JP5313957B2 - Harvester traveling transmission device - Google Patents

Description

  The present invention relates to a traveling transmission device for a harvester.

  Conventionally, as a traveling transmission device of a harvesting machine, there has been one described in Patent Document 1, for example. In the traveling transmission device described in Patent Document 1, a center transmission gear that is transmitted from the output shaft of the engine via the traveling continuously variable transmission and the traveling auxiliary transmission, and the driving force transmitted to the center transmission gear are obtained. A transmission portion that transmits from the branch transmission shaft to the left traveling device via the left steering clutch, and a transmission portion that transmits the driving force transmitted to the center transmission gear from the branch transmission shaft to the right traveling device via the right steering clutch. And a steering brake provided in the transmission unit for the left traveling device and a steering brake provided in the transmission unit for the right traveling device.

JP 2002-192972 A

  For example, in the case of a combine, the work is mainly performed in the form of a turn mowing work, and the cutting part is aligned with the work part after turning while turning the traveling machine body at the corner of the work part. Conventionally, when trying to turn by turning the steering clutch corresponding to the traveling device inside the turning to the disengaged state, only the turning radius of the magnitude by maintaining the traveling device in the turning off state appears, There was a case where the traveling machine body changed its direction at a steep angle, and the cutting part swung rapidly and was difficult to adjust.

  In addition, since the traveling device inside the turn is in a freely rotating state, the turning radius that appears when the traveling device inside the turn rotates or stops due to the change in the magnitude of the turning resistance. Sometimes changed, making it difficult to align. Furthermore, a shock is likely to occur due to the transmission of the traveling device inside the turn switching from on to off. When the steering clutch is a meshing clutch, a shock is more likely to occur.

While turning, the steering clutch is kept in the disengaged state instead of being kept in the disengaged state, and the steering clutch is kept in the disengaged state by repeatedly switching the steered clutch between the disengaged state and the engaged state. (Hereinafter referred to as “clutch disengagement turning”) or a turning radius different from that of the clutch disengagement turning, and a turning radius that is changed and adjusted. When trying to do so, there was a problem that it was difficult to smoothly turn.
That is, a shock is likely to occur due to ON / OFF of transmission generated by switching between a steering clutch engaged state and a disengaged state. The turning radius is different between when the steering clutch is engaged and the transmission is turned on, and when the transmission is turned off when the steering clutch is turned off and the turning radius is stable. Hard to do.

  The object of the present invention is not only to perform clutch disengagement turning with the steering clutch kept in the disengaged state, but also to stably perform turning operation that is different in size from the turning radius of the clutch disengagement turning and is arbitrarily changed and adjusted. An object of the present invention is to provide a traveling transmission device for a harvesting machine that can be performed.

The first invention is a traveling transmission device for a harvester,
A left transmission unit having an output shaft that outputs driving force from the engine to the driving wheel body of the left traveling device and a left steering clutch that acts on the output shaft, and a driving force from the engine on the right side A right transmission unit having an output shaft that outputs to a drive wheel body of the traveling device and a right steering clutch that acts on the output shaft, and one of the left traveling device and the right traveling device Provided with a speed change transmission part provided with an output rotating body interlocking with the drive wheel body of the traveling device, and an electric motor to be transmitted to the speed change transmission part,
In the state where the left steering clutch and the right steering clutch are operated in the engaged state, the driving wheel body and the output rotating body of the traveling device to which the output rotating body is interlocked are linked. A constant speed transmission state in which the output shaft of the transmission unit corresponding to a traveling device rotates at a constant speed;
Engine drive input from the output shaft of the transmission unit corresponding to the traveling device with which the output rotating body is interlocked when the left steering clutch and the right steering clutch are operated in the engaged state. The power and the electric driving force input from the electric motor are combined, and the combined driving force at a lower speed than the output shaft of the transmission unit corresponding to the traveling device with which the output rotating body is not interlocked is steplessly changed. A transmission transmission state in which the generated combined driving force is output from the output rotator and the driving wheel body of the traveling device with which the output rotator is interlocked is driven to shift.
The steering clutch corresponding to the traveling device with which the output rotating body is interlocked is operated in a disengaged state, and the steering clutch corresponding to the traveling device with which the output rotating body is not interlocked is operated in an engaged state. In this state, the shift transmission unit is configured to be freely switchable to a non-transmission state in which the drive wheel of the traveling device with which the output rotator is linked is in a free rotation state.

  According to the configuration of the first aspect of the present invention, when the left steering clutch and the right steering clutch are operated to be in the engaged state and the speed change transmission portion is changed to the constant speed transmission state, the output rotating body of the speed change transmission portion is obtained. The driving wheel body of the traveling device that is not linked is driven by transmission from the output shaft of the transmission unit corresponding to this traveling device, and the driving wheel body of the traveling device that is linked with the output rotating body of the transmission gear unit is It is driven at the same speed as this output shaft by the output shaft of the transmission portion corresponding to this traveling device. The output shaft of the transmission unit corresponding to the traveling device to which the output rotating body of the transmission transmission unit is not interlocked and the output shaft of the transmission unit corresponding to the traveling device of the transmission transmission unit of the transmission transmission to the same speed. Therefore, the left traveling device and the right traveling device can be driven at the same speed, and the traveling machine body can travel straight.

  If the left steering clutch and the right steering clutch are operated to be in the engaged state and the speed change transmission portion is changed to the speed change transmission state, the drive wheel body of the traveling device in which the output rotating body of the speed change transmission portion is not interlocked. Is driven by the transmission from the output shaft of the transmission unit corresponding to the traveling device. The drive wheel body of the traveling device with which the output rotator of the transmission gearing unit is interlocked is the output shaft of the transmission unit corresponding to the traveling device with which the output rotator of the transmission gearing unit is not interlocked by the combined driving force from the transmission gearing unit. Since the drive unit is driven at a lower speed and steplessly, the speed changer is driven while driving at a constant speed the drive unit of the left side travel device and the right side travel device that does not interlock with the output rotor of the speed change transmission unit. The traveling machine body can be made to travel while continuously shifting the traveling device with which the output rotating body of the transmission unit is interlocked at a lower speed than the traveling device with which the transmission transmission unit is not interlocked.

  Operate the steering clutch corresponding to the traveling device with which the output rotator of the transmission transmission unit is not linked to the engaged state, and disconnect the steering clutch corresponding to the traveling device with which the output rotator of the transmission transmission unit is interlocked If the speed change transmission portion is changed to a non-transmission state, the drive wheel body of the traveling device whose output rotation body of the speed change transmission portion is not interlocked with the output shaft of the transmission portion corresponding to this travel device. Driven by transmission. On the other hand, since the drive wheel body of the traveling device with which the output rotator of the speed change transmission unit is interlocked is operated in the free rotation state, the output rotator of the speed change transmission unit of the left side travel device and the right side travel device. It is possible to drive the traveling machine body while driving the traveling apparatus that is not interlocked at a constant speed while the traveling apparatus that is interlocked with the output rotating body of the transmission transmission unit is in a freely rotating state.

