases, the power from the slow turning clutch 46 overcomes the power from the left side clutch 34 (left occlusal portion 33L). Thus, the right output gear 32R is driven by the power from the slow turning clutch 46. In this state, the right output gear is driven by the power from the slow turning clutch 46 rather than the left output gear 32L driven by the power of the straight transmission shaft 29 via the left side clutch 34 (the left engagement portion 33L). 32R will be driven at low speed and the aircraft will turn slowly to the right. The turning state at this time corresponds to a low-speed turning turning state in which the traveling device inside the turning rotates at a lower speed than the traveling device outside the turning in the airframe traveling direction.

  When the swivel lever 77 is operated to the left from the rectilinear command position N and moves out of the dead zone, the left swivel control valve 68 is operated to the supply position 68a, the unload valve 70 is held at the shut-off position 70a, and the left side The hydraulic oil is supplied to the clutch 34 (the left occlusion portion 33L) and the left turning clutch 49, the left side clutch 34 (the left occlusion portion 33L) is operated to be disconnected, and the left turning clutch 49 is operated with the hydraulic oil. Is operated in the transmission state. At the same time, the same operation as the left turn described above is performed, and the aircraft gradually turns to the left. Further, when the operation amount to the right side of the turning lever 77 increases and the operation pressure of the slow turning clutch 46 becomes high, the same operation as the right turning operation is performed, and the aircraft turns slowly to the left.

Next, the case where the turning lever 77 is operated to the turning command operation area when the turning mode switch 78 is operated to the conviction turning position will be described.
When the turning mode switch 78 is operated to the cruciform turning position and the turning lever 77 is operated rightward from the rectilinear command position N to move out of the dead zone, the right turning control valve 67 is operated to the supply position 67a to unload. The valve 70 is switched to the shut-off position 70a, hydraulic oil is supplied to the right side clutch 34 (right occlusion portion 33R) and the right turning clutch 49, and the right side clutch 34 (right occlusion portion 33R) is shut off. The hydraulic oil is operated to the right turning clutch 49 in the transmission state. In this case, since the left turning clutch 49 is in a semi-transmission state, the aircraft gradually turns to the right.

  When the swivel lever 77 is operated rightward from the rectilinear command position N and moves out of the dead zone, the proportional control valve 71 and swivel switching are almost simultaneously with the right swivel control valve 67 being operated to the supply position 67a as described above. The hydraulic oil begins to be supplied to the reverse rotation clutch 53 via the control valve 72 (super pivot turning position 72c), and the turning lever 77 is moved to the right in the direction away from the dead reckoning command position after leaving the dead zone. The proportional control valve 71 increases the operating pressure of the reverse clutch 53. However, even if the turning lever 77 is operated rightward to the maximum operation position Rm at this time, the operation pressure of the reverse clutch 53 does not reverse the transmission shaft 44 but stops the rotation of the transmission shaft 44 or substantially. The operating pressure is adjusted so as to stop.

  In this case, the power from the left side clutch 34 (left occlusal portion 33L) and the braking force of the transmission shaft 44 braked via the reverse clutch 53 are simultaneously transmitted to the right output gear 32R. Therefore, in the range where the operating pressure of the reverse clutch 53 is low, the power from the left side clutch 34 (left occlusion portion 33L) overcomes the braking force of the reverse clutch 53 and the left side clutch 34 (left occlusion) The right output gear 32R is driven by the power from the portion 33L). As a result, when the operating pressure of the reverse clutch 53 is in a low pressure range, the aircraft gradually turns to the right.

  When the amount of movement of the swivel lever 77 to the right increases and the operating pressure of the reverse clutch 53 reaches an operating pressure set to act as a brake, the braking force is applied to the left side clutch 34 (the left occlusal portion 33L). ), The right output gear 32R enters the braking state, and the aircraft turns to the right. The turning state at this time corresponds to a stopped turning state in which the rotation of the traveling device inside the turning is stopped or substantially stopped.

