JPH10264845A - Mobile agricultural machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make the operating amount and the turning operation of a steering operation member, coinsident to the operating feeling of a worker, even though the slip ratio of the left side and the right side running parts is made different according to the condition of a paddy field. SOLUTION: In a movile agricultural machine in which running speed change members 23 and 24 to change and transmit the driving force of an engine 21 to the left side and the right side running parts by the running speed change operation of a speed change operation member 68; and steering members 26 and 27 to generate the difference of the driving speeds of the left side and the right side running part by the steering operation of a steering operation member 19; are provided, the steering members 26 and 27 are connected to the steering operation member 19 through ununiform motion members 114 and 116, and a structure to change the curve lines of the turning control amounts of the steering members 26 and 27 by the steering operation member 19 is provided.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile agricultural machine such as a combine for continuously cutting and threshing uncut kernels.

[0002]

Conventionally, the steering output of a steering wheel is transmitted to a steering section via a steering gear for deceleration, and the steering output of the steering gear is changed with respect to the operation amount of the steering wheel. The body is turned substantially linearly. In such a conventional structure, for example, when performing a harvesting operation while moving the combine along an uncut culm row, the field where the traveling crawler is likely to slip has a smaller turning operation than the operation amount of the steering handle. When the slip of the traveling crawler is smaller than that of a general field, the turning operation is more likely to be performed than the operation amount of the steering handle, and the operation of the steering handle causes the combine to follow the uncutted culm row. It is not easy to improve the operability of alignment, and it is necessary to compensate for the malfunction of the turning operation due to the slight slip of the traveling crawler by the driving feeling of the operator. There are problems such as easy removal.

[0003]

According to the present invention, there is provided a traveling speed change member for transmitting a driving force of an engine to a left and right traveling portion by a traveling speed change operation of a speed change operation member, and a left and right direction by a steering operation of a steering operation member. In a mobile agricultural machine provided with a steering member that causes a difference in drive speed of a traveling unit, a steering member is connected to a steering operation member via a non-uniform motion member, and turning control of the steering member by the steering operation member is performed. It is configured to change the amount in a curve, and during agricultural work moving along crop rows or ridges, even if the slip ratio of the left and right running parts differs depending on the characteristics of the field, the operation amount of the steering operation member and the turning operation Can be matched with the operator's driving sensation, can eliminate problems such as turning delay due to insensitive turning or meandering running due to excessive turning, and can easily improve driving operability such as course correction during agricultural work. That.

Further, the turning control amount of the steering member by the steering operating member in a substantially constant range around the straight traveling position of the steering operating member is changed in a curved line, and the turning control amount outside the range is changed linearly. With a large turning radius such as a course correction during agricultural work along a row of crops or ridges, that is, when moving on a field at a high speed, turning delay or meandering can be easily prevented. When the turning radius is large, such as turning on the ground (spin turn operation), that is, when moving on the field at a low speed, the steering operation member can be operated with the conventional driving feeling, and the farming operation at a high speed and the turning at a low speed can be performed. Thus, the driving operability can be easily improved.

The rate of change of the turning control amount of the steering member by the steering operating member in a substantially constant range centered on the straight traveling position of the steering operating member is larger than the rate of change of the turning control amount outside the range. With such a configuration, it is possible to promptly correct the course (alignment) during the agricultural work along the crop row or ridge, and to easily prevent turning delay and increase the speed of the agricultural work.

Further, the rate of change of the turning control amount of the steering member by the steering operating member in a substantially constant range centered on the straight traveling position of the steering operating member is smaller than the rate of change of the turning control amount outside the range. This makes it possible to properly correct the course (alignment) during farming in a field where running parts have little slip with the same driving feeling as before, preventing meandering traveling and increasing the speed of farming work, etc. Can be easily achieved.

[0007] In addition, the engaging position, the brake turn position and the spin turn position are provided within the range of the steering operation member in a straight line or a maximum steering range. Spin-turn steering in a field headland can be performed by continuous operation of a steering operation member, steering operation can be performed with one hand only by setting the operation angle of the steering operation member, and lifting and lowering of the agricultural work section with the other hand Other operations can be performed at the same time, and it is possible to easily improve the composite operability in which the steering operation and the other agricultural operation operations are performed substantially simultaneously.

In addition, a brake turn position is formed between a joint position for turning while maintaining a running speed when traveling straight and a spin turn position for reversing a running portion inside the turn, and has a large turning radius. By interposing an intermediate brake turn operation between the alignment steering operation and the spin turn operation with a small turning radius, it is possible to prevent a sudden change in the turning angle.

Further, the maximum turning angle in one direction of the steering operation member is set to about 135 degrees, and the range of the cutting angle of the steering operation member from zero to about 15 degrees is set at the alignment position. The steering operation member can be easily rotated by turning the body at a headland by performing a spin turn operation at a 135 degree rotation in which the steering operation member is continuously rotated with one hand, and the steering operation member is adapted to a gentle bend such as a row of crops. The setting operation can be properly performed by the gentle turning by the rotation of about 15 degrees.

In addition, a steering operation member is constituted by a circular steering handle which is operated to rotate, and the turning operation of the handle performs a course correction, a direction change, and the like with a driving feeling similar to, for example, a tractor or a rice transplanter. What you get.

Further, the steering operation member is constituted by a steering lever which performs a swing operation, and the path can be corrected and the direction can be changed to the left or the right only by swinging the lever in the left-right direction, for example.

Further, a link mechanism for mechanically connecting the steering operation member to the traveling speed change member or the steering member is provided, and the operation and function of the link mechanism hardly deteriorates with time. In addition, it is possible to easily improve the reliability of the steering operation.

