JP5805945B2 - Combine - Google Patents

Description

  The present invention relates to a combine having a turning amount fine adjustment means for finely adjusting a turning amount of a traveling machine body.

  Conventionally, Patent Document 1 discloses a technique for obtaining a turning angle of a traveling machine body that matches an operator's feeling (operating feeling) as one form of a combine. That is, Patent Document 1 discloses a technique configured to change the speed ratio of the left and right traveling devices according to the rotational operation angle of a round steering handle (also referred to as a steering wheel) as steering means. In such a combine, when the turning angle for turning the round steering handle increases, the speed difference between the left and right traveling crawlers gradually increases, and the turning radius is set according to the operating angle of the round steering handle. I can make it small.

  Moreover, there exists what was disclosed by patent document 2 as one form of a combine. That is, in Patent Document 2, a turning amount fine adjustment means is provided in a wheel portion of a round steering handle as a steering means, and the turning amount of the traveling machine body by the round steering handle is finely adjusted by the turning amount fine adjustment means. A technique for adjusting is disclosed.

JP-A-10-95360 Japanese Patent No. 36671602

  However, in the combine disclosed in Patent Document 1, even if the turning angle of the traveling machine body can be matched with the feeling (operation feeling) of many operators, various skill levels, operating conditions, working conditions, etc. Could not be adapted to the situation. For this reason, the operator's demands cannot be dealt with in detail and the operator's requirements for the turning operation cannot be sufficiently satisfied.

  In the combine disclosed in Patent Document 2, the turning amount of the traveling machine body by the round steering handle can be finely adjusted by the turning amount fine adjustment means, but the adjustment amount by the turning amount fine adjustment means is a constant amount. For this reason, the degree of bending of the traveling aircraft is constant (uniform), and in this case too, it is not possible to respond precisely to the operator's request, but it can sufficiently satisfy the operator's requirements for turning operation It wasn't.

  For example, although it is desirable for some operators to change the adjustment amount of the turning amount of the traveling machine body by the turning amount fine adjustment means in accordance with the speed of the traveling machine body, there is a problem that this cannot be done.

  An object of this invention is to provide the combine which can respond | correspond finely to the feeling (operating feeling) which an operator desires, and can fully satisfy | fill the request | requirement in turning operation of an operator.

The combine according to the first aspect of the present invention is a traveling machine body that is driven and controlled by a continuously variable transmission for straight travel and a continuously variable transmission for turning so that the vehicle can perform straight traveling and turning. And a turning amount fine adjusting means for finely adjusting the turning amount of the traveling machine body provided in the steering means, the straight-line continuously variable transmission and the turning The continuously variable transmission is controlled by a controller, and the controller is configured such that the first controller and the second controller monitor the operating state of each other, and the first controller and the second controller detect differently. A plurality of detection information obtained by the method is acquired as input information, respectively, and the input information to the first controller and the input information to the second controller are By comparing in each of the two controllers, it is determined whether or not the input information is appropriate, the operation amount of the steering means is detected by different detection methods, and each detected detection information is Input to each of the first controller and the second controller, the input information is compared to determine whether the input information is appropriate, and the turning amount fine adjustment means provided in the steering means is operated. The information is transmitted as input information to the first controller, and the amount of adjustment of the turning amount of the traveling machine body by the turning amount fine adjustment means can be changed in accordance with the speed of the traveling machine body , adjusting the amount of turning of the traveling machine body by the pivot amount fine adjustment means, this vehicle height of the traveling machine body is set so as to decrease with the increasing The features.

In such a combine, the continuously variable transmission for straight running and the continuously variable transmission for turning are controlled by a controller, and the controller is configured such that the first controller and the second controller monitor the operating state of each other. At the same time, the first controller and the second controller respectively acquire a plurality of pieces of detection information obtained by different detection methods as input information, and the input information to the first controller and the input information to the second controller are By comparing each of the controller and the second controller, it is determined whether or not the input information is appropriate, and the operation amount of the steering means is detected by different detection methods, and each detected detection Information is input to the first controller and the second controller, respectively, The input information is compared to determine whether the input information is appropriate, and the operation information of the turning amount fine adjustment means provided in the steering means is transmitted as input information to the first controller. Therefore, the occurrence of abnormality in the detection device is accurately detected, the reliability of the input information is improved, the turning operability by the steering means is ensured well, and the supplementary amount by the turning amount fine adjustment means is further supplemented. Operations can be added. At this time, since the adjustment amount of the turning amount of the traveling machine body by the turning amount fine adjustment means can be changed according to the speed of the traveling machine body, the adjustment amount can be changed according to the speed of the traveling machine body. Thus, it is possible to change the bending state of the traveling machine body in response to various situations. As a result, it is possible to adapt to various situations such as the skill level of the operator, the driving situation, and the working situation. In addition, since the amount of adjustment of the turning amount of the traveling machine body by the turning amount fine adjustment means can be variously changed, the turning operation adapted to the detailed demands of the operator is possible. As a result, the turning operation can be immediately adapted to the operator's feeling (operation feeling), and the satisfaction degree of the operator in the turning operation can be increased.
The amount of adjustment of the turning amount of the traveling machine body by the turning amount fine adjustment means is set to decrease as the vehicle height of the traveling machine body increases, so that the stability of the aircraft during turning is improved. Can be secured. That is, when the vehicle height of the traveling vehicle body increases, the position of the center of gravity of the traveling vehicle body increases, and therefore, the traveling vehicle body becomes relatively unstable when turning. Therefore, the safety during the turning operation can be satisfactorily ensured by reducing the turning amount in inverse proportion to the increase in the vehicle height. As an example when the vehicle height is set high, the field may be a wet paddy field. By reducing the turning amount adjustment amount by the turning amount fine adjustment means, ensuring good safety during turning operation. In addition, it is possible to reduce the problem that the traveling body roughens the wet field during turning.

  The combine according to the invention of claim 2 is the combine according to the invention of claim 1, wherein the amount of adjustment of the turning amount of the traveling machine body by the turning amount fine adjustment means increases the speed of the traveling machine body. It is characterized in that it is set so as to decrease along with it.

  In such a combine, when it becomes necessary to correct the traveling trajectory of the traveling aircraft during alignment work etc., the traveling trajectory of the traveling aircraft is corrected by finely adjusting the turning amount by operating the turning amount fine adjustment means. can do. At this time, the adjustment amount of the turning amount of the traveling machine body by the turning amount fine adjustment means is set so as to decrease as the speed of the traveling machine body increases. Therefore, the turning trajectory can be steadily corrected by performing the turning operation by the turning amount fine adjustment means in small steps as the traveling speed becomes higher. In other words, it is possible to suppress an excessive effect of the turning operation by the turning amount fine adjustment means. For example, if the turning amount fine adjustment means is too effective during high-speed cutting, there is a problem that the alignment work is difficult (difficult) depending on the skill level of the operator, but such a problem can be solved. As a result, the operability of the turning amount fine adjustment means can be improved.