  Accordingly, as the operation pressure of the reverse clutch 53 is increased by the proportional control valve 71 in accordance with the operation of the turning lever 77, the transmission shaft 44, the transmission gear 48, the turning clutch case 47, and the right turning clutch 49 are moved. Thus, a braking force is applied to the right output gear 32R. That is, the pseudo brake state is equal to the state in which the transmission shaft 44 is braked by the brake.

  When the turning lever 77 is operated to the left from the rectilinear command position N to move out of the dead zone, the left turning control valve 68 is operated to the supply position 68a, the unload valve 70 is operated to the cutoff position 70a, and the left side clutch 34 (the left occlusion portion 33L) and the left turning clutch 49 are supplied with hydraulic oil, the left side clutch 34 (the left occlusion portion 33L) is operated to be disconnected, and the left turning clutch 49 is supplied with hydraulic oil. Operated in transmission state. At the same time, the same operation as described above is performed, and the aircraft gradually turns to the left. When the amount of movement of the turning lever 77 to the left increases and the operating pressure of the reverse clutch 52 becomes high, the same operation as the right turning operation is performed, and the aircraft turns to the left.

Next, the case where the turning lever 77 is operated to the turning command operation area when the turning mode switch 78 is operated to the super turning position will be described.
When the turning mode switch 78 is operated to the super turning position, and the turning lever 77 is operated rightward from the straight travel command position N to move out of the dead zone, the right turning control valve 67 is operated to the supply position 67a and The load valve 70 is switched to the shut-off position 70a, hydraulic oil is supplied to the right side clutch 34 (right occlusion portion 33R) and the right turning clutch 49, and the right side clutch 34 (right occlusion portion 33R) is moved. The shut-off state is operated, and the right turning clutch 49 is operated in the transmission state. In this case, since the left turning clutch 49 is in a semi-transmission state, the aircraft gradually turns to the right.

  When the swivel lever 77 is operated rightward from the rectilinear command position N and moves out of the dead zone, the proportional control valve 71 and swivel switching are almost simultaneously with the right swivel control valve 67 being operated to the supply position 67a as described above. The hydraulic oil starts to be supplied to the reverse rotation clutch 53 via the control valve 72 (super pivot turning position 72c), and the proportional control valve is moved as the turning lever 77 moves to the right side out of the dead zone from the straight advance command position. 71 increases the operating pressure of the reverse clutch 53. When the turning lever 77 is operated to the maximum operating position Rm in the right direction in this super turning state, the operating pressure of the reverse clutch 53 causes the reverse rotation clutch 53 to be fully engaged and the transmission shaft 44 to go straight. Adjustment is made to rotate in the direction opposite to the axis 29.

  As the operation pressure of the reverse clutch 53 is increased by the proportional control valve 71 in accordance with the operation of the turning lever 77, the power of the subtransmission transmission shaft 27 is transmitted to the transmission gears 51, 52, the reverse clutch 53, the transmission shaft. 44, the transmission gear 48, the turning clutch case 47, and the right turning clutch 49 are transmitted to the right output gear 32R as the rotational power in the direction opposite to that of the straight drive shaft 29.

  In this case, since the power from the left side clutch 34 (the left occlusal portion 33L) and the power from the reverse clutch 53 are simultaneously transmitted to the right output gear 32R, the operation pressure of the reverse clutch 53 is reached. In the low pressure range, the power from the left side clutch 34 (the left occlusion portion 33L) overcomes the power from the reverse clutch 53, and the power from the left side clutch 34 (the left occlusion portion 33L) The output gear 32R is driven. As a result, when the operating pressure of the reverse clutch 53 is in a low pressure range, the aircraft gradually turns to the right.

  Then, when the amount of movement of the turning lever 77 to the right increases and the operating pressure of the reverse clutch 53 becomes high, the power from the reverse clutch 53 becomes the power from the left side clutch 34 (the left occlusal portion 33L). The right output gear 32R is driven by the power from the reverse clutch 53 by overcoming it. In this state, the right output gear 32R is driven in the opposite direction with respect to the left output gear 32L, and the aircraft turns to the right. The turning state at this time corresponds to a sudden turning state in which the traveling device inside the turning is driven so as to travel in the direction opposite to the aircraft traveling direction.