  Therefore, for example, in the case of a combine, since the work is generally performed in the form of a left-turned and swivel work, a travel transmission device in which the output rotating body of the transmission transmission unit is linked to the drive wheel body of the left travel device is employed. This makes it possible not only to turn the traveling machine body by turning the clutch while keeping the left traveling device in a freely rotating state at the corner of the work location, but also to make the left traveling device more than the right traveling device. It is possible to drive at a low speed in a stepless manner, and to make a turning run with a turning radius that is different from the turning radius of the clutch-disengaged turning, and the turning radius is changed and adjusted steplessly. In addition, it is not necessary to generate a transmission interruption for the left traveling device, and it is possible to make the vehicle run in a stable state without any shock or a change in the turning radius caused by the transmission interruption. It may be turning while performing strip alignment accuracy quickly for cutting object implanted culms. In this way, the size of the turning radius can be finely adjusted, the transmission and turning radius can be stabilized, and the user can perform a comfortable turning operation efficiently.

  In the second invention, a sun gear linked to the output shaft of the electric motor, a ring gear linked to the output shaft of the transmission unit corresponding to a traveling device linked to the output rotating body, and the output rotating body The shift transmission unit is configured with an interlocked carrier.

  According to the configuration of the second aspect of the invention, the speed change transmission portion can be configured in a planetary shape and can be obtained in a compact manner.

  Therefore, not only can the clutch disengagement turn be performed, but also a compact and small harvester can be advantageously equipped with a device that can stably perform the turning operation by arbitrarily changing and adjusting the turning radius different from the clutch disengagement turning. be able to.

  In the third aspect of the invention, a transmission case that accommodates the left transmission portion and the right transmission portion, and a transmission case that accommodates the transmission transmission portion are separately formed.

  According to the configuration of the third aspect of the invention, for example, the upper transmission side portion including the left transmission portion, the right transmission portion and the transmission case is not assembled to the lower transmission side portion including the transmission transmission portion and the transmission case. The method of assembling the traveling transmission device to the traveling machine body and attaching the traveling lower body side part to the transmission upper side part that has been attached to the traveling machine body can be performed.

  Therefore, even in the case of a harvesting machine that is difficult to attach to the traveling machine body in the completed state of the traveling transmission device due to, for example, a small machine, even in the case of a harvesting machine that already has only a transmission upper side part, the traveling transmission apparatus It is easy to attach the whole part of the machine and retrofit the lower part of the transmission, and it is advantageous not only to turn the clutch off, but also to make a turning radius that is different from the turning of the clutch turning and finely changed and adjusted Can be obtained at a low cost and easily assembled.

It is a side view which shows the whole harvesting machine. It is a diagram which shows a driving | running | working transmission apparatus. It is the hydraulic circuit diagram and block diagram which show the operation system of a steering clutch, a steering brake, and a transmission transmission part. It is a longitudinal cross-sectional view which shows the left transmission gearing part. It is explanatory drawing which shows the relationship between the operation state of a steering clutch, a steering brake, a clutch body, and an electric motor, and the transmission state of a transmission gearing part.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a side view showing an entire harvesting machine according to an embodiment of the present invention. As shown in this figure, the harvester according to the embodiment of the present invention has a pair of left and right crawler type traveling devices 1L and 1R, and has a boarding type driving unit 2 equipped with a driving seat 2a. A traveling machine body, a cutting unit 4 connected to the front part of the machine body frame 3 of the traveling machine body, a threshing device 5 and a grain tank 6 that are arranged in the lateral direction of the traveling machine body at the rear part of the machine body frame 3 are provided. It is.

This harvester carries out harvesting operations such as rice and wheat.
That is, the traveling machine body includes a driving unit having an engine 7 provided below the driver seat 2, and travels by driving the pair of left and right traveling devices 1 </ b> L and 1 </ b> R with the driving force from the engine 7.

  The mowing unit 4 includes a mowing unit frame 4 a that is swingable up and down from the front part of the body frame 3, and the mowing unit frame 4 a is swung by a hydraulic cylinder 16, whereby the mowing unit 4 The lowering work posture in which the weeding tool 4b located at the front end and the clipper-shaped mowing device 4c located at the rear of the weeding tool 4b are lowered near the ground, and the weeding tool 4b and the mowing device 4c are raised from the ground. Ascend and descend to the raised working posture.

  That is, when the mowing unit 4 is lowered to the lowering working posture and the traveling machine body is traveled, the mowing unit 4 performs the mowing processing by the mowing device 4c while raising and processing the planted culm from the weeding tool 4b. The cereals are conveyed toward the rear of the machine body and supplied to the threshing device 5. The threshing device 5 conveys the stock side of the harvested cereal mash supplied from the reaping part 4 backward by the threshing feed chain 5a, and supplies the tip side of the harvested cereal cocoon to the handling room (not shown). To process. The grain tank 6 collects and stores the threshed grains carried out from the threshing device 5, and carries out the stored threshed grains by the grain discharge auger 8.

  Among the plurality of weeding tools 4b, the position of the tip of the weeding tool 4b located on the leftmost side of the traveling machine body in the lateral direction of the traveling machine body and the lateral edge of the left side of the crawler belt 1a of the left traveling device 1L in the lateral direction of the traveling machine body. If the position is set to be almost the same, and the work is performed in the form of turning mowing work, the traversing machine body is made to turn counterclockwise, thereby avoiding stepping by the traveling device 1L of the planted cereal on the uncut ground side. It's easy to do.

The traveling transmission device 10 that transmits power to the traveling devices 1L and 1R will be described.
FIG. 2 is a diagram showing the traveling transmission device 10. As shown in the figure, the traveling transmission device 10 includes a transmission case 11 that is long in the vertical direction of the traveling machine body, a transmission case 12 that is connected to the left lateral side of the lower portion of the transmission case 11, and a lateral upper portion of the transmission case 11. The left and right speed change transmission unit 20 having the main transmission 21 connected to the side and the driving force from the branch transmission gear 24 provided in the left and right speed change transmission unit 20 are used as the crawler belt 1a of the left side travel device 1L. The driving wheel for driving the crawler belt 1a of the right traveling device 1R with the driving force from the left transmission unit 30 housed in the lower part of the transmission case 11 and the branch transmission gear 24 so as to transmit to the driving wheel body 13L for driving The right transmission 40 accommodated in the lower part of the transmission case 11 so as to transmit to the body 13R, the left transmission transmission 50 accommodated in the transmission case 12, and the right side of the upper part of the transmission case 12 are supported. It is constituted by a motor 70.