In addition, a controller for electrically connecting the steering operation member to the traveling speed change member or the steering member is provided, so that the steering control function can be multi-functionalized and the manufacturing cost can be easily reduced. It is.

[0014]

Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is an explanatory plan view of a steering handle portion,
FIG. 2 is an overall side view of the combine, and FIG. 3 is a plan view thereof. In the figure, (1) is a track frame on which a traveling crawler (2) is mounted, and (3) is a machine installed on the track frame (1). A stand, (4) a threshing unit which is a threshing machine which stretches a feed chain (5) on the left side and has a built-in handling cylinder (6) and a processing cylinder (7), and (8) a cutting blade (9) and A mowing section provided with a grain culm transport mechanism (10), etc., (11) is a hydraulic cylinder that moves the mowing section (8) up and down via a mowing frame (12), and (13) faces the end of a straw chain (14). A straw processing section, (15) a grain tank for carrying the grains from the threshing section (4) through a fryer (16), and (17) a grain for transporting the grains from the tank (15) outside the machine. Discharge auger,
(18) is a round steering handle (19) and a driver's seat (2)
An operation cabin provided with 0) and the like, and (21) is an engine provided below the operation cabin (18), is configured to continuously cut and thresh grain culm.

As shown in FIG. 4, the traveling crawler (2)
The transmission case (22) for driving the vehicle is a traveling hydraulic continuously variable transmission mechanism (25) which is a main transmission mechanism including a pair of a first hydraulic pump (23) and a first hydraulic motor (24).
And a turning hydraulic continuously variable transmission mechanism (28), which is a steering mechanism including a pair of second hydraulic pumps (26) and a second hydraulic motor (27), and an output of the engine (21). The first and second hydraulic pumps (23) (2) are mounted on the shaft (21a).
The input shaft (29) of 6) is interlockingly connected via a transmission belt (30) to drive these hydraulic pumps (23) and (26).

The auxiliary transmission mechanism (32) and the differential mechanism (3) are connected to the output shaft (31) of the first hydraulic motor (24).
3) The driving wheels (34) of the traveling crawler (2) are interlocked via 3). The differential mechanism (33) has a pair of symmetrical planetary gear mechanisms (35) and (35). The planetary gear mechanism (35) includes one sun gear (36) and three planetary gears (3) meshing on the outer periphery of the sun gear (36).
7) and a ring gear (38) meshing with these planetary gears (37).

The planetary gear (37) is rotatably supported on a carrier (41) of a carrier shaft (40) on a coaxial line with a sun gear shaft (39), and sandwiches the left and right sun gears (36) and (36). The left and right carriers (41) are opposed to each other, and the ring gear (38) has internal teeth (38a) meshing with each planetary gear (37), and is arranged on the same axis as the sun gear shaft (39). The shaft (40) is rotatably supported on the shaft (40).

A traveling hydraulic continuously variable transmission mechanism (2)
5) Controlling the forward / reverse rotation and rotation speed of the first hydraulic motor (24) by adjusting the angle change of the rotary swash plate of the first hydraulic pump (23), and the rotation output of the first hydraulic motor (24). From the transmission gear (42) of the output shaft (31) to each gear (4
3) A center gear (46) fixed to the sun gear shaft (39) via (44) (45) and the auxiliary transmission mechanism (32).
To rotate the sun gear (36). The auxiliary transmission mechanism (32) includes an auxiliary transmission shaft (47) having the gear (45) and a parking brake shaft (49) having a gear (48) meshing with the center gear (46). A pair of low-speed gears (50) and (48) and a medium-speed gear (5) are provided between the shaft (47) and the brake shaft (49).
1) (52) ・ Providing high-speed gears (53) and (54)
It is configured such that the switching between the low speed, the medium speed, and the high speed can be performed by sliding the gear (51) at the center position. is there). The brake shaft (49) is provided with a vehicle speed detection gear (55), and the gear (55)
A vehicle speed sensor (56) for detecting the vehicle speed from the number of revolutions is provided. It should be noted that the cutting P transmitting the rotational force to the cutting unit (8).
The transmission gear (42) of the output shaft (31) is meshed with the PTO input gear (58) of the TO shaft (57).

The first hydraulic motor (24) transmitted to the sun gear shaft (39) via the center gear (46).
Is transmitted to the carrier shaft (40) through the left and right planetary gear mechanisms (35), and the rotation transmitted to the carrier shaft (40) is transmitted to the pair of left and right reduction gears (6).
0) and (61) to the left and right wheel shafts (34a) of the left and right drive wheels (34), respectively.

Further, the hydraulic stepless speed change mechanism for turning (2)
8) The forward / reverse rotation of the second hydraulic motor (27) and the control of the rotation speed are performed by adjusting the angle change of the rotary swash plate of the second hydraulic pump (26), and the output shaft of the second hydraulic motor (27) is controlled. The rotational output is transmitted from the output gear of (62) to the input gears (65a) and (65b) of the turning input shaft (64) via the gear transmission mechanism (63), and the external teeth (3) of the right ring gear (38) are transmitted.
8b) directly and on the left ring gear (3
The external gear (38b) of (8) is transmitted through the reverse gear (67) of the reverse rotation shaft (66) so that the left and right ring gears (38) rotate at the same rotational speed when the second hydraulic motor (27) rotates forward. , The left gear (38) is rotated forward and the right gear (38) is rotated reversely.