  Next, when the turning lever 77 is operated leftward from the rectilinear command position N, when the dead zone is removed, the left turning control valve 68 is operated to the supply position 68a, and the unload valve 70 is moved to the cutoff position 70a. The hydraulic oil is supplied to the left side clutch 34 (left occlusion portion 33L) and the left turning clutch 49, and the left side clutch 34 (left occlusion portion 33L) is operated to be disconnected, The hydraulic oil is operated in the transmission state to the swing clutch 49. At the same time, the same operation as described above is performed, and the aircraft gradually turns to the left. When the amount of operation for moving the turning lever 77 to the left increases and the operating pressure of the reverse clutch 53 becomes high, the same operation as in the case of right turning is performed, and the aircraft turns to the left.

  By the way, when the turning mode switch 78 is operated to the slow turning position and turning in the slow turning mode, or the turning mode switch 78 is operated to the trust turning position, the turning in the trust turning state is performed. When performing, in a turning state in which the turning lever 77 is operated rightward or leftward beyond the dead zone, it may be necessary to turn with a slightly smaller radius.

  Therefore, in this combine, as shown in FIG. 5, a turning state changeover switch 81 is provided at the grip portion of the turning lever 77. For example, in the slow turning mode, if the turning state changeover switch 81 is pressed while the turning lever 77 is operated to turn, the turning switching control valve 72 changes from the slow turning position 72a to the super turning position 72b. Can be switched to the belief turning state as described above. This belief turning state is only while the turning state changeover switch 81 of the turning lever 77 is pushed and operated. When the turning state release switch 81 of the turning lever 77 is released and returned, the turning changeover control valve 72 is turned on. The fuselage is operated from the pivot turn position 72b to the slow turn position 72a, and the aircraft returns to the slow turn state.

  Further, in the case of the pivoting state, if the turning state changeover switch 81 of the turning lever 77 is pushed and operated while the turning lever 77 is operated, the operation pressure to the reverse clutch 53 is changed and adjusted. And the aircraft turns into a super-spinning state. This super-revolution turning state is only while the turning state changeover switch 81 of the turning lever 77 is being pushed. When the return operation is performed by releasing the turning state changeover switch 81 of the turning lever 77, the trust turning state is established. The return body returns to the gentle turning state.

  The control device 64 increases the relationship between the operation position of the turning lever 77 in the turning command operation region and the target operation pressure as the amount of movement in the direction away from the rectilinear command position in the turning command operation region increases. In addition, as the amount of movement in the direction away from the rectilinear command position in the turn command operation region increases over the entire range of the turn command operation region, the target operation pressure with respect to the change per unit amount of the operation position of the turn lever 77 is increased. The relationship is determined as a relationship corresponding to a quadratic function that changes the amount of change to the large side, and the amount of movement in the direction away from the straight command position in the turning command operation region determined as the relationship corresponding to this quadratic function and the target operation pressure The target operating pressure corresponding to the operation position of the turning lever 77 is obtained based on the relationship between the Is configured to control the proportional control valve so that the target operating pressure.

  As shown in FIG. 6, as the three types of turning states, in the slow turning state, when the turning lever 77 is operated to the maximum operation position, the output rotation of the traveling device inside the turning of the pair of left and right traveling devices. A target turning state is set in which the speed is reduced to about 1/3 of the output rotational speed of the opposite side traveling device (see line L1 in FIG. 6). The target speed ratio is set so that the output rotational speed of the vehicle is zero (see the line L2 in FIG. 6). In the super turning state, the output rotational speed of the traveling device on the inner side of the turn is the driving rotational direction of the traveling device on the opposite side. A target speed ratio is set such that the speed is approximately 1/3 of the output rotational speed of the opposite traveling device in the reverse rotation direction (see line L3 in FIG. 6).