  The combine which concerns on invention of Claim 3 is a combine which concerns on invention of Claim 1 or 2, Comprising: The said combine has a cutting part driven with the motive power of the said drive source, This cutting part is Only when the vehicle is in a driving state, the turning amount of the traveling machine body is adjusted by the turning amount fine adjustment means.

  In such a combine, a case where the cutting unit is in a driving state is determined as a working state, and the turning amount of the traveling machine body is adjusted by the turning amount fine adjustment means only in the working state. Therefore, in the working state, the turning amount of the traveling machine body is adjusted by the turning amount fine adjustment means. However, when the vehicle is in a non-working state such as a road running state, the turning amount of the traveling machine body is adjusted by the turning amount fine adjustment means. Can be prevented. In other words, it is possible to simplify the operation of the turning amount fine adjustment means in the non-working state while keeping the turning amount of the traveling machine body by the turning amount fine adjustment means constant.

  The present invention has the following effects. That is, in the present invention, the turning operation by the steering means can be supplemented by the turning amount fine adjustment means. Then, the amount of adjustment of the turning amount of the traveling machine body by the turning amount fine adjustment means can be changed according to the speed of the traveling machine body, so that the changing operation corresponding to the demand of the operator can be performed. As a result, it is possible to finely cope with the feeling (operating feeling) desired by the operator, and to fully satisfy the operator's requirements for the turning operation.

The left view which shows the whole structure of the combine which concerns on one Embodiment of this invention. The partially cutaway side view of the front part of a traveling body. The right view of a driving part. Plane explanatory drawing of a driving | operation part. Explanatory drawing which shows the whole power transmission. Explanatory drawing which shows the whole system. Explanatory drawing of a steering wheel. Graph of function of turning angle and vehicle speed. FIG. Graph of function of turning angle and vehicle speed. FIG. Graph of function of turning angle and vehicle speed. Graph of turning angle and vehicle height function.

  Embodiments of the present invention will be described below.

  The combine according to the present invention includes a rectilinear transmission mechanism that is driven and controlled by a rectilinear HST (hydrostatic continuously variable transmission) and a turning transmission mechanism that is driven and controlled by the turning HST. Then, the power output from the straight transmission mechanism and the power output from the turning transmission mechanism are combined to form combined power. This combined power is output to a pair of left and right crawler type traveling units, respectively, so that the power of the linear transmission mechanism and the turning transmission mechanism are always connected (always power connection state), and the traveling unit performs straight traveling and turning. Driving is possible with smooth speed transition.

  Then, a speed change means is connected to the straight traveling HST via a steer-by-wire control mechanism. Further, steering means is connected to the turning HST through a steer-by-wire control mechanism.

  In this way, the linear transmission HST is shifted through the control mechanism by the transmission means to drive and control the linear transmission mechanism. On the other hand, the turning HST is shifted by the steering means via the control mechanism to drive and control the turning transmission mechanism. By doing so, the traveling part can finally travel straight ahead and back, or can be turned in the left-right direction. That is, as the operation amount of the steering means (for example, the steering angle) increases, the speed difference between the left and right traveling parts gradually increases, and the aircraft center speed is automatically reduced. As a result, the aircraft is turned slowly. At this time, the speeds of the left and right traveling parts are values obtained by adding or subtracting from the aircraft center speed. Then, when the steering means is operated to a predetermined operation amount (for example, around three quarters of the steering angle), the aircraft enters a spin turn that is a sharp turn. In the spin turn, the left and right traveling parts that have been driven in the same rotational direction until then are driven in mutually opposite rotational directions.

  As described above, the combine according to the present invention is capable of delicately and smoothly adjusting straight and turning by electrically controlling the straight and turning HSTs by operating the speed change means and the steering means. For this reason, it is possible to particularly ensure good turning operability by the steering means.

  In addition, the combine according to the present invention is provided with the turning amount fine adjustment means in the steering means that ensures good turning operability as described above. Then, the turning HST is electrically controlled through the control mechanism also by the operation of the turning amount fine adjustment means, so that the turning amount can be finely adjusted (steering adjustment). That is, a single turning HST that is common to both the steering means and the turning amount fine adjustment means can be operated. At this time, an actuator (for example, a proportional solenoid valve) that drives and controls the turning HST is operated simultaneously or continuously by both the steering means and the turning amount fine adjustment means via the control mechanism. .

  In this way, by providing the steering means that enables the steering operation with a large turning amount and the turning amount fine adjustment means that allows the steering amount to be controlled with a small amount of turning, a rough turning operation can be performed with the steering means. In addition to this, it is possible to supplementarily perform fine and fine operations with the turning amount fine adjustment means. Naturally, the turning operation can be performed only by the turning amount fine adjustment means over the entire area.

  Further, the combine according to the present invention is characterized in that the adjustment amount of the turning amount of the traveling machine body by the turning amount fine adjustment means can be changed in accordance with the speed of the traveling machine body.

  Therefore, it is possible to add a supplementary operation by the turning amount fine adjusting means while ensuring good turning operability by the steering means. At this time, since the adjustment amount of the turning amount of the traveling machine body by the turning amount fine adjustment means can be changed according to the speed of the traveling machine body, the adjustment amount can be changed according to the speed of the traveling machine body. Thus, it is possible to change the bending state of the traveling machine body in response to various situations. As a result, it is possible to adapt to various situations such as the skill level of the operator, the driving situation, and the working situation. In addition, since the amount of adjustment of the turning amount of the traveling machine body by the turning amount fine adjustment means can be variously changed, the turning operation adapted to the detailed demands of the operator is possible. As a result, the turning operation can be immediately adapted to the operator's feeling (operation feeling), and the satisfaction degree of the operator in the turning operation can be increased.

  In this way, the present invention enables the turning HST operation via the control mechanism not only by the steering means but also by the turning amount fine adjustment means, and the turning amount of the traveling machine body by the turning amount fine adjustment means. The adjustment amount can be changed according to the speed of the traveling aircraft. By doing so, the turning operation according to the preference of the operator becomes possible. In addition, when the turning operation direction of the steering means and the turning operation direction of the turning amount fine adjustment means are opposite to each other, the turning amounts of both are canceled out, and the turning direction at the offset turning amount becomes the turning direction. The traveling aircraft is set to go straight.