  As shown in FIG. 4, the transmission case 11 and the transmission case 12 are formed separately, and the connecting surfaces 11 a and 12 a of the transmission case 11 and the transmission case 12 are located at a position where the output shaft 36 provided in the left transmission unit 30 is located. It is tightened and connected by a connecting bolt in a state where the two face each other.

  The left and right speed change transmission unit 20 includes a main transmission 21, an auxiliary transmission 23 in which an input gear 23 a is linked to a motor shaft 21 a as an output shaft of the main transmission 21, and an output of the auxiliary transmission 23. A branch transmission gear 24 meshed with the gear 23b is provided.

  The main transmission 21 is composed of a hydrostatic continuously variable transmission including a variable displacement axial plunger pump P and an axial plunger motor M driven by pressure oil from the axial plunger pump P. . The pump shaft 21 b of the axial plunger pump P constitutes the input shaft of the left and right speed change transmission unit 20, and is linked to the output shaft 7 a of the engine 7 via the transmission belt 25.

  The auxiliary transmission 23 includes a shift gear 23d provided on the input shaft 23c so as to be integrally rotatable and shiftable, a transmission gear shared with the output gear 23b provided so as to be integrally rotatable on the output shaft 23e, and both lateral sides of the transmission gear. And two shift gears 23f and 23g that are provided so as to be integrally rotatable on the output shaft 23e, and the shift gear 23d is operated to shift the output gear 23b and the two shift gears 23f and 23g. By being switched, it is switched to a three-stage shift state of high speed, medium speed, and low speed.

  Therefore, the left and right speed change transmission unit 20 inputs the driving force output from the engine 7 from the output shaft 7a to the main transmission 21 by the transmission belt 25 and the pump shaft 21b, thereby driving the driving force on the forward side and the driving force on the reverse side. The forward drive force and the reverse drive force are steplessly shifted and output from the motor shaft 21a, and the forward and reverse drive forces from the motor shaft 21a are input to the auxiliary transmission 23 by the input gear 23a. , And the speed is changed in three stages of high speed, medium speed, and low speed, and transmitted from the output gear 23 b to the branch transmission gear 24.

  The left transmission unit 30 includes a left steering gear 32 that is provided on a support shaft 31 that supports the branch transmission gear 24 so as to be relatively rotatable, and one of the bosses of the left steering gear 32. An engagement type left steering clutch 33 provided across the end and the lateral side of the branch transmission gear 24, an output gear 35 interlocked with the left steering gear 32 via a transmission gear 34, and the output gear 35 A brake case portion provided on the transmission case 11 and an output shaft 36 connected so as to be integrally rotatable, an end portion of the boss portion of the left steering gear 32 opposite to a side where the left steering clutch 33 is located, and the transmission case 11. 14 and a wet and multi-plate left steering brake 37.

  The left steering gear 32 is shifted by a left shifter 38 supported by the transmission case 11 so as to be swingable so that the clutch position set near the branch transmission gear 24 is set next to the clutch position. The neutral position and the brake position set on the opposite side of the clutch position with respect to the neutral position are switched.

  When the left steering gear 32 is operated to the clutch position, the left steering clutch 33 is operated to be in an engaged state, and the left steering brake 37 is operated to be in a disconnected state. When the left steering gear 32 is operated to the neutral position, the left steering clutch 33 and the left steering brake 37 are operated to be turned off. When the left steering gear 32 is operated to the brake position, the left steering clutch 33 is operated to be disengaged, and the left steering brake 37 is operated to be engaged. The left steering gear 32 slides relative to the input gear portion 34a of the transmission gear 34 when shifted, but the input gear of the transmission gear 34 is operated regardless of the clutch position, neutral position, or brake position. The meshing state with respect to the portion 34a is maintained.

  Therefore, when the left steering gear 32 is operated to the clutch position, the left transmission unit 30 uses the driving force from the engine 7 transmitted to the branch transmission gear 24 by the main transmission 21 and the auxiliary transmission 23 to the left. This is transmitted to the output gear 35 through the steering clutch 33, the left steering gear 32, and the transmission gear 34 to drive the output shaft 36.

  When the left steering gear 32 is operated to the neutral position, the left transmission unit 30 cuts off the transmission to the output gear 35, and does not cause the left steering brake 37 to act on the left steering gear 32, so that the output shaft 36 To free rotation.

  When the left steering gear 32 is operated to the brake position, the left transmission unit 30 cuts off the transmission to the output gear 35, and the left steering brake 37 is connected to the left steering gear 32, the transmission gear 34, and the output gear 35. The output shaft 36 is caused to act through the brake to put the output shaft 36 into a braking state.

  The right transmission unit 40 includes a right steering gear 42 provided on a support shaft 31 that supports the branch transmission gear 24 so as to be relatively rotatable, and one of bosses of the right steering gear 42. Meshing type right steering clutch 43 provided across the end of the transmission gear 24 and the lateral side of the branch transmission gear 24, an output gear 45 interlocked with the right steering gear 42 via the transmission gear 44, and this output gear 45 is provided on the transmission case 11 and an output shaft 46 to which 45 is connected so as to be integrally rotatable, the end of the boss portion of the right steering gear 42 opposite to the side where the right steering clutch 43 is located. A wet and multi-plate right steering brake 47 provided over the brake case portion 14 is provided.

  The right steering gear 42 is shifted by a right shifter 48 supported by the transmission case 11 so as to be swingable, so that the clutch position set near the branch transmission gear 24 is set next to the clutch position. The neutral position and the brake position set on the opposite side of the clutch position with respect to the neutral position are switched.

  When the right steering gear 42 is operated to the clutch position, the right steering clutch 43 is operated to be engaged, and the right steering brake 47 is operated to be disconnected. When the right steering gear 42 is operated to the neutral position, the right steering clutch 43 and the right steering brake 47 are operated to be turned off. When operated to the brake position, the right steering gear 42 operates the right steering clutch 43 to the disengaged state and operates the right steering brake 47 to the on state. The right steering gear 42 slides relative to the input gear portion 44a of the transmission gear 44 when the shift operation is performed, but the input gear of the transmission gear 44 is operated regardless of the clutch position, the neutral position, or the brake position. The meshing state with respect to the portion 44a is maintained.

  Therefore, when the right steering gear 42 is operated to the clutch position, the right transmission unit 40 receives the driving force from the engine 7 transmitted to the branch transmission gear 24 by the main transmission 21 and the auxiliary transmission 23. The output shaft 46 is driven by being transmitted to the output gear 45 through the right steering clutch 43, the right steering gear 42, and the transmission gear 44, and the right traveling device 1R is driven by the output shaft 46.