  Then, as shown in FIG. 7, the operation position of the turning lever 77 and the target operation pressure (specifically, proportional control) of the friction hydraulic clutch M so that the target speed ratio as described above is obtained in advance through experiments or the like. The target current supplied to the valve 71 is determined as a relationship corresponding to a quadratic function that changes the amount of change in the target operating pressure of the friction hydraulic clutch M with respect to the change per unit amount of the operating position. And stored in the control device 64.

  In other words, a line L4 in FIG. 7 indicates an operation position of the turning lever 77 and a target operating pressure of the friction hydraulic clutch M (target current supplied to the proportional control valve 71) in the slow turning state and the super turning state. The line L5 in FIG. 7 shows the relationship between the operating position of the turning lever 77 and the target operating pressure of the friction hydraulic clutch M (target current supplied to the proportional control valve 71) in the pivoting state. Correlation is shown. In this line L4, when the turning lever 77 is operated to the maximum operating positions Lm, Rm, the slow turning clutch 46 is operated to a fully engaged state by a strong pressure contact force in the case of the slow turning state. In the case of the pivoting state, the operation pressure is set such that the reverse rotation clutch 53 is operated to a complete engagement state with a strong pressure contact force. However, in the line L5, when the turning lever 77 is operated to the maximum operating positions Lm and Rm, the transmission shaft 44 is not driven in reverse rotation, but the turning of the traveling device 1 inside the turning is stopped or substantially stopped. The operating pressure is set so as to be in a state.

  Therefore, based on the detection information of the turning lever sensor 80, the control device 64 enters a straight-ahead state when the turning lever 77 is operated to the straight-ahead command position N, and the turning lever 77 operates in the right turn command operation area and the left turn command operation. The turning control for controlling the hydraulic unit 57 is performed so that the turning radius becomes smaller as the operation is moved to the side away from the rectilinear command position N in each of the regions.

  Further, the control device 64 determines whether the detected value of the turning lever sensor 80 is in a normal operation state within the set appropriate range or an abnormal state outside the proper output range, and is in the normal operation state. If it is determined, the turning control is executed based on the detection value of the turning lever sensor 80, and if it is determined that the state is abnormal, the turning control based on the command information of the turning lever sensor 80 is performed. Alternative turning to stop the execution and control the turning operation means based on the command information of the command means for controlled object and the turning operation relation information defining the relation between the command information and the turning state to be operated It is configured to perform control.

And when the command information corresponding to the left turn is instructed as the command information of the command means for the controlled object, the turning operation related information is the turning radius of the left turning state and the plurality of turning states. When command information corresponding to a right turn is commanded as command information of the control target command means, the right turn state and the plurality of turning states are set. It is defined in the relationship of turning state on the larger turning radius side.
Specifically, the turning operation related information is one of a deep handling operation command of the deep handling switch SW1 and a shallow handling command of the shallow handling switch SW2 as command information corresponding to the left turn, The other is defined as a command information corresponding to the right turn.

  Further, when the left and right axle rotation sensors 66R and 66L detect that the vehicle is stopped as an alternative turning control, the control device 64 detects the handling based on the commands from the deep handling switch SW1 and the shallow handling switch SW2. When the hydraulic unit 57 is controlled in such a manner that the depth adjustment processing is performed in parallel, and when the left and right axle rotation sensors 66R and 66L detect that the vehicle body is in the running state, the deep handling switch SW1 and the shallow handling switch are used. The hydraulic unit 57 is configured to be controlled in such a manner that the depth-of-hands adjustment process is not executed based on the command of the switch SW2.

  As shown in FIG. 5, the control unit 3 is provided with a display panel 82 for displaying various types of operation information and work information. The display panel 82 is provided so as to display message information including character information. The display contents are controlled by the control device 64. The control device 57 is configured to control the operation so that the display panel 82 displays the abnormal state when the abnormal state is detected. Therefore, the display panel 82 corresponds to notification means for notifying that the abnormal state is present.