[overall structure]
An overall configuration of a combine A according to an embodiment of the present invention will be described with reference to FIG. In other words, the combine A includes a pair of left and right crawler type traveling units 1, and a traveling body 1 is formed on the traveling unit 1 by providing a body frame 2. A cutting part 4 is attached to the left front end of the body frame 2 via a cutting frame 3 so as to be movable up and down. The cutting unit 4 is provided with a transport unit 5 and a cereal transfer unit 6. A threshing unit 7 and a sorting unit 8 are arranged in the upper and lower stages on the left side of the machine body frame 2, and a waste disposal unit 9 is arranged on the rear part of the machine frame 2. On the other hand, a cabin 10 is disposed at the right front part on the machine body frame 2, and a grain storage unit 11 is disposed in the middle part on the right side of the machine frame 2. The grain storage unit 11 includes an auger 12 for general grain delivery. Further, the combine A includes a prime mover unit 13 including an engine 14 as a drive source at a front portion on the machine body frame 2. The prime mover unit 13 supplies the power of the engine 14 to the devices of the respective units.

  In addition, a mission unit 15 is provided in front of the prime mover unit 13 on the machine body frame 2. The transmission unit 15 adjusts (shifts) before transmitting the power of the engine 14 of the prime mover unit 13 to the traveling unit 1, the cutting unit 4, and the like.

  The combine A having the above-described configuration harvests the culm by the reaping unit 4, conveys the harvested culm to the rear cereal transporting unit 6, and sends it to the culm transporting unit 6. Hand over. The cereals delivered to the cereal transporting unit 6 are transported backward in a state where the stock is sandwiched by the cereal transporting unit 6 and the tip is inserted into the threshing unit 7.

  Thereby, the cereal is threshed by the threshing unit 7. The grain obtained by threshing is sorted by the sorting unit 8, and only the refined grains are transported and stored in the grain storage unit 11, and are carried out via the auger 12 as necessary.

  Further, the threshed cereal is transported to the slaughter processing unit 9 as slaughter, and is shredded and discharged by the slaughter processing unit 9.

  And as shown in FIGS. 1-4, the cabin 10 is formed in the substantially square box shape as a whole. An operation unit 19 is provided inside the cabin 10. In the driving unit 19, a steering case 21 is attached to the front wall 18 that forms the lower half of the front surface of the cabin 10. A steering wheel 22 as steering means is attached to the upper end of the steering case 21. A driver seat 23 is disposed behind the steering wheel 22, and a side column 24 is disposed from the front of the driver seat 23 to the left side. Various operating tools including a main speed change lever 26 and a sub speed change lever 27 as speed change means are attached to the upper portion of the side column 24. As shown in FIG. 1, in the cabin 10, a windshield 31 that forms the upper half of the front surface of the cabin 10 is provided on the front side, a left opening / closing window 32 is provided on the left side, and an opening / closing door 33 for getting on / off is provided on the right side. Is provided.

  The steering wheel 22 is formed in a round handle from a rod-like spoke body 22a formed by being raised from the upper end portion of the steering case 21, and a ring-shaped wheel body 22b attached to the upper end of the spoke body 22a. Supporting pieces 22c and 22d are formed to bulge inwardly on the left and right side portions of the wheel body 22b. The left support piece 22c is provided with a travel unit raising / lowering switch 22e for raising and lowering the left and right traveling units 1 with respect to the body frame 2 respectively. A turning amount fine adjustment switch 22f as turning amount fine adjustment means is attached to the right support piece 22d. The steering means is not limited to the steering wheel 22, and may be an operating lever provided with a turning amount fine adjustment switch 22f in the grip portion.

  As shown in FIG. 4, the turning amount fine adjustment switch 22f employs a toggle switch that can be tilted in the front-rear and left-right directions. That is, the turning amount fine adjustment switch 22f can be operated with the finger of the right hand holding the wheel body 22b of the steering wheel 22. The turning amount fine adjustment switch 22f has a lever 22g as an operation tool that can be operated with a finger. The lever 22g can be tilted with a finger of the right hand in a direction corresponding to the left and right turning directions of the traveling machine body a from an upright neutral position. In this way, the lever 22g of the turning amount fine adjustment switch 22f is tilted to the left (right) side from the upright neutral position to turn on the switch, and the traveling body a is turned left (right) by a small amount. It can be turned in the direction. When the finger of the right hand is released from the tilted lever 22g, the lever 22g is elastically biased so that it returns to the neutral position and the switch is turned off. Further, the cutting unit 4 can be lowered (raised) by tilting the turning amount fine adjustment switch 22f forward (rear).

  As shown in FIG. 4, a center panel portion 119 is disposed at the center of the wheel body 22b. The center panel portion 119 has a panel body 121 attached to the upper end portion of the steering case 21 via a support piece 120. The panel main body 121 is provided with various operation units 122 and a liquid crystal display unit 123 that displays a driving speed, a turning angle, a turning amount of the traveling machine body a, a driving mode such as a selected mode, and the like in a liquid crystal display with numerical values and figures. The operator can easily operate the various operation units 122 at the same time, and can easily recognize the driving status displayed on the liquid crystal display unit 123. The panel main body 121 is provided with a mode change switch 124 as a mode change means that is one of the operation units 122. The mode change switch 124 is a switch for changing the turning amount adjustment mode of the traveling machine body a by the turning amount fine adjustment switch 22f. In this embodiment, a volume switch is employed as the mode change switch 124. Further, the mode change switch 124 can also be provided on the side panel portion 125 provided on the upper surface portion of the side column 24, which is a place where the hand operation is easy.

  The main transmission lever 26 is attached to a lever pivot shaft (not shown) provided in the side column 24 with an axis line in the left-right direction, and a lower end portion of a lever main body 26a formed by extending in the vertical direction. The upper end portion of the main transmission lever 26 protrudes upward from the upper surface portion of the side column 24 through the lever guide hole 24a to form a grip portion 26b. The main transmission lever 26 is swingable in the front-rear direction around the lever pivot shaft. The main speed change lever 26 is configured to be able to perform a speed change operation to the forward (rear) advance side by performing an attitude change operation from an upright neutral position to a forward (rear) tilt position.

[Steer-by-wire operation structure]
The steering wheel 22, the turning amount fine adjustment switch 22f, and the main transmission lever 26 in the combine A according to the present embodiment are configured by a so-called steer-by-wire operation structure. That is, the steering wheel 22, the turning amount fine adjustment switch 22f, and the main speed change lever 26 in the combine A of the present embodiment adopt a steer-by-wire system without using a mechanical interlocking mechanism, and operate and operate. It is configured to perform direction adjustment, steering fine adjustment, and travel adjustment. A steer-by-wire system in which the steering wheel 22 and the turning amount fine adjustment switch 22f are electrically connected to the steering device and the main transmission lever 26 is electrically connected to the traveling device will be described below.