  When the right steering gear 42 is operated to the neutral position, the right transmission unit 40 cuts off the transmission to the output gear 45, and does not cause the right steering brake 47 to act on the right steering gear 42. The shaft 46 is set in a freely rotating state, and the right traveling device 1R is set in a freely rotating state.

  When the right steering gear 42 is operated to the brake position, the right transmission unit 40 stops transmission to the output gear 45, and the right steering brake 47 is connected to the right steering gear 42, the transmission gear 44, and the output. It acts on the output shaft 46 via the gear 45 to bring the output shaft 46 into a braking state and the right traveling device 1R into a braking state.

  FIG. 4 is a vertical cross-sectional view showing the left speed transmission unit 50. As shown in this figure, the left transmission transmission unit 50 includes a sun gear 52 that is provided integrally with a sun gear shaft 51 that is rotatably supported by the transmission case 12, and a ring gear that is rotatably supported by the sun gear shaft 51. 53, a plurality of planetary gears 54 that mesh with the sun gear 52 and the ring gear 53, a planetary mechanism 56 that includes a carrier 55 that rotatably supports the plurality of planetary gears 54, and an end 36a of the output shaft 36 in the left transmission unit 30. And a clutch body 57 provided so as to be integrally rotatable and slidable.

  The sun gear shaft 51 includes a large-diameter gear 60 provided so as to be integrally rotatable at a portion opposite to the side where the sun gear 52 is located with respect to a portion that supports the ring gear 53, and a small-diameter gear 61 that meshes with the large-diameter gear 60. And a reduction gear transmission mechanism 64 provided with a large-diameter gear 63 provided rotatably on a support shaft 62 that supports the small-diameter gear 61 so as to be integrally rotatable. Are interlocked with an output gear 72 provided in The ring gear 53 includes an input gear 65 provided so as to be rotatable integrally with the boss portion of the ring gear 53, and a power take-out gear provided so as to be rotatable integrally with the output shaft 36 in the left transmission portion 30 while being engaged with the input gear 65. 66, and is linked to the output shaft 36. The carrier 55 is provided with an output rotating body 67 formed of a gear integrally formed with a boss portion of the carrier 55. A transmission gear 68 that meshes with the output rotating body 67 is provided on the rotating support shaft 15 of the drive wheel 13L of the left traveling device 1L so as to be integrally rotatable. The output rotating body 67 is configured to transmit the transmission gear 68 and the rotating support shaft 15. Is linked to the driving wheel 13L of the left traveling device 1L.

  The clutch body 57 is shift-operated by a shifter 80 that is supported at the lower part of the transmission case 12 so as to be swingable, so that the clutch body 57 is fitted over the output shaft 36 and the end 15a of the rotary support shaft 15. Then, the cutting state is switched to the cut off state from the end portion 15a of the rotating support shaft 15.

  When the clutch body 57 is operated in the engaged state, the clutch body 57 is engaged with the end portion 36a of the output shaft 36 and the end portion 15a of the rotation support shaft 15 so as to connect the output shaft 36 and the rotation support shaft 15 so as to be integrally rotatable. Thus, the driving wheel 13L of the left traveling device 1L is coupled to the output shaft 36 so as to be integrally rotatable. When the clutch body 57 is operated in the disengaged state, the connection between the output shaft 36 and the rotary support shaft 15 is released, and the drive wheel body 13L and the output shaft 36 of the left traveling device 1L are brought into a relative rotation state.

  Therefore, the left shift transmission unit 50 corresponds to the operating state of the left steering clutch 33, the left steering brake 37, the right steering clutch 43, and the right steering brake 47, and is provided on the right side. When the clutch body 57 and the electric motor 70 are appropriately operated in accordance with the driving speed and driving direction of the traveling device 1R, the constant speed transmission state and the first transmission transmission state (the transmission transmission state according to claim 1). ), A non-transmission state, a second shift transmission state, a non-shift state, and a reverse transmission state, and the left traveling device 1L is driven at the same speed as the right traveling device 1R, or the left traveling device 1L is driven steplessly at a lower speed than the right traveling device 1R, the left traveling device 1L is operated in a freely rotating state, or the left traveling transmission device 1L is rotated in the direction opposite to that of the right traveling device 1R. To drive Benefit.

  That is, FIG. 5 shows the operating state of the left steering clutch 33, the left steering brake 37, the right steering clutch 43, the right steering brake 47, the clutch body 57, and the electric motor 70, and the left It is explanatory drawing which shows the relationship with the speed change state of the speed change transmission part. “◯” shown in FIG. 5 indicates the engaged state of the left steering clutch 33, the left steering brake 37, the right steering clutch 43, the right steering brake 47, and the clutch body 57. “-” Shown in FIG. 5 indicates the disengaged state of the left steering clutch 33, the left steering brake 37, the right steering clutch 43, the right steering brake 47, and the clutch body 57. “OFF” shown in FIG. 5 indicates stop of the electric motor 70, and “ON” shown in FIG. 5 indicates driving of the electric motor 70.

  As shown in this figure, the left steering gear 32 is operated to the clutch position, the left steering clutch 33 is engaged, the left steering brake 37 is operated to the off state, and the right steering gear 42 is engaged. When the right steering clutch 43 is operated in the position and the right steering brake 47 is operated in the disengaged state, the clutch body 57 is operated and the electric motor 70 is stopped. As a result, the left speed transmission unit 50 is in a constant speed transmission state.

  In the left speed transmission unit 50, when the speed change operation is performed in the constant speed transmission state, the electric motor 70 is stopped, and the output shaft 36 of the left power transmission unit 30 and the rotation support shaft 15 of the left traveling device 1L are the clutch body. 57, the output shaft 36 of the left transmission unit 30 and the drive wheel 13L of the left traveling device 1L are rotated at a constant speed, so that the left traveling device 1L is driven in the same manner as the right traveling device 1R. Drive at the speed in the same rotational direction as the right traveling device 1R.

  The left steering gear 32 is operated to the clutch position, the left steering clutch 33 is engaged, the left steering brake 37 is operated to the disconnected state, and the right steering gear 42 is operated to the clutch position to the right In the state in which the steering clutch 43 is engaged and the right steering brake 47 is operated in the disconnected state, the clutch body 57 is operated in the disconnected state, and the electric motor 70 is driven by the driving speed of the right traveling device 1R and By driving at an appropriate rotational direction corresponding to the drive direction at an appropriate rotational speed, the left shift transmission unit 50 is in the first shift transmission state (corresponding to the shift transmission state according to claim 1). .