When the driving of the first hydraulic motor (24) for driving is stopped while the driving of the second hydraulic motor (27) for turning is stopped and the left and right ring gears (38) are stationary. The rotation output from the first hydraulic motor (24) is transmitted from the center gear (46) to the left and right sun gears (36) at the same speed, and the planetary gears (37) and the carrier (41) of the left and right planetary gear mechanism (35) and the reduction gear. Gear (60)
(61) is transmitted to the left and right wheel sets (34a) at the same rotational speed in the same rotational direction in the left and right directions, so that the aircraft travels straight forward and backward. On the other hand, when the driving of the first hydraulic motor (24) for driving is stopped and the left and right sun gears (36) are stationary and fixed, the second hydraulic motor for turning (27) is driven forward and reverse to rotate the left and right sun gears (36). The planetary gear mechanism (35) rotates forward or backward,
In addition, the right planetary gear mechanism (35) rotates reversely or forwardly to make the driving direction of the left and right traveling crawlers (2) forward and backward, thereby causing the body to spin turn right or left on the spot.

When the first hydraulic motor (24) for driving is driven and the second hydraulic motor (27) for turning is driven to turn the body left and right, turning with a large turning radius is enabled. The turning radius is determined according to the speed of the left and right traveling crawlers (2).

As shown in FIGS. 5 to 13, the main transmission lever (68) connected to the hydraulic stepless transmission mechanism (25) for traveling and the hydraulic stepless transmission mechanism (28) for turning. And a steering handle (19) to be linked to the speed change and turning interlocking mechanism (69).
9) is a link mechanism (7) which is a traveling speed change and steering link system.
0) and a continuously variable transmission mechanism (2) for traveling and steering via (71).
5) The arm (7) which is the control lever of (28)
2) Linked to (73).

The interlocking mechanism (69) includes a rotating plate (75) for supporting the base bent portion (68a) of the main transmission lever (68) on the cylinder shaft (74) so as to be swingable right and left, and a body side. A fixed mounting plate (78) fixedly mounted on the frame (76) of the main body and supporting the rotating plate (75) rotatably back and forth via a first pivot (77) in the left-right direction; and the pivot (77). A) a speed change operation member (80) that is connected to a rotation plate (75) via a second pivot (79) in the front-rear direction orthogonal to the second direction and is provided rotatably around the shaft (79); A steering operation member (81) rotatably connected around an axis of the pivot (79), and a second pivot (79) of the speed change and steering operation members (80) (81).
Means that the operation output sections (80a) (81a) at the eccentric position are linked to the speed change and steering link mechanisms (70) (71).

The speed change and steering link mechanism (70) (7)
1) is the frame (7) at the rear of the interlocking mechanism (69).
6) a speed change arm (84) which is supported on the side via a swing cylinder shaft (83) outside the swing shaft (82), and turning output reversing means for fixing a base end to the swing shaft (82). Steering arm (8
5) a universal joint shaft (88) (89) connecting between each operation output shaft (86) (87) of the output section (80a) (81a) and each arm (84) (85); Dynamic axis (8
2) a gear output rotatably provided on a steering output arm (91) fixed to the right end and an intermediate shaft (94) attached to a fulcrum bearing (93) of a pivot (92) of the driving cabin (18). And a first swing arm (95) (96) for steering, the arms (84) (91), and a first swing arm (95).
(96) A universal joint type first rod (97) (98) for speed change and steering which connects the respective ends of each other, and a first swing arm (95) (96) provided on the intermediate shaft (94). Speed change and steering second swing arm (99) (1
00), a shift and steering cylinder shaft (103) (104) rotatably supported by a support shaft (102) mounted on a bearing plate (101) above the transmission case (22); 103) (104), a first swing arm (105) (106) having a base end fixed thereto, and the second swing arm (9).
9) A speed change and steering universal joint type second rod (107) (108) for connecting the distal ends of (100), and a second rocker having a base end fixed to the cylindrical shaft (103) (104). Moving arm (109) (110) and the control arm (7
2) a speed change operation member (80) including a speed change and steering universal joint type third rod (111) (112) for connecting the respective ends of (73) with each other, and centering on the first pivot (77);
Control arm (72) for running by the rotation of
And a steering and control arm (73) operated by rotation of a steering operation member (81) about the second pivot (79) during traveling to perform gear shifting and steering control. doing.

On the other hand, a gear (114) is provided on a handle operation shaft (113) at the lower end of the steering handle (19), and a sector gear (11) attached to the rear rotation shaft (115).
6) meshing the gear (114) with the steering shaft (117) disposed below the position of the main shift lever (68).
The first swing arm (118) and the rotating shaft (115)
A universal joint type steering first rod (12) serving as a steering link mechanism is provided between each of the distal ends of the output arm (119) and the output arm (119) having the base end fixed thereto.
0), and a second swing arm (121) integrated with the first swing arm (118) of the steering shaft (117),
The universal joint shaft (89) is connected to the front end of the universal joint type steering second rod (122) via the handle (1).
The steering operation member (81) is configured to rotate around the second pivot (79) by the rotation operation of (9).

A neutral positioning plate (123) is provided below the gear (114) of the handle operation shaft (113), and a projecting shaft (124) on the lower surface of the positioning plate (123) is provided.
To one end of a steering detection link (125), and a reduction arm shaft (12) disposed on the right side of the rotation shaft (115).
6) is provided with a first swing arm (127), and the shaft (128) of the first swing arm (127) is connected to the detection link (1).
25) The other end of the long hole (125a) is slidably connected to the other end of the deceleration arm (12) of the steering shaft (117).
9) and the second swing arm (13) of the reduction arm shaft (126).
0) is connected by a universal joint type first deceleration rod (131) which is a deceleration link mechanism, and the rightmost end deceleration transmission shaft (132) of the speed change operation member (80) and the second swing arm. The other end of (130) is connected by a universal joint type second deceleration rod (133), and the running handle (1
As the steering amount in 9) is increased, the second deceleration rod (133) is pulled downward to reduce the traveling speed. Further, the rotating plate (75) and the speed change operating member (80)
A spring (S1) is stretched between the steering handle (19).
Is returned to the straight traveling position and the detection link (125) is returned to the original position, the member (80) is returned by the spring (S1), and the traveling speed is returned to the original value by the steering handle (19). Make up.