  As shown in FIG. 6, in the steer-by-wire system, the operation amount of the main transmission lever 26 is detected by the first transmission potentiometer 100a and the second transmission potentiometer 100b, and the detection result is converted into an electrical signal. The operation amount of the steering wheel 22 is detected by the first steering potentiometer 110a and the second steering potentiometer 110b, and the detection result is converted into an electric signal. The electric signals obtained by the potentiometers 100a, 100b, 110a, 110b are transmitted to the first controller 34 and the second controller 35, which are dedicated controllers, through the dedicated first / second I / O drivers 28, 29. Is done. When the turning amount fine adjustment switch 22 f is operated in either the left or right direction and is turned ON, an electrical signal is transmitted to the first controller 34, which is a dedicated controller, via the dedicated first I / O driver 28. Is done. The electric signals transmitted to the controllers 34 and 35 are output as control information from the controllers 34 and 35, and drive control of the straight traveling HST 40 and the turning HST 50 is performed. It is possible to perform a turning operation (including a spin turn that is a sudden turning operation) and a turning amount fine adjustment.

  The configuration of the mission unit 15 will be described. As shown in FIG. 5, the mission unit 15 includes a straight traveling HST 40, a turning HST 50, and a transmission 60. The straight traveling HST 40, the turning HST 50, and the transmission 60 are accommodated in a transmission case and constitute a transmission mechanism of the traveling system of the combine A.

(HST for straight ahead)
The rectilinear HST 40 includes a variable displacement rectilinear pump 40P and a variable displacement rectilinear motor 40M. The rectilinear pump 40P and the rectilinear motor 40M are fluidly connected to each other.

  The linear pump 40P has a movable swash plate and a control shaft as a mechanism for changing the volume, and is configured to change the volume by tilting the movable swash plate with the control shaft. Yes. The rectilinear pump 40 </ b> P has a rectilinear pump shaft 41 that is coupled to the output shaft of the engine 14. That is, the straight traveling HST 40 receives power transmitted from the engine 14 by interlockingly coupling the straight pump shaft 41 of the straight pump 40P to the output shaft of the engine 14. The output shaft of the engine 14 is provided with a rotary shaft for transmitting the power of the engine 14 to the threshing unit 7, the sorting unit 8, the waste disposal unit 9, the grain storage unit 11 and the like via a clutch or the like. Linked together.

  The linear motor 40M has a movable swash plate and a control shaft as a mechanism for changing the volume, and is configured to change the volume by tilting the movable swash plate with the control shaft. Yes. The rectilinear motor 40M has a rectilinear motor shaft 42 that is interlocked with the output shaft of the auxiliary transmission mechanism 80. That is, the straight-travel HST 40 transmits power to the sub-transmission mechanism 80 when the rectilinear motor shaft 42 of the rectilinear motor 40M is interlocked with the input shaft of the sub-transmission mechanism 80.

  The straight traveling HST 40 can be operated by a speed change device. The speed change operation device includes a speed change operation tool capable of being manually operated, such as the main speed change lever 26, an actuating device for the rectilinear pump 40P, and an actuating device for the rectilinear motor 40M. The first controller 34 controls the operation of the actuator for the linear pump 40P and the actuator for the linear motor 40M.

  As shown in FIG. 6, the actuating device for the rectilinear pump 40P includes a rectilinear pump solenoid valve 47 and a speed change actuator such as a hydraulic cylinder. The rectilinear pump solenoid valve 47 tilts the movable swash plate of the rectilinear pump 40P and changes the volume of the rectilinear pump 40P. The linear pump solenoid valve 47 is controlled by the first controller 34 based on detection information from the first shift potentiometer 100a that detects a shift operation. The speed change actuator included in the actuating device for the rectilinear pump 40P operates by switching the supply and discharge of the hydraulic oil in accordance with the control of the rectilinear pump solenoid valve 47 by the first controller 34.

  The actuator for the linear motor 40M includes a linear motor electromagnetic valve 48 and a speed change actuator such as a hydraulic cylinder. The rectilinear motor solenoid valve 48 tilts the movable swash plate of the rectilinear motor 40M and changes the volume of the rectilinear motor 40M. The rectilinear motor solenoid valve 48 is controlled by the first controller 34 via the second controller 35 based on detection information from the sub-shift position sensor 111 that detects the sub-shift operation. The speed change actuator included in the actuating device for the rectilinear motor 40M operates by switching the supply and discharge of the hydraulic oil according to the control of the rectilinear motor solenoid valve 48 by the first controller 34.

  The actuator for the linear pump 40P changes the volume of the linear pump 40P by tilting the movable swash plate via the control shaft by the operation of the speed change actuator. The actuator for the straight motor 40M changes the volume of the straight motor 40M by tilting the movable swash plate via the control shaft by the operation of the speed change actuator.

  Thus, in the straight traveling HST 40, when the linear pump 40P is driven, the volume of the linear pump 40P is changed according to the tilt of the movable swash plate. Thereby, the discharge amount and the discharge direction of the hydraulic oil discharged from the straight pump 40P to the straight motor 40M are changed. As a result, the rotation direction of the linear motor shaft 42 is changed to the normal rotation direction or the reverse rotation direction, and the rotation speed of the linear motor shaft 42 is changed steplessly. Furthermore, in the rectilinear motor 40M, the rotational speed of the rectilinear motor shaft 42 is changed by changing the volume of the rectilinear motor 40M in accordance with the tilt of the movable swash plate. The linear transmission mechanism is configured in this way.

(HST for turning)
The turning HST 50 includes a variable displacement swivel pump 50P and a fixed displacement swivel motor 50M. The swing pump 50P and the swing motor 50M are fluidly connected to each other.

  The rotary pump 50P has a movable swash plate and a control shaft as a mechanism for changing the volume amount, and is configured to change the volume amount by tilting the movable swash plate with the control shaft. Yes. The swing pump 50 </ b> P has a swing pump shaft 51 that is linked to the output shaft of the engine 14. That is, the turning HST 50 receives power transmitted from the engine 14 by interlockingly connecting the turning pump shaft 51 of the turning pump 50P to the output shaft of the engine 14.

  The turning motor 50M has a fixed swash plate as a mechanism for fixing the volume amount, and is configured so that the volume amount is constant by the fixed swash plate.

  The turning HST 50 can be operated by a steering operation device. This steering operation device includes a steering operation tool that can be manually operated, such as the steering wheel 22 and the turning amount fine adjustment switch 22f, and an operation device for the turning pump 50P. The operation device for the swing pump 50 </ b> P is controlled by the first controller 34.

  As shown in FIG. 6, the actuator for the swing pump 50P includes a swing pump electromagnetic valve 57 and a speed change actuator such as a hydraulic cylinder. The slewing pump solenoid valve 57 tilts the movable swash plate of the slewing pump 50P and changes the volume of the slewing pump 50P. The solenoid valve 57 for the swing pump is controlled by the first controller 34 based on detection information from the first steering potentiometer 110a for detecting the steering operation or setting information set by a mode change switch 124 described later. The speed change actuator included in the operation device for the swing pump 50P operates by switching the supply and discharge of the hydraulic oil in accordance with the control of the solenoid valve 57 for the swing pump by the first controller 34.