  When the left shift transmission unit 50 is shifted to the first shift transmission state, the engine driving force transmitted to the output shaft 36 of the left transmission unit 30 is transferred to the ring gear 53 by the power take-out gear 66 and the input gear 65. The electric driving force input and output from the electric motor 70 is input to the sun gear 52 by the speed reduction transmission mechanism 64 and the sun gear shaft 51, and the input engine driving force and the electric driving force are synthesized to generate the left transmission unit 30 and the right transmission unit. A combined driving force that is slower than the output shafts 36 and 46 of the transmission unit 40 is generated, and the generated combined driving force is output from the output rotating body 67 to the transmission gear 68 to drive the driving wheel body of the left traveling device 1L. 13L is driven in the same rotational direction as the drive wheel 13R of the right traveling device 1R at a lower speed than the drive wheel 13R of the right traveling device 1R. At this time, the left speed transmission unit 50 changes the number of rotations of the composite driving force to be generated steplessly by changing the number of rotations of the electric motor 70, and the drive wheel body 13L of the left traveling device 1L is changed. The gear is driven at a stepless speed at a lower speed than the driving wheel body 13R of the right traveling device 1R. That is, the left shift transmission unit 50 drives the left traveling device 1L while continuously shifting in the same driving direction as the right traveling device 1R at a lower speed than the right traveling device 1R.

  The left steering gear 32 is operated to the neutral position, the left steering clutch 33 and the left steering brake 37 are operated to the disconnected state, the right steering gear 42 is operated to the clutch position, and the right steering clutch is operated. In the state where 43 is in the engaged state and the right steering brake 47 is operated in the off state, the clutch body 57 is operated in the engaged state, and the electric motor 70 is stopped, whereby the left transmission transmission unit 50 is operated. Becomes a non-transmission state.

  When the left transmission unit 50 is shifted to a non-transmission state, the electric motor 70 stops and the output shaft 36 of the left transmission unit 30 is in a free rotation state, thereby driving the left traveling device 1L. The ring body 13L is brought into a free rotation state. That is, the left transmission unit 50 drives the left traveling device 1L in a freely rotating state while the driving wheel 13R of the right traveling device 1R is driven.

  The left steering gear 32 is operated to the brake position, the left steering clutch 33 is disengaged, the left steering brake 37 is operated to the on state, and the right steering gear 42 is operated to the clutch position to the right In the state in which the steering clutch 43 is engaged and the right steering brake 47 is operated in the disconnected state, the clutch body 57 is operated in the disconnected state, and the electric motor 70 is driven by the driving speed of the right traveling device 1R and By driving with an appropriate rotational speed in an appropriate rotational direction corresponding to the drive direction, the left shift transmission unit 50 enters the second shift transmission state.

  When the left shift transmission unit 50 is shifted to the second shift transmission state, the output shaft 36 of the left transmission unit 30 is operated to the braking state and the ring gear 53 is braked. When the rotation support shaft 15 and the output shaft 36 of the traveling apparatus 1L of the traveling device are relatively rotated, the electric driving force output from the electric motor 70 is input to the sun gear 52 by the speed reduction transmission mechanism 64 and the sun gear shaft 51, and the planetary gear 54 The electric drive force decelerated by the action is transmitted from the carrier 55 to the output rotator 67 and from the output rotator 67 to the transmission gear 68, and the output shaft 36 of the left transmission unit 30 is braked. Regardless, the driving wheel 13L of the left traveling device 1L is driven in the same rotational direction as the driving wheel 13R of the right traveling device 1R at a lower speed than the driving wheel 13R of the right traveling device 1R. At this time, the left transmission unit 50 changes the rotation speed of the electric motor 70 to drive the driving wheel 13L of the left traveling device 1L in a stepless manner. That is, the left shift transmission unit 50 is the same as the right travel device 1R at a lower speed than when the left travel device 1L is operated at a lower speed than the right travel device 1R and at a lower speed than when the shift operation is performed in the first shift transmission state. Drives in a stepless manner in the driving direction.

  The left steering gear 32 is operated to the brake position, the left steering clutch 33 is disengaged, the left steering brake 37 is operated to the on state, and the right steering gear 42 is operated to the clutch position to the right When the steering clutch 43 is engaged and the steering brake 47 for the right is operated in the disengaged state, the clutch body 57 is operated in the engaged state and the electric motor 70 is stopped. The speed change transmission unit 50 is in a non-speed change state.

  When the left shift transmission unit 50 is shifted to a non-shift state, the electric motor 70 is stopped, the output shaft 36 of the left transmission unit 30 is operated to the braking state, and the output shaft 36 and the left side The rotation support shaft 15 of the traveling device 1L is connected by the clutch body 57, so that the driving wheel body 13L of the left traveling device 1L is brought into a braking state, while the right traveling device 1R is driven, while the left traveling device 1L is driven. The traveling device 1L is put into a braking state.

  The left steering gear 32 is operated to the brake position, the left steering clutch 33 is disengaged, the left steering brake 37 is operated to the on state, and the right steering gear 42 is operated to the clutch position to the right In the state where the steering clutch 43 is engaged and the right steering brake 47 is operated in the disconnected state, the clutch body 57 is operated in the disconnected state, and the electric motor 70 is driven in the driving direction of the right traveling device 1R. Further, the left speed change transmission unit 50 is in the reverse transmission state by being driven at an appropriate rotational speed in an appropriate rotational direction corresponding to the drive speed.

  When the left transmission unit 50 is shifted to the reverse transmission state, the output shaft 36 of the left transmission unit 30 is operated to the braking state and the ring gear 53 is braked. When the 1 L rotation support shaft 15 and the output shaft 36 rotate relative to each other, the electric driving force output from the electric motor 70 is input to the sun gear 52 by the speed reduction transmission mechanism 64 and the sun gear shaft 51, so that the right transmission unit 40 A driving force in the direction opposite to the rotation direction of the output shaft 46 is generated and transmitted from the output rotating body 67 to the transmission gear 68. The output shaft 36 of the left transmission portion 30 is braked despite being braked. The driving wheel body 13L of the traveling device 1L is driven at the same rotational speed as the driving wheel body 13R of the right traveling device 13R in the rotation direction opposite to the rotation direction of the driving wheel body 13R of the right traveling device 1R. That is, the left transmission unit 50 drives the left traveling device 1L in the drive rotation direction opposite to that of the right traveling device 1R at the same drive speed as that of the right traveling device 1R.

  As shown in FIG. 3, a left operating arm 38 b provided integrally with a rotation support shaft 38 a of a left shifter 38 for shifting the left steering gear 32 and a right shifter 48 for shifting the right steering gear 42. A right operation arm 48b provided on the rotation support shaft 48a so as to be integrally rotatable is provided outside the transmission case 11, and a left operation arm 38b is provided by a left steering cylinder 85L provided in a cylinder block 84 supported outside the transmission case 11. Is configured to shift the left steering gear 32, and the right steering arm 38b is swing-operated by the right steering cylinder 85R provided in the cylinder block 84 to shift the right steering gear 42. It is comprised so that it may do. The first steering mechanism 89 is connected to the operating portion of one steering valve 88 connected to the left steering cylinder 85L via the operation oil passage 86 and connected to the right steering cylinder 85R via the operation oil passage 87. The steering lever 90 is interlocked. The relief oil passage 91 is connected to the left steering cylinder 85L and the right steering cylinder 85R, and the operation portion of the variable relief valve 92 provided in the relief oil passage 91 is interlocked with the steering lever 90 via the second interlocking mechanism 93. It is.