The shifting and steering operation member (8)
0) (81) can be rotated around the axis.
9) and the universal joint (89a) of the steering arm (85) and the joint shaft (89) are positioned on the horizontal line (L1) in the front-rear direction, and the operation output shafts (86) (87) Joint part (88b) between the universal joint shaft (88) and the universal joint shaft (89)
(89b) and the first pivot (77) are connected to the line (L).
1) is located on a horizontal horizontal line (L2) orthogonal to the line (L2). Further, the universal joint (88a) between the transmission arm (84) and the joint shaft (88) and the joint (89a) are connected to the line (L2). ) And the left and right horizontal lines (L3) parallel to each other, and the joint (89a) is connected to the joint (88a).
As close to the maximum as possible, and when the main shift lever (68) and the steering handle (19) are held neutral,
Even if any one of these is operated, each operation member (80)
(81) is rotated only about the first and second pivots (77) and (79), and no operating force is applied to the joint shafts (88) and (89).

As shown in FIG. 10, when the operation member (80) is inclined forward and backward by an angle (α1) (α2) about the first pivot (77) by the forward / reverse operation of the main speed change lever (68). The speed change arm (84) is operated by pulling or pushing the joint shaft (88) to switch the traveling speed between forward and backward, and during this state as shown in FIG. 11 (when the main speed change lever (68) is other than neutral). ) To the steering wheel (1
When the operating member (81) is tilted up and down by an angle (β1) (β2) about the second pivot (79) in the turning operation of 9), the joint shaft (89) is pulled or pushed to pull the steering arm (8).
5) is operated to make a left and right turn of the body. That is, the joint shaft (89) moves on a substantially conical surface centered on the line (L1) even when the turning operation is performed when the main shift is in neutral, and the distance between the joint portions (89a) and (89b) changes. The steering arm (85) does not operate. The steering arm (85) operates when a turning operation is performed other than in the neutral position of the main shift, and the steering arm (85) operates in the front-rear direction when switching to forward / reverse travel.
The configuration is such that the rotation of the second hydraulic motor (27) is reversed in forward and reverse directions.

That is, the first hydraulic motor for traveling (24)
Assuming that the forward rotation of the motor is forward, the planetary gear mechanism (3) by the second hydraulic motor for turning (27) at the time of reverse rotation during reverse rotation.
The operation of 5) is reversed between forward and reverse. In order to match the turning direction of the body by operating the handle (19) between forward and reverse, the first hydraulic motor (24) is rotated in reverse (reverse). ), The swash plate angle of the second hydraulic pump (26) is switched to the opposite direction (first and second hydraulic pumps (23), (2)).
6) The rotation direction of the input shaft is constant), and the second hydraulic motor (2
The rotation of 7) is made to be in the opposite direction between the forward movement and the reverse movement.

That is, in this case, the operating member (80) at the time of the forward operation is inclined toward the angle (α1) forward from the neutral position, and the second rod (12) is rotated by the right rotation operation of the handle (19).
2) Pull the operation member (81) downward angle (β2)
Output part (81a) of the operating member (81) when tilted to the side
Is brought closer to the steering arm (85) side, and the steering arm (85) is rotated about the swing shaft (82) in a direction (counterclockwise in FIG. 6) away from the operating member (81). The control arm (73) is rotated downward via the first and second rods (98) (108) and the like, and the second hydraulic motor (27) for rotation is rotated forward. That is, the aircraft is turned right by forward movement (the speed of the traveling crawler (2) is large on the left side,
The right side is small).

In the above-described forward operation, the steering wheel (1
When the second rod (122) is pushed up by the left rotation operation of (9) and the operation member (81) is tilted to the upward angle (β1) side, the output portion (81a) of the operation member (81) is moved to the operation arm (85). ) Side, the steering arm (85) is rotated about the swing shaft (82) in a direction (clockwise in FIG. 6) approaching the operation member (81) side, and the control arm (73) is raised. And the second hydraulic motor (27) is rotated in the reverse direction. That is, the body is turned leftward by moving forward (the speed of the traveling crawler (2) is large on the right side and small on the left side).

Further, the operating member (80) at the time of the reverse operation is inclined toward the angle (α2) behind the neutral position, and
When the second rod (122) is pulled by the right rotation operation of 9) and the operation member (81) is inclined to the downward angle (β2) side, the output portion (81a) of the operation member (81) is moved to the steering arm (81). 85), the steering arm (85) is rotated about the swing shaft (82) in a direction (clockwise in FIG. 6) to approach the operation member (81), and the control arm (73) is rotated. By rotating upward, the second hydraulic motor (27) is reversely rotated. That is, the aircraft turns to the right in reverse (the speed of the traveling crawler (2) is large on the left side and small on the right side).
Let it.

Further, contrary to the above, at the time of reverse operation,
By turning the handle (19) to the left, the operation member (8
When tilting 1) toward the upward angle (β1), the output portion (81a) of the operating member (81) is brought closer to the operating member (81), and the steering arm (82) is pivoted about the swing shaft (82). 8
5) is rotated in a direction away from the operation member (81) (counterclockwise in FIG. 6), and the control arm (73) is rotated.
Is rotated downward to rotate the second hydraulic motor (27) forward. In other words, the aircraft is caused to make a reverse left turn (the speed of the traveling crawler (2) is high on the right side and low on the left side).