  Then, the actuator for the swing pump 50P changes the volume of the swing pump 50P by tilting the movable swash plate via the control shaft by the operation of the speed change actuator.

  Thus, in the turning HST 50, when the turning pump 50P is driven, the volume of the turning pump 50P is changed according to the tilt of the movable swash plate. Thereby, the discharge amount and discharge direction of the hydraulic oil discharged from the swing pump 50P to the swing motor 50M are changed. As a result, the rotation direction of the swing motor shaft 52 is changed to the normal rotation direction or the reverse rotation direction, and the rotation speed of the swing motor shaft 52 is changed steplessly. The steering speed change mechanism is configured in this way.

(transmission)
As shown in FIG. 5, the transmission 60 includes a planetary gear mechanism 70, an auxiliary transmission mechanism 80, and a clutch device 90.

  The planetary gear mechanism unit 70 is configured as a planetary gear group including a pair of planetary gear mechanisms, and includes a first planetary gear mechanism 71a and a second planetary gear mechanism 71b as a pair of planetary gear mechanisms. In the planetary gear mechanism unit 70, output shafts extend left and right from the pair of planetary gear mechanisms 71a and 71b. That is, the first output shaft 72a extends from the first planetary gear mechanism 71a, and the second output shaft 72b extends from the second planetary gear mechanism 71b. Each output shaft 72a, 72b transmits rotational power to the crawler drive wheels of the traveling unit 1 corresponding in the left-right direction. Thereby, the driving of the left and right traveling units 1 is performed.

  The subtransmission mechanism 80 has a rotating shaft connected to the rectilinear motor shaft 42, and is linked to the rectilinear motor shaft 42 of the rectilinear motor 40M via this rotating shaft. The subtransmission mechanism 80 is configured so that the rotational power of the linear motor shaft 42 can be shifted in multiple stages. Note that a cutting pulley is fixed to the linear motor shaft 42 via a cutting pulley electromagnetic clutch 91 (FIG. 6), and the rotational power of the linear motor 40M is transmitted from this cutting pulley to the transmission mechanism of the cutting unit 4.

  The clutch device 90 is linked to the turning motor shaft 52 of the turning motor 50M in the turning HST 50. The clutch device 90 is configured so that the rotational power from the turning motor 50M of the turning HST 50 can be transmitted to or shut off from the planetary gear mechanism 70.

  In the transmission 60 having the above-described configuration, when the turning motor 50M of the turning HST 50 is stopped and the rectilinear motor 40M of the rectilinear HST 40 is driven, the rotational power of the rectilinear motor 40M is sub-shifted from the rectilinear motor shaft 42. It is transmitted to the planetary gear mechanism 70 via the mechanism 80 and output from the first output shaft 72a and the second output shaft 72b.

  By transmitting rotational power from the linear motor 40M to the first output shaft 72a and the second output shaft 72b, the first output shaft 72a and the second output shaft 72b are rotated in the same direction as the forward rotation direction or the reverse rotation direction. As a result, the drive wheels of the left and right crawler type traveling units 1 rotate at the same rotational speed in the same rotational direction. As a result, the left and right traveling units 1 are driven, and the straight traveling of the combine A in the longitudinal direction of the machine body is performed.

  Further, when the rectilinear motor 40M of the rectilinear HST 40 is stopped and the slewing motor 50M of the slewing HST 50 is driven, the rotational power of the slewing motor 50M is transmitted from the slewing motor shaft 52 through the clutch device 90 to the planetary gear mechanism 70. And output from the first output shaft 72a and the second output shaft 72b.

  The first output shaft 72a and the second output shaft 72b are rotated in opposite directions by transmission of rotational power from the turning motor 50M to the first output shaft 72a and the second output shaft 72b. As a result, the drive wheels of the left and right crawler type traveling units 1 rotate in directions opposite to each other. As a result, the left and right traveling units 1 are driven, and a spin turn that is a sudden turn of the combine A body is performed. According to the spin turn, for example, it is possible to change direction rapidly and with a small radius in a field or a headland. Moreover, when the drive wheel which any one traveling part 1 has stopped, the turn turned centering on the traveling part 1 side of a stopped state is performed.

  In addition, when the rectilinear motor 40M of the rectilinear HST 40 is driven and when the slewing motor 50M of the traverse HST 50 is driven, rotational power transmitted from the rectilinear motor 40M to the planetary gear mechanism unit 70 via the auxiliary transmission mechanism 80; The rotational power transmitted from the turning motor 50M to the planetary gear mechanism unit 70 via the clutch device 90 is combined in the planetary gear mechanism unit 70 to generate combined power. The combined power is output from the first output shaft 72a and the second output shaft 72b.

  The first output shaft 72a and the second output shaft 72b are rotated at different rotational speeds by transmission of rotational power (combined power) from the linear motor 40M and the swing motor 50M to the first output shaft 72a and the second output shaft 72b. The As a result, the left and right traveling units 1 are driven with a speed difference from each other, and the traveling of the combine A traveling vehicle body a and the leftward or rightward turning operation are performed at the same time, thereby making a gentle turn. Note that the turning direction and turning radius of the combine A are determined according to the speed difference between the left and right traveling units 1. Then, at the time when the steering wheel 22 is operated to a predetermined operation amount (for example, around three quarters of the steering angle), the turning-side traveling unit 1 is stopped. Further, when the steering wheel 22 is turned, the left and right traveling units 1 are driven in opposite directions, and the traveling machine body a enters a spin turn that is a sudden turn.

  Then, the structure of the control system of the combine A which concerns on this embodiment is demonstrated using FIG. As shown in FIG. 6, the combine A control system includes a first shift potentiometer 100a, a second shift potentiometer 100b, a first steering potentiometer 110a, a second steering potentiometer 110b, a first controller 34, A second controller 35 and an engine controller 36 are provided.

  The first shift potentiometer 100a and the second shift potentiometer 100b detect the shift operation state of the main shift lever 26 by the operator, that is, the shift operation position of the main shift lever 26. The first steering potentiometer 110a and the second steering potentiometer 110b detect the steering operation state of the steering wheel 22 by the operator, that is, the steering operation position of the steering wheel 22. The mode change switch 124 is a switch for switching to a stepped mode in which the adjustment amount of the turning amount of the traveling machine body a by the turning amount fine adjustment switch 22f is changed in accordance with the speed of the traveling machine body a. The mode will be described later.