  As shown in FIG. 4, an operation arm 80 b attached to a rotation support shaft 80 a of a shifter 80 for shifting the clutch body 57 is provided outside the transmission case 12 and supported outside the transmission case 12. The electromagnetic arm 94 swings the operating arm 80b to switch the clutch body 57 between the on state and the off state.

  As shown in FIG. 3, the electric motor 70 and the electromagnetic solenoid 94 are linked to the steering control means 97 provided in the control device 96 by being linked to the control device 96 using a microcomputer. The steering control means 97 includes a right rotation sensor 98 that detects the rotation speed and rotation direction of the output shaft 46 in the right transmission unit 40 as the drive speed and drive direction of the right traveling device 1R, and the left traveling device 1L. A left rotation sensor 99 that detects the rotation speed and rotation direction of the rotation spindle 15 as the driving speed and driving direction of the left traveling device 1L, and the steering lever 90 so as to detect the operation position of the steering lever 90 are interlocked. The lever position sensor 100 is linked. The lever position sensor 100 is constituted by a rotation potentiometer in which a rotation operation shaft is linked to a rotation support shaft of the steering lever 90.

  The steering lever 90 is provided at a location in front of the driver seat 2a in the driving unit 2 so as to be swingable in the lateral direction of the traveling machine body, and by swinging the steering lever 90 in the lateral direction of the traveling machine body, The steering valve 88 and the variable relief valve 92 are operated, and the steering control means 97 is operated to steer the traveling machine body.

  That is, as shown in FIG. 3, the steering lever 90 includes a neutral position [N], a left gentle turning area [L1] that swings leftward from the neutral position [N], and a left gentle turning area [L1. ] From the left clutch disengagement turning position [LC] swung to the left side from the left, the left turning area [L2] swung to the left side from the left clutch disengaging turning position [LC], and the left turning area [L2] Left brake swing position [LB] swinging to the left, left belief swing position [LP] swinging to the left from the left brake swing position [LB], and swing to the right side from the neutral position [N] A swing operation can be performed between a right clutch disengagement turning position [RC] and a right brake revolving position [RB] that has swung to the right from the right clutch disengagement turning position [RC].

  When the steering lever 90 is operated to the neutral position [N], the first interlocking mechanism 89 operates the steering valve 88 to the neutral state, and the steering valve 88 drains oil from the left steering cylinder 85L and the right steering cylinder 85R. In operation, the left steering cylinder 85L operates the left steering gear 32 to the clutch position to operate the left steering clutch 33 to the on state, and operates the left steering brake 37 to the off state to operate the right steering. The cylinder 85R operates the right steering gear 42 to the clutch position to operate the right steering clutch 43 to the on state and operates the right steering brake 47 to the off state. In this case, the steering control means 97 operates the clutch body 57 to the on state and stops the electric motor 70 based on the detection information from the lever position sensor 100, the left rotation sensor 99, and the right rotation sensor 98, and the left motor. The speed change transmission unit 50 is changed to a constant speed transmission state. Thereby, the left traveling device 1L is driven by the driving force from the output shaft 36 of the left transmission unit 30, and the right traveling device 1R is driven by the driving force from the output shaft 46 of the right transmission unit 40, The left traveling device 1L and the right traveling device 1R are driven in the same rotational direction at the same driving speed, and the traveling machine body travels straight.

  When the steering lever 90 is operated to the left gentle turning area [L1], the first interlocking mechanism 89 operates to maintain the steering valve 88 in a neutral state, and the left steering cylinder 85L operates the left steering gear 32 to the clutch position. Then, the left steering clutch 33 is operated to be turned on and the left steering brake 37 is operated to be turned off, and the right steering cylinder 85R operates the right steering gear 42 to the clutch position to operate the right steering. The direction clutch 43 is operated to be engaged and the right steering brake 47 is operated to be disconnected. In this case, the steering control means 97 operates the clutch body 57 in the disengaged state and drives the electric motor 70 based on information detected by the lever position sensor 100, the left rotation sensor 99, and the right rotation sensor 98, and drives the left motor. The speed change transmission unit 50 is shifted to the first speed change transmission state (corresponding to the speed change transmission state described in claim 1), and the right traveling device 1R is driven by the driving force from the output shaft 46 of the right transmission unit 40. The left traveling device 1L is driven at a lower speed than the right traveling device 1R by the combined driving force of the engine driving force and the electric driving force by the left transmission unit 50, and the traveling machine body makes a left turn. In this case, the further away the steering lever 90 is from the neutral position [N], the steering control means 97 changes and adjusts the rotational speed of the electric motor 70 based on the information detected by the lever position sensor 100 to change the output rotating body 67. The speed is adjusted to the rotational speed corresponding to the operating position of the steering lever 90, the driving speed of the left traveling device 1L is decelerated while being maintained at a lower speed than the right traveling device 1R, and the traveling machine body is rotated counterclockwise with a smaller turning radius. Turn.

  When the steering lever 90 is operated to the left clutch disengagement turning position [LC], the first interlocking mechanism 98 switches the steering valve 88 to the left turning state, and the steering valve 88 drains the right steering cylinder 85R. To the left steering cylinder 85L, the left steering cylinder 85L switches the left steering gear 32 to the neutral position, and operates the left steering clutch 33 and the left steering brake 37 in a disconnected state. The right steering cylinder 85R operates to maintain the right steering gear 42 at the clutch position to operate the right steering clutch 43 to the on state and to operate the right steering brake 47 to the off state. In this case, the steering control means 97 operates the clutch body 57 to the on state and stops the electric motor 70 based on the detection information from the lever position sensor 100, the left rotation sensor 99, and the right rotation sensor 98, and the left motor. The speed change transmission unit 50 is shifted to a non-transmission state, the left traveling device 1L is operated in the free rotation state, and the right traveling device 1R is driven by the driving force from the output shaft 46 of the right transmission unit 40, The traveling machine body makes a left turn with a turning radius smaller than that when the steering lever 90 is operated to the left gentle turning area [L1] by the driving force of the right traveling device 1R.