As described above, the turning operation of the steering arm (85) is performed in the reverse direction during the forward and backward turning operations, and the turning operation direction of the steering handle (19) in both the forward and backward directions. And the turning direction of the aircraft,
A steering operation member is constituted by a circular steering handle (19) which is rotated, and the rotation operation of the handle (19) performs a course correction, a direction change, and the like with the same driving feeling as a tractor or a rice transplanter, for example. And a link mechanism (70) (71) for mechanically connecting the steering operation member to the traveling speed change member or the steering member, and the link mechanism (7) is provided.
0) The operation and functions of (71) hardly deteriorate with time, so that the reliability of the steering operation can be easily improved.

As shown in FIG. 1, the detection link (125) provided on the steering handle (19) moves the first swing arm (127) in the same direction in either right or left turning operation from the neutral position. By rotating in the range of the angle (θ), the second deceleration rod (133) is always pulled,
When the operating member (80) at the time of the forward operation is inclined toward the angle (α1), the distance between the joints (88a) and (88b) is reduced, and the operating member (80) at the time of the reverse operation is moved to the angle (α).
2) When inclined to the side, the joints (88a) (88
b), the distance between them is increased, and the speed change arms (84) are respectively displaced toward the low speed side in the neutral direction to perform deceleration according to the turning amount.

Further, the first rods (97) (98) and the swing arm (95) for transmitting the shifting and steering operation forces.
The center of the universal joint (97a) (98a) of (96)
The driving cabin (18) can be turned forward without removing these operation systems when shifting and steering is kept neutral by matching the position of the rotation fulcrum shaft (92) of the driving cabin (18). It is configured to be.

As shown in FIGS. 4 and 14, the first and second hydraulic pumps (23) and (26) and the first and second hydraulic motors (24) and (27) are respectively connected to a loop hydraulic circuit (1).
34) The connection is made freely reversible through (135),
And the output shaft (31) of the second hydraulic motor (24) (27)
(62) A traveling and turning brake device (138) for stopping the traveling and holding straight ahead by keeping the output shafts (31) and (62) stationary by the operation of the solenoid valves (136) and (137).
(139) and the parking brake shaft (4
9) is provided with a parking brake device (140) for holding the brake shaft (49) stationary.

By the way, as shown in FIGS.
The pair of gears (114) and (116) for transmitting the steering output of the steering handle (19) to the speed change mechanism (28) are formed as non-circular non-constant speed gears. A long-diameter portion (114a) having a longer distance from the shaft (113) to the tooth portion protrudingly formed on a part of the circumference of the gear (114) of the operation shaft (113) than that transmitting the steering output at an irregular speed. At the same time, the shaft (11) is placed at the center of the circumference of the sector gear (116).
A short-diameter portion (116a) having a short distance from 5) to the tooth portion is formed by indentation, and the long-diameter portion (114a) and the short-diameter portion (116a) are connected to each other when the handle (19) is in the neutral position. As shown in line (A) of FIG.
When the steering wheel angle at the initial stage of the operation 9) is small, the steering output is transmitted to the control arm 73 more than the conventional constant speed gear, and the rising of the steering wheel 19 at the initial stage of the operation is increased. It is configured to perform a turn sensitively responding to the initial operation of (19).

19, a short-diameter portion (114b) in which the distance from the shaft (113) to the tooth portion is shorter than the other portion is formed on a part of the circumference of the gear (114). And a shaft (11) at the center of the circumference of the sector gear (116).
A long diameter portion (116b) having a long distance from 5) to the tooth portion is formed, and when the handle (19) is in the neutral position, the short diameter portion (114b) and the long diameter portion (116b) are connected to each other. As shown in line (B) of FIG.
The initial rise of the operation of 9) is made small, and the handle (19)
It is configured to perform a turn insensitive to the initial operation of.

As a result, for example, when the steering wheel angle is 3
Under the condition that the aircraft starts actual turning at 0 °, the steering angle becomes approximately 18 ° in the case of increasing the rising output in the initial stage of the operation, and approximately 40 in the case of decreasing the steering angle at the initial stage. When it becomes °, the actual turning can be started, and the turning work optimally adapted to the heat skill and the character of the operator can be made possible.

FIG. 18 corresponds to the steering wheel angle when the steering wheel (19) turns left or right.
The arm angle represents the swing angle of the control arm (73), and is a main shift lever (6) that is a shift operation member.
8) A first hydraulic pump (23) and a first hydraulic motor (1), which are traveling speed change members that transmit the driving force of the engine (21) to the traveling crawlers (2) (2), which are left and right traveling sections, by the traveling speed change operation of (8). 24) and a left / right traveling crawler (2) by a steering operation of a steering handle (19) as a steering operation member.
(2) The second steering member, which is a steering member that causes a difference in the driving speed
In a mobile agricultural machine provided with a hydraulic pump (26) and a second hydraulic motor (27), a gear (114) and a sector gear (116), which are non-uniform motion members, are provided on a steering handle (19).
The second hydraulic pump (26) and the second hydraulic motor (27) are connected via a steering wheel (19).
During the harvesting (agriculture) operation in which the turning control amounts of the hydraulic pump (26) and the second hydraulic motor (27) are changed along a curve to move along an uncut cereal culm row (crop) row or ridge, the left and right traveling crawlers ( 2) Even if the slip ratio of (2) differs depending on the properties of the field (wet fields, dry fields, mud, sand), the operation amount and turning operation of the steering handle (19) match the operator's driving sensation and are insensitive. Problems such as turning delay due to turning or meandering running due to excessive turning are eliminated, and driving operability such as course correction during harvesting can be improved.