  The first controller 34 generates control information based on input information (detection information) from the first shift potentiometer 100a, the first steering potentiometer 110a, and the mode change switch 124, and is used for the linear valve solenoid valve 47 and the linear motor. The electromagnetic valve 48 and the rotary pump electromagnetic valve 57 are controlled. The second controller 35 generates control information based on input information (detection information) from the second shift potentiometer 100b and the second steering potentiometer 110b. The engine controller 36 controls the operating state of the engine 14 based on input information (detection information) from the engine speed sensor 175, a temperature sensor, an oil temperature sensor (all not shown), and the like.

  A linear pump solenoid valve 47, a straight motor solenoid valve 48, and a swing pump solenoid valve 57 are electrically connected to the first controller 34 via a proportional valve driver 163. The first controller 34 is connected with a straight rotation sensor 113 and a turning sensor 114 as means for detecting the traveling state of the combine A. The rectilinear rotation sensor 113 detects the rotation of the rotating portion related to the forward / backward travel (straight forward) of the combine A in the transmission 60 and transmits the detection signal to the first controller 34. The turning rotation sensor 114 detects the rotation of the rotating portion related to the turning of the combine A in the transmission 60 and transmits the detection signal to the first controller 34.

  In addition, a sub-transmission solenoid 115 is connected to the first controller 34. The auxiliary transmission solenoid 115 operates a switching unit included in the transmission 60 to switch between the low speed output and the high speed output. The first controller 34 is electrically connected to the first shift potentiometer 100a, the first steering potentiometer 110a, and the mode change switch 124 via the first I / O driver 28. As shown in FIG. 3, the first controller 34 is provided on the inner side surface of a support case 153 that is erected on a cutting unit support base 150 on the machine frame 2 that is located behind the mission unit 15.

  A second shift potentiometer 100b, a second steering potentiometer 110b, a reaping switch 117, and a threshing switch 118 are electrically connected to the second controller 35 via a second I / O driver 29. In addition, a mowing pulley electromagnetic clutch 91 and a PTO pulley electromagnetic clutch 93 are electrically connected to the second controller 35. The mowing pulley electromagnetic clutch 91 transmits or blocks rotational power to the mowing unit 4 when the mowing switch 117 is turned ON / OFF. The PTO pulley electromagnetic clutch 93 transmits or blocks rotational power to the threshing unit 7 when the threshing switch 118 is turned ON / OFF.

  In addition, the sub-shift position sensor 111 and the sub-shift switch 112 are electrically connected to the second controller 35 via the third I / O driver 30. The auxiliary transmission position sensor 111 detects the forward / backward rotation operation position (operation amount) of the auxiliary transmission lever 27. The auxiliary transmission switch 112 is an operation unit for operating the switching unit of the transmission 60 through the auxiliary transmission solenoid 115 as described above to switch between the low speed output and the high speed output in the transmission 60. As shown in FIG. 3, the second controller 35 is provided on the inner side surface of a support column (not shown) erected on the cutting unit support base 150.

  The first I / O driver 28, the first controller 34, the engine controller 36, and the proportional valve driver 163 are electrically connected by a CAN (Controller Area Network) 130. Similarly, the first controller 34 and the second controller 35 are connected by a CAN 131, and the second I / O driver 29, the third I / O driver 30, and the second controller 35 are connected by a CAN 132. The first controller 34, the second controller 35, and the engine controller 36 are configured to share detection information from various detection devices including the first shift potentiometer 100a, the first steering potentiometer 110a, and the like. As shown in FIGS. 2 and 3, the engine controller 36 is provided at the front end of the body frame 2 at a position in front of the mission unit 15.

  In the present embodiment, the first shift potentiometer 100a and the second shift potentiometer 100b are configured to detect the shift operation position of the main shift lever 26 by different detection methods. Similarly, the first steering potentiometer 110a and the second steering potentiometer 110b are configured to detect the steering operation position of the steering wheel 22 by different detection methods.

  Specifically, the first shift potentiometer 100a amplifies an electric signal as a detection signal as the tilt angle by the tilt operation of the main shift lever 26 increases in the detection of the shift operation position of the main shift lever 26. On the other hand, the second shift potentiometer 100b decreases the electrical signal as the detection signal as the tilt angle by the tilt operation of the main shift lever 26 increases in the detection of the shift operation position of the main shift lever 26.

  The first steering potentiometer 110a amplifies an electrical signal as a detection signal as the turning angle of the steering wheel 22 when turning to the right increases in detecting the steering operation position of the steering wheel 22 (when turning left). The electrical signal decreases as the angle of cut increases). On the other hand, the second steering potentiometer 110b decreases the electrical signal as the detection signal as the turning angle of the steering wheel 22 when turning to the right increases in the detection of the steering operation position of the steering wheel 22 (left-handed rotation). The electrical signal is amplified as the turning angle increases.)

  With such a detection configuration, the first controller 34 and the second controller 35 obtain, as input information, a plurality of pieces of detection information obtained by different detection methods as the main transmission lever 26 and the steering wheel 22 are operated. The input information to the first controller 34 and the input information to the second controller 35 are compared in each of the first controller 34 and the second controller 35 to determine whether the input information is appropriate. . As a result, the occurrence of an abnormality in a detection device such as the first shift potentiometer 100a or the first steering potentiometer 110a is accurately detected, and the reliability of the input information is improved.

  The first controller 34 is a main controller that controls the traveling state of the combine A in accordance with the shift operation, steering operation, and steering fine adjustment operation of the operator. The first controller 34 generates control information for controlling the straight traveling HST 40 and the turning HST 50 based on the input information from the first shift potentiometer 100a, the first steering potentiometer 110a, and the mode change switch 124. Based on the information, the straight HST 40 and the turning HST 50 are controlled.

  The second controller 35 is a sub-controller for the first controller 34 that is a main controller. The second controller 35 communicates with the first controller 34 as needed to monitor the operating state (whether or not it is operating) of the first controller 34. At the same time, the first controller 34 monitors the operating state of the second controller 35. That is, the first controller 34 and the second controller 35 are configured to monitor the operating state of each other. The power lines of the first controller 34 and the second controller 35 are separated.

  Further, in the first controller 34 and the second controller 35, input information input from the first shift potentiometer 100 a according to the operation of the main shift lever 26 or input from the first steering potentiometer 110 a according to the operation of the steering wheel 22. Similarly, the input information input from the second shift potentiometer 100b or the second steering potentiometer 110b is compared with each other.

  Further, in the first controller 34 and the second controller 35, the control information generated based on the input information from the potentiometers 100a, 100b, 110a, 110b in the first controller 34, and the potentiometers in the second controller 35. Control information generated based on input information from 100a, 100b, 110a, 110b is compared. As a result of this comparison, it is determined whether or not the operation states of the potentiometers 100a, 100b, 110a, and 110b are operating normally.