  When the steering lever 90 is operated to the left turning area [L2], the first interlock mechanism 89 maintains the steering valve 88 in the left turning state, and the right steering cylinder 85R maintains the right steering gear 42 in the clutch position. In operation, the right steering clutch 43 is turned on and the right steering brake 47 is turned off. The second interlocking mechanism 93 turns the variable relief valve 92 and the steering lever 90 turns the left clutch off. The variable relief valve 92 is operated to a higher relief pressure than when it is operated to the turning position [LC], and the left steering cylinder 85L is further extended by the hydraulic pressure from the steering valve 88, and the left steering cylinder 85L is operated. Operates the left steering gear 32 to the brake position, operates the left steering clutch 33 to the disengaged state, and operates the left steering brake 37 to the on state. In this case, the steering control means 97 operates the clutch body 57 in the disengaged state and drives the electric motor 70 based on information detected by the lever position sensor 100, the left rotation sensor 99, and the right rotation sensor 98, and drives the left motor. The speed change transmission unit 50 is shifted to the second speed change transmission state, the left traveling device 1L is lower than the right traveling device 1R by the electric driving force from the left speed transmission unit 50, and the steering lever 90 is It is driven at a lower speed than the case where it is operated to the left gentle turning area [L1], and is smaller than the case where the traveling body operates the steering lever 90 to the left gentle turning area [L1] and the left clutch disengagement turning position [LC]. Turn left at the turning radius. In this case, as the steering lever 90 is moved away from the left clutch disengagement turning position [LC], the steering control means 97 changes and adjusts the number of revolutions of the electric motor 70 based on the information detected by the lever position sensor 100 to rotate the output. The body 67 is decelerated and adjusted to the number of rotations corresponding to the operating position of the steering lever 90, and the driving speed of the left traveling device 1L is decelerated while being maintained at a lower speed than the right traveling device 1R. Turn left at the radius.

  When the steering lever 90 is operated to the left brake turning position [LB], the first interlocking mechanism 89 maintains the steering valve 88 in the left-turning state, and the second interlocking mechanism 93 controls the variable relief valve 92 to the high pressure relief pressure. The right steering cylinder 85R maintains the right steering gear 42 in the clutch position to operate the right steering clutch 43 to the on state, and turns off the right steering brake 47. The left steering cylinder 85L operates the left steering clutch 33 to the disengaged state and the left steering brake 37 to the on state, and the steering control means 97 is connected to the lever position sensor 100 and the left. Based on information detected by the rotation sensor 99 and the right rotation sensor 98, the clutch body 57 is operated to be in the engaged state, and the electric motor 70 is stopped to operate the left shift transmission unit 50 in the non-shift state. The right traveling device 1R is driven by the driving force from the output shaft 46 of the right transmission unit 40, the left traveling device 1L is operated to the braking state by the left steering brake 37, and the traveling vehicle body is operated. The left traveling device 1L is turned around the left traveling device 1L by the driving force of the right traveling device 1R.

  When the steering lever 90 is operated to the left belief turning position [LP], the first interlocking mechanism 89 maintains the steering valve 88 in the left-turning state, and the second interlocking mechanism 93 controls the variable relief valve 92 to a high relief pressure. In this state, the right steering cylinder 85R operates the right steering gear 42 to the clutch position to operate the right steering clutch 43 to the on state and to turn off the right steering brake 47. In operation, the left steering cylinder 85L operates the left steering gear 32 to the brake position to operate the left steering clutch 33 to the disengaged state and to operate the left steering brake 37 to the on state. In this case, the steering control means 97 operates the clutch body 57 in the disengaged state and drives the electric motor 70 based on information detected by the lever position sensor 100, the left rotation sensor 99, and the right rotation sensor 98, and drives the left motor. The speed change transmission unit 50 is shifted to the reverse transmission state, the right traveling device 1R is driven by the driving force from the output shaft 46 of the right transmission unit 40, and the left traveling device 1L is moved from the left transmission transmission unit 50. Is driven at the same driving speed as the driving speed of the right traveling apparatus 1R in the reverse rotation direction with the right traveling apparatus 1R, and the traveling machine body turns to the left.

  When the steering lever 90 is operated to the right clutch disengagement turning position [RC], the first interlock mechanism 89 switches the steering valve 88 to the right turning state, and the steering valve 88 drains the left steering cylinder 85L. The left steering cylinder 85L operates the left steering gear 32 to the clutch position to operate the left steering clutch 33 to the engaged state and the left steering brake. 37 is turned off, and the right steering cylinder 85R operates the right steering gear 42 to the neutral position to operate the right steering clutch 43 to be in the disconnected state and also turns off the right steering brake 47. To operate. In this case, the steering control means 97 operates the clutch body 57 in the engaged state based on the information detected by the lever position sensor 100 and stops the electric motor 70 to bring the left speed transmission unit 50 into the constant speed transmission state. The shift operation is performed, the left traveling device 1L is driven by the driving force from the output shaft 36 of the left transmission unit 30, the right traveling device 1R is operated in the free rotation state, and the traveling machine body drives the left traveling device 1L. Turn right by force.

  When the steering lever 90 is operated to the right brake turning position [RB], the first interlock mechanism 89 maintains the steering valve 88 in the right turning state, and the left steering cylinder 85L moves the left steering gear 32 to the clutch position. The left steering clutch 33 is turned on and the left steering brake 37 is turned off, and the second interlocking mechanism 93 turns the variable relief valve 92 and the steering lever 90 turns the right clutch off. The variable relief valve 92 is operated to a higher relief pressure than when it is operated to the turning position [RC], and the right steering cylinder 85R is further extended by the hydraulic pressure from the steering valve 88, and the right steering cylinder 85R. Operates the right steering gear 42 to the brake position to operate the right steering clutch 43 to the disengaged state and operates the right steering brake 47 to the on state. In this case, the steering control means 97 operates the clutch body 57 in the engaged state based on the information detected by the lever position sensor 100 and stops the electric motor 70 to bring the left speed transmission unit 50 into the constant speed transmission state. The left traveling device 1L is driven by the driving force from the output shaft 36 of the left transmission unit 30, the right traveling device 1R is operated to the braking state by the right steering brake 47, and the traveling vehicle body is operated. The left traveling device 1L is driven to turn right with the right traveling device 1R as the turning center by the driving force of the left traveling device 1L.

A description will be given of the prevention of the skew of the traveling machine body.
As shown in FIG. 3, a command switch 102 is provided in the grip portion of the steering lever 90, and the command switch 102 is linked to the skew prevention means 103 provided in the control device 96.

  The command switch 102 is provided with an operation dial. When the traveling machine body is skewed due to the left-right inclination of the traveling area or the grain weight of the grain tank 6, the operation dial of the command switch 102 is rotated in the rotation direction corresponding to the skew direction of the traveling machine body. At the same time, by setting the operation rotation angle of the operation dial to correspond to the skew angle of the traveling machine body, the command switch 102 outputs a skew prevention command to the skew prevention means 103. Then, the skew prevention means 103 controls the electric motor 70 on the basis of the skew prevention command from the command switch 102 to operate the left shift transmission unit 50 so that the left traveling device 1L is made more than the right traveling device 1R. The vehicle is driven by decelerating or increasing the speed, and a drive speed difference corresponding to the rotation direction and rotation angle in which the operation dial is operated is generated between the left traveling device 1L and the right traveling device 1R to skew the traveling machine body. To prevent.