Hereinafter, the control of the control device 64 will be described with reference to the flowcharts shown in FIGS.
First, it is determined whether or not the turning lever sensor 80 is operating normally (step 1). More specifically, the detectable range by the turning lever sensor 80 composed of a potentiometer is 0 to 5 [volts] when the power supply voltage is 5 [volts], but for detecting the operating position of the turning lever. Is set to be a narrower range, that is, a range of 0.5 to 4.5 [volts]. Therefore, if the detected value is within the range of 0.5 to 4.5 [volts] (set appropriate range), it is determined that the device is operating normally, and the detected value is 0.5 volts or less. If it is outside the appropriate setting range of 5 volts or more, it is determined that the turning lever sensor 80 is in an abnormal state in which a short circuit failure or a disconnection failure has occurred.

  When it is determined that the detected value of the turning lever sensor 80 is normal, normal turning control is executed. That is, as shown in FIG. 11, if the turning lever 77 is within the dead zone of the straight advance command position N, the unload valve 70 is switched to the discharge position 70a (steps 11 and 12). Further, both the left turn control valve 68 and the right turn control valve 67 are kept in the shut-off state (steps 13 and 14). When the turning lever 77 moves out of the dead zone from the straight travel command position N, the right turning control valve 67 is switched to the supply position 67a if the operation direction is the right direction (steps 15 and 16), and if the operation direction is the left direction. The left turn control valve 68 is switched to the supply position 68a (steps 15 and 17), and the unload valve 70 is switched to the cutoff position 70a (step 18).

  Next, a target current for the proportional control valve 71 is obtained by calculation based on the correlation shown in FIG. 7 corresponding to the turning mode selected by the turning mode switch 78 and the detection information of the turning lever sensor 80. Then, the output current is adjusted so that the output current output to the proportional control valve 71 becomes the target current obtained by calculation (steps 19 to 21).

  When it is determined in step 1 that the turning lever sensor 80 is in an abnormal state, the detected value of the turning lever sensor 80 is abnormal, and the deep handling switch SW1 and the shallow handling switch SW2 are operated. Thus, it is displayed on the display panel 82 that the alternative turning control can be executed, and a notification process for notifying the operator is executed (step 5). At this time, a buzzer may be sounded together with the display.

Next, alternative turning control is executed (step 6). The alternative turning control will be described with reference to FIG.
That is, when the deep-handling switch SW1 is turned on, when the left and right axle rotation sensors 66R and 66L both detect a value equal to or less than a set value set to zero speed or a value close thereto, it is detected that the vehicle is stopped (step). 31 and 32), while the depth handling switch SW1 is on, the handling depth motor M1 is operated so that the handling depth is changed to the depth handling side (step 33), and the right turn control valve 67 is turned on. Switching to the supply position 67a switches the unload valve 70 to the shut-off position 70a (steps 34 and 35). As a result, hydraulic oil is supplied to the right side clutch 34 (right occlusion portion 33R) and the right turning clutch 49, and the right side clutch 34 (right occlusion portion 33R) is operated to be disconnected, The swing clutch 49 is operated in the transmission state, and the aircraft gradually turns to the right. This state corresponds to the turning state on the larger turning radius side of the plurality of turning states in the right turning state.

  If it is detected in step 32 that one of the left and right axle rotation sensors 66R, 66L exceeds the set value and it is detected that the vehicle body is running, the operation of the handling depth motor M1 is not executed. The right turn control valve 67 is switched to the supply position 67a and the unload valve 70 is switched to the shut-off position 70a (steps 32, 34, 35), and as described above, the aircraft gradually turns to the right.

  When the shallow handling switch SW2 is turned on, if it is detected that the vehicle is in a stopped state based on the detection information of the left and right axle rotation sensors 66R and 66L, the handling depth is shallow while the shallow handling switch SW2 is turned on. The working depth motor is operated so as to change to the handling side (steps 36, 37, and 38), the left turn control valve 68 is switched to the supply position 68a, and the unload valve 70 is switched to the cutoff position 70a (step 39). 40). As a result, hydraulic oil is supplied to the left side clutch 34 (left occlusion portion 33L) and the left turning clutch 49, and the left side clutch 34 (left occlusion portion 33L) is operated to be disconnected, The hydraulic oil is operated by the swing clutch 49 so that the airframe is gently turned to the left. This state corresponds to the turning state on the larger turning radius side of the plurality of turning states in the left turning state.