  The rectilinear rotation sensor 113 connected to the first controller 34 detects whether the combine A is traveling with respect to the traveling state of the combine A. Similarly, the turning rotation sensor 114 connected to the first controller 34 detects whether or not the combine A is turning. Here, the rectilinear rotation sensor 113 is provided in a rectilinear output transmission mechanism including the auxiliary transmission mechanism 80 in the transmission 60, and detects the rotation of an appropriate shaft, gear, and the like constituting the transmission mechanism. Further, the turning rotation sensor 114 is provided in a turning output transmission mechanism including the clutch device 90 in the transmission 60, and detects the rotation of an appropriate shaft, gear, and the like constituting the transmission mechanism.

  The first controller 34 performs feedback control based on detection information from the rectilinear rotation sensor 113 and the turning rotation sensor 114 so that the combine A is in the target travel state. At the same time, the first controller 34 obtains information related to the operating state of the engine 14 from the second controller 35 and generates control information so as to always realize the running state according to the operator's request. The turning HST 50 is controlled.

  In the configuration as described above, when the main transmission lever 26 is operated, the transmission operation position of the main transmission lever 26 is detected by the first transmission potentiometer 100a and the second transmission potentiometer 100b, and such detection information is used. The straight controller HST 40 is controlled by the one controller 34 and the second controller 35. That is, by operating the main transmission lever 26, the straight traveling HST 40 that changes the rotational power from the engine 14 and transmits it to the transmission 60 is controlled. Then, the first output shaft 72a and the second output shaft 72b are driven to rotate forward and backward in the same direction, and the straight traveling before and after the combine A by the left and right traveling units 1 is performed.

  Further, when the steering wheel 22 is operated, the steering operation position of the steering wheel 22 is detected by the first steering potentiometer 110a and the second steering potentiometer 110b, and based on the detection information, the first controller 34 and The turning HST 50 is controlled by the second controller 35. In other words, the turning HST 50 that changes the rotational power from the engine 14 and transmits it to the transmission 60 is controlled by the operation of the steering wheel 22. Then, the first output shaft 72a and the second output shaft 72b are rotationally driven in opposite directions, and the combine A is gently and suddenly turned by the left and right traveling units 1.

  As shown in FIG. 7, when the lever 22g of the turning amount fine adjustment switch 22f is tilted to either the left or right side, the switch is turned ON, and the ON information is transmitted to the first controller 34. The turning HST 50 is controlled by the first controller 34. That is, the turning HST 50 that changes the rotational power from the engine 14 and transmits it to the transmission 60 is controlled by the operation of the lever 22g of the turning amount fine adjustment switch 22f. As a result, while the turning amount fine adjustment switch 22f is turned ON to the left or right, the traveling machine body a is continuously turned with a small amount of adjustment. Then, when the desired turning amount is obtained, the fine adjustment turning operation can be ended by releasing the turning amount fine adjustment switch 22f from the finger operating it.

  As a stepped mode in which the amount of adjustment of the turning amount of the traveling machine body a by the turning amount fine adjustment switch 22f is changed in accordance with the speed of the traveling machine body a, it decreases as the speed of the traveling machine body a increases. There are modes 1 to 3 set as described above, and modes 4 and 5 set to increase as the speed of the traveling machine body a increases. As shown in FIG. 7, the mode can be changed to a stepped state by rotating the mode change switch 124. That is, when the adjustment amount change switch 124 is rotated clockwise, the number of modes gradually increases, and when the adjustment amount change switch 124 is rotated counterclockwise, the number of modes gradually decreases. An index 126 is provided on the adjustment amount change switch 124 so as to indicate the rotation operation position of the adjustment amount change switch 124. Reference numeral 127 denotes a mode display piece, which can be used as a guide for the mode state set at the position of the mode display piece 127 indicated by the index 126. The mode set by the adjustment amount change switch 124 is converted into an electric signal and transmitted to the first controller 34 as input information. Based on the input information, the first controller 34 generates control information. The control information is output to the swing pump solenoid valve 57, and the operation amount of the swing pump solenoid valve 57 is changed.

  As a result, the turning HST 50 driven by the turning pump electromagnetic valve 57 is controlled. Therefore, a desired turning amount can be obtained for the traveling machine body a by continuously turning fine adjustment operation of the lever 22g of the turning amount fine adjustment switch 22f. In addition, the operator can adapt the feeling (operation feeling) desired by setting the adjustment amount freely with the mode change switch 124.

  Here, each of the modes 1 to 5 set by the mode change switch 124 is a function stored in advance by the first controller 34, and the first controller 34 operates based on one of the selected functions. The value of the turning amount corresponding to the speed is calculated. In that case, various functions can be set in advance, and the operator can select a desired function as a mode, so that the amount of adjustment of the turning amount of the traveling machine body a can be varied. As a result, it becomes possible to adapt more finely to the feeling (operation feeling) desired by the operator.

  As shown in FIG. 8, when the function F1 in which the amount of adjustment of the turning amount of the traveling machine body a by the turning amount fine adjustment switch 22f is set to decrease as the speed of the traveling machine body a increases is shown in FIG. As described above, the turning angle (turning amount) θ decreases during high-speed traveling, and the turning angle (turning amount) θ increases during low-speed traveling. Here, the turning amount, the turning angle, the turning radius, and the operation amount of the solenoid valve for the steering pump are in a directly proportional relationship.

  As shown in FIG. 10, when the function F2 in which the amount of adjustment of the turning amount of the traveling machine body a by the turning amount fine adjustment switch 22f increases as the speed of the traveling machine body a increases is set, as shown in FIG. Thus, the turning angle (turning amount) θ increases during high-speed traveling, and the turning angle (turning amount) θ decreases during low-speed traveling.

  Only when the cutting unit 4 is in the drive state, that is, only when the cutting switch 117 is turned ON and the pulley electromagnetic clutch 91 transmits the rotational power to the cutting unit 4, the turning amount fine adjustment switch The turning amount of the traveling machine body a can be adjusted by 22f. For example, as shown in FIG. 12, a function F3 at the time of cutting work can be set, and the turning angle can be set to a constant value C during traveling (when not working).

  In this way, it is possible to determine that the cutting unit is in the driving state as the working state, and to adjust the turning amount of the traveling machine body a by the turning amount fine adjustment means only in the working state. Therefore, in the working state, the turning amount of the traveling machine body a is adjusted by the turning amount fine adjustment switch 22f. However, in the non-working state such as the road running state, the traveling body body a is adjusted by the turning amount fine adjustment switch 22f. The turning amount can be prevented from being adjusted. That is, the turning amount of the traveling machine body a by the turning amount fine adjustment switch 22f is set to a constant value C, and the operation of the turning amount fine adjustment switch 22f in the non-working state can be simplified.