The second hydraulic pump (26) and the second hydraulic motor (2) are driven by the steering handle (19) in a substantially constant range centered on the straight traveling position of the steering handle (19).
7) The turning control amount is changed in a curve, the turning control amount outside the above range is changed linearly, and a large turning radius such as path correction during harvesting (agriculture) work along uncut culm (crop) rows or ridges is performed. In other words, when moving in the field at high speed, while avoiding turning delay or meandering, etc., and at the time of a large turning radius such as direction change (spin turn operation) at the field headland, that is, when moving in the field at low speed The steering handle (19) can be operated with the conventional driving feeling, and the driving operability such as harvesting at a high speed and turning at a low speed can be improved. The change rate of the swing control amount of the second hydraulic pump (26) and the second hydraulic motor (27) by the steering handle (19) in the substantially constant range is larger than the change rate of the swing control amount outside the range. And not mowed It is possible to quickly adjust the course (joining) during harvesting work along the culm row or ridge, prevent turning delay and speed up the harvesting work, etc., and focus on the straight traveling position of the steering handle (19). The second hydraulic pump (2) using the steering handle (19) in a substantially constant range
6) the change rate of the swing control amount of the second hydraulic motor (27) is smaller than the change rate of the swing control amount outside the range;
Correction of the course (harvesting) during harvesting in a field where the traveling crawler (2) is less slipped can be performed properly with the same driving feeling as before, so that meandering traveling can be prevented and the harvesting speed can be increased. Make up.

Further, as shown in FIG. 20, when the steering handle (19) in the straight traveling position is rotated leftward (rightward) by about 15 degrees, the shaft (128) moves in the elongated hole (125a). The first deceleration rod (131) by the spring (S1)
Is maintained at the same position as the straight running, and each gear (11
4) The first steering rod (120) pushes (pulls) through (116) and turns left (right) by the steering output of the second hydraulic pump (26) and the motor (27). . At this time, the amount of deceleration of the traveling crawler (2) inside the turning is substantially equal to the amount of acceleration of the traveling crawler (2) outside the turning, and the center speed of the machine is maintained at substantially the same speed as the straight traveling. Further, when the steering handle (19) is rotated by 15 degrees or more from the straight traveling position, the first deceleration rod (1) is opposed to the spring (S1).
31) is pulled in both the left turn and the right turn to decelerate, decelerate the traveling speed change output of the first hydraulic pump (23) and the motor (24), and move the left and right traveling crawler (2).
(2) Rotate in the same direction to advance (or reverse)
The left and right traveling crawlers (2) perform a brake turn operation of turning left (rightward) by a traveling speed difference in the same direction. Further, when the steering handle (19) is rotated by about 135 degrees, the center speed of the body is reduced to about one-fourth of the straight traveling, and the traveling crawler (2) inside the turning is driven to rotate in reverse, and the traveling crawler inside the turning is driven. A spin turn operation in which the aircraft turns around (2) is performed. As shown in FIG. 18, the steering wheel (19) is rotated left or right by rotating the steering wheel (19) in the range of 0 to 135 degrees. A right turn operation is performed to correct the alignment path moving along the uncut culm row in a range of rotation of the handle (19) of 15 degrees left and right around the straight traveling position while maintaining the traveling speed when traveling straight. In addition to the above, a spin-turn operation of turning the body on the field headland and moving to the next work step by turning the handle (19) left and right 135 degrees from the straight traveling position,
The vehicle is configured to automatically decelerate to a traveling speed of about one-fourth when traveling straight ahead.

As is apparent from the above description, the aligning position, the brake turn position, and the spin turn position are provided within the range of the steering handle (19) in a straight line or the maximum steering range, and the aligning steering during the harvesting operation (uncutting). Course correction for culm row)
, Brake turn steering, and spin turn steering (turning to the next work process) on the headland on the field, using the steering handle (1).
It can be performed by the continuous operation of 9), the steering operation can be performed with one hand only by setting the operation angle of the steering handle (19), and the other hand can be used for other direction changes such as raising and lowering the harvesting section (8) which is a farm work section It is possible to improve the combined operability to perform the accompanying operations at the same time and to perform the steering operation and other work operations at substantially the same time.The alignment position for turning while maintaining the traveling speed when traveling straight,
A brake-turn position is formed between the spin-turn positions for reversing the traveling portion (2) inside the turn, and an intermediate brake-turn operation between the alignment turning operation with a large turning radius and the spin-turn operation with a small turning radius. The sharp turning angle is prevented by interposing the steering wheel, the maximum turning angle in one direction of the steering handle (19) is set to about 135 degrees, and the turning angle of the steering handle (19) is zero to about 15 degrees. Is set at the alignment position, the operator can turn the steering handle (19) continuously with one hand to perform a spin-turn operation at 135 ° rotation to perform a direction change of the aircraft on the field headland,
Also, the configuration is such that the setting operation can be properly performed by gentle turning of the steering handle (19) by about 15 degrees in response to gentle bending of the crop row or the like.

Further, as shown in FIG. 21, the sub-shift is maintained at a standard speed (1.5 meters per second), and the steering wheel (1
When 9) was rotated 90 degrees, the turning radius of the aircraft was kept substantially constant even if the main transmission output was changed to high speed and two thirds and one third by operating the main transmission lever (68). In this state, only the turning speed (aircraft center speed) changes.

FIG. 22 shows the steering handle (1).
9) A steering lever (141) is provided in place of the steering lever (141), and the steering lever (141) is mounted to be swingable left and right around an axis (142), and is fixed to a base of the steering lever (141). (143a) and the handle operation shaft (11
3) The bevel gear (143b) fixed to the upper end is meshed, and the operating shaft (113) is rotated forward or backward by the left and right swing of the steering lever (141), and the link mechanisms (70) and (71) are similar to the above. Is operated to control the steering, and a steering lever (141) for swinging operation constitutes a steering operation member. It is configured to allow conversion.