  If it is detected in step 37 that one of the left and right axle rotation sensors 66R, 66L exceeds the set value and it is detected that the vehicle body is traveling, the operation of the handling depth motor M1 is not executed. The left turn control valve 68 is switched to the supply position 68a, the unload valve 70 is switched to the shut-off position 70a (steps 37, 39, and 40), and as described above, the aircraft gradually turns to the left.

  If both the deep handling switch SW1 and the shallow handling switch SW2 are in the OFF state, the unload valve 70 is switched to the discharge position 70a, and both the left turning control valve 68 and the right turning control valve 67 are held in the shut-off state (step 41). 42, 43).

[Another embodiment]
Hereinafter, other embodiments are listed.

(1) In the above-described embodiment, as the alternative turning process, when the vehicle is in a travel stop state, the handling depth adjustment process is executed in parallel on the basis of commands from the deep handling switch and the shallow handling switch. A configuration for controlling the turning operation means in a form in which the turning depth adjustment processing is not executed based on commands of the deep handling switch and the shallow handling switch when the turning operation means is controlled and in a running state. However, instead of such a configuration, it is also possible to control the turning operation means in a form in which the handling depth adjustment process is executed in parallel regardless of whether the vehicle is in a running state or a stopped state. Good. In addition, as the alternative turning process, if the type does not perform the cutting work only for the purpose of moving the vehicle body to the place where the maintenance work is performed, regardless of whether it is in the running state or the stopped state, It is good also as a structure which controls the said turning operation means in the form which does not perform the handling depth adjustment process.

(2) In the above embodiment, as the other controlled object command means, the deep handling switch SW1 and the shallow handling switch SW2 for controlling the handling depth motor as the other controlled object are used. Instead of such a configuration, for example, an auger right turn command switch provided for instructing an auger turning process for executing a right turn and a left turn around the longitudinal axis of the auger for discharging the grain provided in the combine; An auger left turn command switch may be used. When the auger right turn command switch and the auger left turn command switch are used as command means for other controlled objects as described above, as the substitute turning process, the turning operation process of the auger is not executed. It is preferable that the operation means be controlled. Similarly to the above-described embodiment, if the vehicle is in a stopped state, the turning operation means is controlled in such a manner that the auger turning operation process is executed based on the commands of the auger right turning command switch and the auger left turning command switch. In the running state, the turning operation means may be controlled in such a manner that the auger turning operation switch is not executed based on the commands of the auger right turning command switch and the auger left turning command switch. Further, as the alternative turning process, if it is of a type that does not perform the turning work of the auger for discharging the grain for the purpose of moving the vehicle body to the place where the maintenance work is performed, it is in the running state or in the stopped state. Regardless of whether or not there is a configuration, the turning operation means may be controlled in such a form that the turning operation processing of the auger is not executed.

  As the other controlled object command means, a left turn and a right turn are commanded using a pair of posture change command switches for changing the right and left tilt angles of the vehicle body to the right tilt side and the left tilt side. Various control tools such as configurations can be used.

  Instead of using a pair of switches for instructing a left turn and a right turn, the other controlled object command means may be configured to instruct a turn using a single switch. For example, when one switch is operated and kept on for a set time or longer, the left turn is commanded, and the switch is turned on only for a time shorter than the set time. When the operation is repeated intermittently, various configurations such as a configuration for commanding a right turn can be used.