  The adjustment amount of the turning amount of the traveling machine body a by the turning amount fine adjustment switch 22f can be set so as to decrease as the vehicle height of the traveling machine body a increases. Here, the vehicle height refers to the ground height of the body frame 2. The combine A according to the present embodiment has an airframe lifting mechanism (not shown) interposed between the traveling unit 1 and the airframe frame 2. Then, the elevation switch 22h provided on the left side of the wheel body 22b of the steering wheel 22 shown in FIG. 7 is electrically connected to the first controller 34 via the first I / O driver 28 as shown in FIG. ing. The lift switch 22h is tilted back and forth to operate a lift actuator provided in the machine lift mechanism so that the machine frame 2 can be moved up and down. In addition, as a body raising / lowering mechanism, the body raising / lowering mechanism which consists of a swing arm etc. which are disclosed by Unexamined-Japanese-Patent No. 2002-53083 is applicable, for example.

  As shown in FIG. 13, the function F4 can be set so that the adjustment amount of the turning amount of the traveling machine body a by the turning amount fine adjustment switch 22f decreases as the vehicle height of the traveling machine body a increases. . In other words, when the lifting switch 22h is tilted backward (upward movement of the machine body frame 2), the operation signal is transmitted to the first controller 34, and the transmission information is based on the function F4 stored in the first controller 34 in advance. The value of the turning amount corresponding to the speed of the traveling machine body a is calculated from the vehicle height value. Then, the first controller 34 outputs the calculated value as control information to the traveling pump solenoid valve 57 to drive-control the turning HST 50 so as to decrease the turning amount in inverse proportion to the increase in the vehicle height.

  As a result, it is possible to satisfactorily ensure the stability of the traveling machine body a during turning. That is, when the vehicle height of the traveling machine body a is increased, the position of the center of gravity of the traveling machine body a is increased, so that the traveling machine body a is relatively unstable when turning. However, by reducing the turning amount in inverse proportion to the increase in vehicle height, it is possible to satisfactorily ensure safety during turning operations. As an example of the case where the vehicle height is set high, the field may be a wet field. By reducing the turning amount adjustment amount by the turning amount fine adjustment switch 22f, safety during turning operation is ensured satisfactorily. In addition, it is possible to reduce the problem that the traveling machine body a roughens the wet field during turning.

  As described above, the correspondence between the turning amount adjustment amount of the traveling machine body a by the turning amount fine adjustment switch 22f and the speed of the traveling machine body a is stored in the first controller 34 in advance as a pattern of a plurality of selectable functions. The turning amount of the traveling machine body a can be adjusted by the turning amount fine adjustment switch 22f based on the selected correspondence.

  In such a combine, the correspondence relationship between the turning amount adjustment amount of the traveling machine body a by the turning amount fine adjustment switch 22f and the speed of the traveling machine body a is stored in advance in the first controller 34 as a pattern of a plurality of selectable functions. ing. Then, the turning amount of the traveling machine body a is adjusted by the turning amount fine adjustment switch 22f based on the correspondence relationship between the adjustment amount of the turning amount of the traveling machine body a that is the selected pattern and the speed of the traveling machine body a. Therefore, the operator can freely select a plurality of selectable patterns according to the field conditions, preferences, and the like. In addition, regarding the relationship between the fine adjustment amount of the turning amount by the turning amount fine adjustment switch 22f and the speed of the traveling machine body a, a mode corresponding to the field condition and the skill level of the operator is set, and the conversion of each mode is set. By performing the switch operation with the change switch 124, the operation can be simplified.

  As described above, in the combine A of the present embodiment that adopts the steer-by-wire system, the electrical operation of the straight traveling HST 40, the turning HST 50, and the like is performed by operating the main transmission lever 26, the steering wheel 22, and the turning amount fine adjustment switch 22f. Control. Under such control, the rotational power of the engine 14 is transmitted to the traveling unit 1 through a mechanical transmission structure such as a gear group, and the combine A travels straight forward and backward, and the gentle / swift turning operation is always in the power connected state. It is done at. At this time, the turning operation can be performed roughly by the steering wheel 22 and finely by the turning amount fine adjustment switch 22f. Therefore, when adjusting the travel trajectory of the traveling machine body a, such as a matching operation, the travel trajectory adjustment is steadily executed by at least turning and finely adjusting the turn by the turning amount fine adjustment switch 22f. be able to. In addition, the operator appropriately changes the amount of adjustment of the turning amount of the traveling machine body a by the turn fine adjustment switch 22f according to the speed of the traveling machine body a so that the feeling (operation feeling) desired by the operator can be obtained. can do. For this reason, the operator can sufficiently increase the degree of satisfaction in the turning operation.

A Combine 1 Traveling part 2 Airframe frame 3 Cutting frame 4 Cutting part 5 Carrying part 6 Grain transporting part 7 Threshing part 8 Sorting part 9 Discharge processing part 10 Cabin 11 Grain storage part 12 Auger 13 Motor part 14 Engine 24 Side column 28 First I / O Driver 29 Second I / O Driver 30 Third I / O Driver 40 Straight HST
50 HST for turning

Claims (3)

A traveling machine body that is driven and controlled by a continuously variable continuously variable transmission and a continuously variable transmission for turning so that the vehicle can perform straight traveling and turning, steering means for turning the traveling machine body, and the steering A turn amount fine adjustment means for finely adjusting the turn amount of the traveling machine body provided in the means,
The continuously variable transmission for straight running and the continuously variable transmission for turning should be controlled by the controller,
The controller is configured so that the first controller and the second controller mutually monitor the operating state, and the first controller and the second controller each acquire a plurality of detection information obtained by different detection methods as input information. Then, by comparing the input information to the first controller and the input information to the second controller in each of the first controller and the second controller, to determine whether the input information is appropriate,
The operation amount of the steering means is detected by different detection methods, and the detected information detected is input to the first controller and the second controller, respectively, and the input information is compared in each of the input information. Is determined to be appropriate,
The operation information of the turning amount fine adjustment means provided in the steering means is transmitted to the first controller as input information,
The amount of adjustment of the turning amount of the traveling machine body by the turning amount fine adjustment means is configured to be changeable according to the speed of the traveling machine body ,
The combine , wherein the amount of adjustment of the turning amount of the traveling machine body by the turning amount fine adjustment means is set so as to decrease as the vehicle height of the traveling machine body increases .   The combine according to claim 1, wherein the amount of adjustment of the turning amount of the traveling machine body by the turning amount fine adjustment means is set to decrease as the speed of the traveling machine body increases. The combine has a cutting part that is driven by the power of the drive source,
The combine according to claim 1 or 2, wherein the turning amount of the traveling machine body is adjusted by the turning amount fine adjustment means only when the cutting unit is in a driving state.

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