  Instead of configuring the command switch 102 with a dial-operated switch, the command switch 102 is configured with a switch having an operation lever that can be swung freely, and the operation lever corresponds to the skew direction of the traveling machine body. The operation is performed in such a manner that an appropriate skew prevention command is output by swinging in the swing direction and by making the operation swing angle of the operation lever correspond to the skew angle of the traveling aircraft. May be.

The automatic steering control of the traveling machine will be described.
As shown in FIG. 3, a pair of weeding tool support rods 105, 105 of the weeding tool support rods 105 arranged side by side in the lateral direction of the traveling machine body in the cutting unit 4 are separated from the weeding tool support rod 105. A sensor bar 106 extending so as to swing back and forth toward the entrance of the grain raising path and a rotary potentiometer 107 linked to the sensor bar 106 are provided, and the follow-up control means 108 provided with the rotary potentiometer 107 in the control device 96. It is linked to.

  The left and right sensor bars 106 are caused to come into contact with the stock of the planted culm A that has been introduced into the path by causing the cereal to swing, and the left and right rotary potentiometers 107 detect and detect the swing angle of the sensor bar 106. The result is output to the tracking control means 108. The follow-up control means 108 controls the electric motor 70 based on the information detected by the left and right rotary potentiometers 107 to operate the left shift transmission unit 50 so that the left traveling device 1L is decelerated or increased more than the right traveling device 1R. The left and right traveling devices 1L and 1R are driven to control the driving speed of the left traveling device 1L and the right traveling device 1R so that the detected swing angles by the left and right rotary potentiometers 107 are the same or substantially the same. Follow and drive.

  During the work travel, when the left and right steering clutches 33 and 43 are engaged, the left traveling device 1L is changed to the right traveling device 1R when the rotational speed of the electric motor 70 is controlled to increase or decrease. It is driven with a stepless speed change at higher speeds and lower speeds, and the traveling aircraft turns to the left or right. Therefore, both the left and right steering clutches 33 and 43 are controlled in both the prevention of skew and the automatic steering control.

[Another Example]
(1) In the above-described embodiment, the example in which the transmission unit 50 is applied to the left traveling device 1L has been described. However, in the case of a harvester that travels mainly in a right turn, the transmission device 50 is configured to be applied to the right traveling device 1R. May be implemented. In addition, a transmission transmission unit that acts on the left traveling device 1L and a transmission transmission unit that operates on the right traveling device 1R may be provided.

  (2) In the above-described embodiment, an example in which the left shift transmission unit 50 is shifted to the non-transmission state by operating the clutch body 57 and stopping the electric motor 70 has been described. The left-side transmission transmission unit 50 may be configured to be shifted to a non-transmission state by operating the body 57 to the cut state and stopping the electric motor 70. Since the output shaft 36 is in the free rotation state, the left traveling device 1L can be in the free rotation state regardless of whether the clutch body 57 is in the disengaged state or the engaged state.

  (3) In the above-described embodiment, the example in which only the right clutch disengagement turning position [RC] and the left brake turning position [RB] are provided in the operation area of the operation lever 90 in the right turn is shown. A right turn area similar to the left slow turn area [L1] in the left turn operation area is provided in the right turn operation area. The apparatus 1L may be configured so that it can rotate rightward by the left transmission transmission unit 50 at a higher speed and steplessly than the right traveling apparatus 1R.

  (4) When the electric motor 70 is stopped, if the left traveling device 1L is rotated by the turning resistance, the electric motor 70 can generate power regeneration by this rotation. In this case, the turning radius can be controlled by controlling the charge amount of the electric motor 70 to control the driven load of the electric motor 70.

  INDUSTRIAL APPLICABILITY The present invention can be used for a harvester that performs harvesting work for various crops such as onions in addition to a combine.

1L Left side travel device 1R Right side travel device 7 Engine 11 Transmission case 12 Shift case 13L Left travel device drive wheel 13R Right travel device drive wheel 30 Left transmission portion 33 Left steering clutch 36 Left steering clutch 36 Output shaft of transmission unit 40 Transmission unit for right 43 Steering clutch for right 46 Output shaft of transmission unit for right 50 Shifting transmission unit 52 Sun gear 53 Ring gear 55 Carrier 67 Output rotating body of transmission transmission unit 70 Electric motor 71 Electric Motor output shaft

Claims (3)

A left transmission unit having an output shaft that outputs driving force from the engine to the driving wheel body of the left traveling device and a left steering clutch that acts on the output shaft, and a driving force from the engine on the right side A right transmission unit having an output shaft that outputs to a drive wheel body of the traveling device and a right steering clutch that acts on the output shaft, and one of the left traveling device and the right traveling device Provided with a speed change transmission part provided with an output rotating body interlocking with the drive wheel body of the traveling device, and an electric motor to be transmitted to the speed change transmission part,
In the state where the left steering clutch and the right steering clutch are operated in the engaged state, the driving wheel body and the output rotating body of the traveling device to which the output rotating body is interlocked are linked. A constant speed transmission state in which the output shaft of the transmission unit corresponding to a traveling device rotates at a constant speed;
Engine drive input from the output shaft of the transmission unit corresponding to the traveling device with which the output rotating body is interlocked when the left steering clutch and the right steering clutch are operated in the engaged state. The power and the electric driving force input from the electric motor are combined, and the combined driving force at a lower speed than the output shaft of the transmission unit corresponding to the traveling device with which the output rotating body is not interlocked is steplessly changed. A transmission transmission state in which the generated combined driving force is output from the output rotator and the driving wheel body of the traveling device with which the output rotator is interlocked is driven to shift.
The steering clutch corresponding to the traveling device with which the output rotating body is interlocked is operated in a disengaged state, and the steering clutch corresponding to the traveling device with which the output rotating body is not interlocked is operated in an engaged state. In the state, the traveling transmission device of the harvesting machine is configured so that the shift transmission unit can be switched to a non-transmission state in which the drive wheel body of the traveling device with which the output rotating body is interlocked is in a freely rotating state.   A sun gear linked to the output shaft of the electric motor, a ring gear linked to the output shaft of the transmission portion corresponding to a traveling device linked to the output rotating body, and a carrier linked to the output rotating body. The travel transmission device for a harvesting machine according to claim 1, wherein the transmission transmission unit is provided.   The traveling transmission device of the harvester according to claim 1 or 2, wherein a transmission case that accommodates the left transmission portion and the right transmission portion and a transmission case that accommodates the shift transmission portion are separately formed. .

Images