Further, the other controlled object command means is not limited to a switch, and may be configured to perform alternative turning control using, for example, a potentiometer provided to change various control parameters.
In other words, the potentiometer is configured so that it can be operated in the setting operation area by operating the operation knob, and the output can be changed and adjusted by operating the operation knob. In turning control, a straight command position is set in the middle of the set operation area, a left turn command area is set on the left side of the set operation area, and a straight command in the set operation area. Set the right turn command area on the right side of the position, command the straight running state if it is in the straight turn command position, command the left turn when operated in the left turn command area, and operate in the right turn command area In the left turn command area and the right turn command area, a plurality of turning states in which the turning radius sequentially decreases as the distance from the straight command position is operated. Cut sequentially It may be configured to replace.

(3) In the above-described embodiment, the deep handling switch and the shallow handling switch are provided in a state that can be operated with a finger on the grip portion of the speed change operation lever for changing the vehicle speed. Instead of such a configuration, the deep handling switch and the shallow handling switch may be provided in the control unit in a state of being separated from the shift operation lever.

(4) In the above embodiment, even if the shift lever and the vehicle speed transmission device are mechanically linked to determine that the turning lever sensor is abnormal, the vehicle speed is the maximum adjustment that can be changed by the vehicle speed transmission device. Although it was set as the structure which can be adjusted over the whole range of a range, it may replace with such a structure and may be comprised as follows.

  That is, the shift lever moving operation position is detected by a potentiometer, and if the shift lever is in a neutral position at an intermediate position of the move operation position, the vehicle speed transmission is operated to a neutral state, and the shift lever is moved to one side from the neutral position. The vehicle speed transmission device is configured to perform a speed change operation by an electric actuator so that the vehicle speed transmission is accelerated to the forward side when the movement operation is performed and the speed is increased to the reverse side when the movement operation is performed to the other side. In the normal operating state, the vehicle speed when the shift lever is moved to the maximum operating position on the forward side is the maximum vehicle speed that can be mechanically shifted, but when the turning lever sensor is abnormal The vehicle speed when the shift lever is moved to the maximum operation position on the forward side is limited to a set vehicle speed set to a lower speed than the maximum vehicle speed at which a mechanical shift operation can be performed. But good.

(5) In the above embodiment, the combine is shown as the work vehicle. However, the present invention can also be applied to agricultural work vehicles other than the combine vehicle and other work vehicles.

Combine front view Schematic showing the power transmission structure of the combine Diagram showing transmission configuration Hydraulic circuit diagram Control block diagram The figure which shows the correlation between the turning lever operation position and the target speed ratio The figure which shows the correlation between the turning lever operation position and the target operation pressure Perspective view of transmission lever The figure which shows the conveyance state of the harvest cereal rice cake Flow chart of control operation Flow chart of control operation Flow chart of control operation

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Traveling device 2 Threshing part 4 Cutting part 57 Turning operation means 64 Control means 66R, 66L Running state detection means 77 Turning operation tool 80 Turning operation position detection means 82 Notification means 100 Traveling drive means M1 Handling depth adjustment means SW1 Deep handling switch SW2 shallow handling switch S Sag length detection means

Claims (7)