Further, as shown in FIG. 23, a speed change actuator (144) and a steering actuator (145) formed by, for example, an electric motor or a hydraulic cylinder are provided, and the first and second stepless speed change mechanisms (25) and (28) are provided. The actuators (144) and (145) are connected to control levers (72) and (73) forming trunnions provided on the second hydraulic pumps (23) and (26), and the shift operation position of the main shift lever (68) is changed. A potentiometer-type main speed change sensor (146) for detection and the lever (6
8) a changeover switch type forward / backward sensor (147) for detecting forward or backward operation, a potentiometer type steering handle sensor (148) for detecting a rotational operation position of the steering handle (19), and a rotation direction of the handle. (Left or right) changeover switch type left / right rotation sensor (14
9), a switch-type auxiliary shift sensor (150) for detecting an auxiliary shift operation position of the auxiliary shift mechanism (32), and a potentiometer type shift position sensor (151) for detecting a traveling shift position of the shift control lever (72). ), A potentiometer type turning position sensor (152) for detecting a turning shift position of the turning control lever (73), and a pickup type vehicle speed sensor (153) for detecting a running speed of the running crawler (1). Each sensor (14) is sent to a controller (154) formed by
6) to (153) and each actuator (144)
(145) is electrically connected. Then, the above link mechanisms (70) and (71) are omitted and, similarly to the above, based on the operation of the steering handle (19) and the main shift lever (68), via the sensors (146) to (153). The actuator controls the actuators (144) and (145) to operate the control levers (72) and (73) to perform various operations such as traveling speed change and left and right turning, and a steering handle (a steering operation member). 19) is electrically connected to the first hydraulic pump (23) and the first hydraulic motor (24) as the traveling transmission member or the second hydraulic pump (26) and the second hydraulic motor (27) as the steering member. Controller (15
4) is provided so that the steering control function can be easily made multifunctional and the manufacturing cost can be easily reduced.

[0049]

As is apparent from the above embodiments, the present invention provides a traveling system in which the driving force of the engine (21) is transmitted to the left and right traveling units (2) and (2) by the traveling speed change operation of the speed change operation member (68). The speed change members (23) and (24) and the steering members (26) and (27) that cause a difference in the driving speed of the left and right traveling units (2) and (2) by the steering operation of the steering operation member (19) are provided. In the mobile agricultural machine, the steering member (2) is connected to the steering operation member (19) via the non-uniform motion members (114) and (116).
6) (27) is connected so that the turning control amount of the steering members (26) and (27) by the steering operation member (19) is changed in a curved line, and moves along a crop row or a row. During the agricultural work, even if the slip ratios of the left and right traveling units (2) and (2) differ depending on the properties of the field, the operation amount and the turning operation of the steering operation member (19) can be made to match the driving feeling of the operator. In addition, it is possible to eliminate problems such as turning delay due to insensitive turning or meandering running due to excessive turning, and to easily improve driving operability such as course correction during agricultural work.

Further, the turning control amount of the steering members (26) and (27) by the steering operation member (19) in a substantially constant range around the straight traveling position of the steering operation member (19) is changed in a curved line. It is configured so that the turning control amount outside the range is changed linearly.When the turning radius is large, such as when correcting the course during agricultural work along the crop row or ridge, that is, when moving the field at high speed, turning delay or meandering In addition to being able to easily prevent traveling and the like, when the turning radius is large, such as a direction change (spin turn operation) at the field headland, that is, when moving through the field at a low speed, the steering operation member (1) has a conventional driving feeling.
9), and it is possible to easily improve driving operability such as agricultural work at high speed and turning at low speed.

Further, the change rate of the turning control amount of the steering members (26) and (27) by the steering operation member (19) in a substantially constant range around the straight traveling position of the steering operation member (19) is as described above. It is configured to be larger than the rate of change of the turning control amount outside the range, so that it is possible to promptly correct the course (alignment) during agricultural work along crop rows or ridges, to prevent turning delay and farm work. It is possible to easily increase the speed.

The rate of change of the turning control amounts of the steering members (26) and (27) by the steering operation member (19) in a substantially constant range around the straight traveling position of the steering operation member (19) is as described above. It is configured to be smaller than the change rate of the out-of-range turning control amount, so that the course correction (alignment) during farm work in a field where the traveling part (2) has a small slip is appropriate with the same driving feeling as before. This makes it possible to easily prevent meandering traveling and increase the speed of agricultural work.

Further, the alignment position, the brake turn position and the spin turn position are provided within the range of the steering operation member (19) in a straight line or the maximum steering range, and the alignment operation during the agricultural work and the brake turn operation are performed. Direction and spin turn steering at the field headland can be performed by continuous operation of the steering operation member (19), and the steering operation can be performed with one hand only by setting the operation angle of the steering operation member (19). With the other hand, other operations such as raising and lowering the agricultural working unit can be performed at the same time, and it is possible to easily improve the composite operability in which the steering operation and other agricultural working operations are performed substantially simultaneously.

Further, a brake turn position is formed between an alignment position for turning while maintaining the running speed when traveling straight and a spin turn position for reversing the running portion (2) inside the turn. By intervening an intermediate brake-turn operation between the large-radius alignment steering operation and the small-turn radius spin-turn operation, a sudden change in the turning angle can be prevented.

The maximum turning angle in one direction of the steering operation member (19) is set to about 135 degrees, and the range of the cutting angle of the steering operation member (19) from zero to about 15 degrees is set as the alignment position. The operator can easily change the direction of the aircraft on the field headland by performing a spin-turn operation at a 135-degree rotation in which the steering operation member (19) is continuously rotated with one hand, and a crop row or the like. The steering operation member (1
The alignment operation can be properly performed by the gentle turning by the rotation of about 15 degrees in 9).

Further, a steering operation member is constituted by a rotating steering operation member (19) which is rotated, and the rotation operation of the operation member (19) has the same driving feeling as a tractor or a rice transplanter, for example. It can perform course correction and direction change.

A steering lever (141) for swinging operation
The steering operation member is constituted by this, and it is possible to perform the course correction and the direction change in either the left or the right only by swinging the lever (141) in, for example, the left and right directions.

Further, link mechanisms (70) and (7) for mechanically connecting the steering operation member to the traveling speed change member or the steering member.
1) provided with the link mechanism (70) (71)
The operation and function of do not almost decrease over time,
It is possible to easily improve the reliability of the steering operation and the like.

A controller (154) for electrically connecting the steering operation member (19) to the traveling speed change members (23) (24) or the steering members (26) (27) is provided. This makes it easy to increase the number of control functions and reduce manufacturing costs.

[Brief description of the drawings]

FIG. 1 is an explanatory plan view of a steering handle portion.

FIG. 2 is an overall side view of the combine.

FIG. 3 is an overall plan view of the combine.

FIG. 4 is an explanatory diagram of a mission drive system.

FIG. 5 is an explanatory perspective view of an operation system of a seed shift lever and a steering handle.

FIG. 6 is an explanatory side view of a traveling shift and steering operation unit.

FIG. 7 is an explanatory front view of an operation unit.

FIG. 8 is an explanatory plan view of an operation unit.

FIG. 9 is an explanatory side view of the operation unit.

FIG. 10 is an explanatory side view of the operation member.

FIG. 11 is an explanatory front view of an operation member.

FIG. 12 is an explanatory plan view of an operation member.

FIG. 13 is an explanatory plan view of a link mechanism.

FIG. 14 is a hydraulic circuit diagram.

FIG. 15 is an explanatory plan view of a variable speed gear.

FIG. 16 is an explanatory perspective view showing a neutrally coupled state of the unequal-speed gear.

FIG. 17 is a perspective explanatory view showing a state in which the unequal-speed gear is swivel-coupled.

FIG. 18 is a diagram showing a relationship between a steering wheel angle and a control arm angle.

FIG. 19 is another explanatory view of the variable speed gear.

FIG. 20 is a diagram showing the relationship between steering wheel operation and traveling deceleration.

FIG. 21 is a diagram showing a relationship between main speed changeover and traveling deceleration.

FIG. 22 is an explanatory view provided with a steering lever.

FIG. 23 is an explanatory diagram provided with a controller.

[Explanation of symbols]

 (2) Travel crawler (travel section) (19) Steering handle (steering operation member) (21) Engine (23) First hydraulic pump (travel transmission member) (24) First hydraulic motor (travel transmission member) ( 26) Second hydraulic pump (steering member) (27) Second hydraulic motor (steering member) (114) Gear (non-uniform motion member) (116) Sector gear (non-uniform motion member) (70) (71) ) Link mechanism (141) Steering lever (154) Controller

Claims (11)

[Claims] 1. A difference between a driving speed of a left and right traveling unit by a steering operation of a steering transmission member and a traveling transmission member that transmits a driving force of an engine to a left and right traveling unit by a traveling shift operation of a transmission operation member. In a mobile agricultural machine provided with a steering member, a steering member is connected to the steering operation member via a non-uniform motion member, and a turning control amount of the steering member by the steering operation member is changed in a curve. Mobile agricultural machine characterized by the following. 2. The method according to claim 1, wherein a turning control amount of the steering member by the steering operation member in a substantially constant range centered on a straight traveling position of the steering operation member is changed in a curved line, and a turning control amount outside the range is changed linearly. The mobile agricultural machine according to claim 1, wherein the mobile agricultural machine is configured. 3. The rate of change of the turning control amount of the steering member by the steering operating member in a substantially constant range centered on the straight traveling position of the steering operating member is larger than the rate of change of the turning control amount outside the range. 2. The apparatus according to claim 1, wherein
A mobile agricultural machine according to item 1. 4. A change rate of a turning control amount of the steering member by the steering operation member in a substantially constant range centered on the straight traveling position of the steering operation member is smaller than a change rate of the turning control amount outside the range. 2. The apparatus according to claim 1, wherein
A mobile agricultural machine according to item 1. 5. The mobile agricultural machine according to claim 1, wherein the engaging position, the brake turn position, and the spin turn position are provided within a range of the steering operation member from going straight to the maximum steering position. 6. A brake turn position is formed between a joint position for turning while maintaining a running speed in a straight traveling direction and a spin turn position for reversing a running portion inside the turn. 5. The mobile agricultural machine according to 5. 7. A maximum steering angle in one direction of the steering operation member is about 135 degrees, and a steering angle of the steering operation member is zero to about one.
The mobile agricultural machine according to claim 5, wherein a range of 5 degrees is set as the alignment position. 8. A steering operation member comprising a round steering handle which is operated to rotate.
7. The mobile agricultural machine according to 7. 9. The mobile agricultural machine according to claim 1, wherein a steering operation member is constituted by a steering lever that swings. 10. The mobile agricultural machine according to claim 1, further comprising a link mechanism for mechanically connecting the steering operation member to the traveling speed change member or the steering member. 11. The mobile agricultural machine according to claim 1, further comprising a controller for electrically connecting the steering operation member to the traveling speed change member or the steering member.