The traveling state of the pair of left and right traveling devices can be switched between a straight traveling state, a right turning traveling state and a left turning traveling state, and a plurality of turning radii are different in each of the right turning traveling state and the left turning traveling state. Traveling state switching means switchable to the turning state of
A turning operation means for switching the traveling state switching means to each of the plurality of turning states in the straight traveling state, the right turning traveling state and the left turning traveling state;
It is movable in the forward and reverse directions over the entire range of a predetermined operating range including a straight turn command position, a right turn command operation area continuous to the right side of the straight advance command position, and a left turn command operation area connected to the left side of the straight advance command position. A swivel operation tool;
A turning operation position detecting means for detecting an operation position of the turning operation tool;
A manually operated other controlled object command means for commanding command information for controlling another controlled object different from the turning operation means;
A control means for controlling the turning operation means and the other controlled object;
The control means is
Based on the detection information of the turning operation position detecting means, when the turning operation tool is located at the straight advance command position, the straight movement state is established, and when the turning operation tool is located in the left turn instruction operation region, the left turn state is established. And the turning operation tool is located in the left turn command operation region, the turning radius becomes smaller as the turn operation tool is located farther from the straight travel command position, and the turning operation tool is positioned in the right turn command operation region. The turn for controlling the turning operation means so that the turning radius becomes smaller as the turning operation tool is located in the right turning command operation region in the right turning command operation region and is located on the side farther from the rectilinear command position. Control, and
A work vehicle configured to execute another work control for controlling the other controlled object based on the command information of the other controlled object command means,
The control means is
When it is determined that the detected value of the turning operation position detecting means is a normal operation state within a set appropriate range or an abnormal state outside the proper output range, and is determined to be the normal operation state Executes the turning control based on the detection value of the turning operation position detecting means, and if it is determined that the abnormal state, the turning control based on the command information of the turning operation position detecting means. An alternative for stopping the execution and controlling the turning operation means on the basis of the command information of the command means for controlled object and the turning operation relation information defining the relation between the command information and the turning state to be operated A work vehicle configured to perform turning control.   When the command information corresponding to the left turn is commanded as the command information of the command means for the controlled object, the turning operation related information is the left turning state and the turning radius larger side of the plurality of turning states And when command information corresponding to a right turn is commanded as command information of the command means for controlled object, a turning radius of the plurality of turning states in the right turning state The work vehicle according to claim 1, wherein the work vehicle is defined in a relationship of turning to the large side. A reaping part for reaping the planted cereal cocoon, and a threshing part for threshing the reaped cereal rice harvested by the reaping part, and
As the other controlled object, a handling depth adjusting means for changing and adjusting the handling depth in the threshing portion of the harvested cereal cocoon is provided, and as the other controlled object command means, the handling depth is set in the depth handling direction. A deep-handling switch that can be switched between an ON state that commands a deep-handling operation command to be changed and an OFF state that does not issue a deep-handling operation command, and a shallow-handing operation command that changes the working depth in the shallow-handing direction. There is a shallow handle switch that can be switched between the ON state to command and the OFF state to not command the shallow handle operation command,
The control means is
As the other work control, the working depth is changed to the deep handling direction based on the deep handling side operation command of the deep handling switch and the working depth is reduced based on the shallow handling side operation command of the shallow handling switch. A handling depth adjustment process for controlling the handling depth adjustment means so as to change to the handling direction; and
In the turning operation related information, one of the deep handling operation command of the deep handling switch and the shallow handling command of the shallow handling switch is set as command information corresponding to the left turning, and the other is set to the right turning. The work vehicle according to claim 2, wherein the work vehicle is defined in a relationship of corresponding command information. Traveling state detection means for detecting whether the vehicle body is in a traveling state or a traveling stop state, and
The control means as the alternative turning control,
When it is detected by the running state detecting means that the running stop state is detected, the turning is performed in a form in which the handling depth adjustment processing is executed in parallel based on commands from the deep handling switch and the shallow handling switch. When the operating means is controlled and the running state detecting means detects that the vehicle body is in a running state, the handling depth adjustment process is performed based on commands from the deep handling switch and the shallow handling switch. The work vehicle according to claim 3, wherein the work vehicle is configured to control the turning operation means in a form that is not executed. A cocoon length detection means for detecting the cocoon length of the harvested cereal rice cake cut by the cutting unit is provided,
The control means is
Performing automatic handling depth control for operating the handling depth adjusting means so that the handling depth becomes an appropriate handling depth based on the detection result of the saddle length detected by the saddle length detection means, and When a deep handling side operation command of a deep handling switch or a shallow handling operation command of the shallow handling switch is commanded, the handling depth adjustment processing is executed prior to the automatic handling depth control. The work vehicle according to claim 3 or 4.   The work according to any one of claims 3 to 5, wherein the deep handling switch and the shallow handling switch are provided in a state where the deep handling switch and the shallow handling switch can be operated with a finger at a grip portion of a speed change operation lever for changing a vehicle speed. car. Informing means for informing that the abnormal state is present,
The work vehicle according to any one of claims 1 to 6, wherein the control unit is configured to execute a notification process that activates the notification unit when it is determined that the control unit is in the abnormal state.

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