JP2000025642A - Moving agricultural machine - Google Patents
Moving agricultural machineInfo
- Publication number
- JP2000025642A JP2000025642A JP10211948A JP21194898A JP2000025642A JP 2000025642 A JP2000025642 A JP 2000025642A JP 10211948 A JP10211948 A JP 10211948A JP 21194898 A JP21194898 A JP 21194898A JP 2000025642 A JP2000025642 A JP 2000025642A
- Authority
- JP
- Japan
- Prior art keywords
- steering
- hydraulic pump
- speed
- hydraulic
- hydraulic motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000007935 neutral effect Effects 0.000 claims abstract description 56
- 230000008859 change Effects 0.000 claims description 45
- 230000005540 biological transmission Effects 0.000 abstract description 36
- 230000007246 mechanism Effects 0.000 description 33
- 238000010586 diagram Methods 0.000 description 15
- 238000003306 harvesting Methods 0.000 description 7
- 230000009467 reduction Effects 0.000 description 6
- 238000001514 detection method Methods 0.000 description 4
- 239000000969 carrier Substances 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 238000009987 spinning Methods 0.000 description 2
- 239000010902 straw Substances 0.000 description 2
- 101000872823 Xenopus laevis Probable histone deacetylase 1-A Proteins 0.000 description 1
- 239000006096 absorbing agent Substances 0.000 description 1
- 230000003213 activating effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006386 neutralization reaction Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000007723 transport mechanism Effects 0.000 description 1
Landscapes
- Motor Power Transmission Devices (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
- Control Of Fluid Gearings (AREA)
- Guiding Agricultural Machines (AREA)
- Harvester Elements (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は例えば未刈り穀稈を
連続的に刈取って脱穀するコンバインなどの移動農機に
関する。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】[0002]
【発明が解決しようとする課題】従来、左右走行クロー
ラを駆動する第１油圧ポンプ及び第１油圧モータと、左
右走行クローラの駆動速度に差を生じさせる第２油圧ポ
ンプ及び第２油圧モータを設け、第１油圧ポンプに主変
速レバーを機械的に連結させ、第２油圧ポンプに操向ハ
ンドルを機械的に連結させ、第１及び第２油圧ポンプを
関連させて作動させる技術を開発したが、第１油圧ポン
プの主変速レバー連結機構と、第２油圧ポンプの操向ハ
ンドル連結機構を相互に連結させる機構が必要であり、
また副変速が中立のときに操向ハンドルを操作しても第
２油圧ポンプの操向動作を阻止するロック機構が必要で
あり、組立時の調整作業並びに構成部品の管理などの簡
略化を容易に行い得ず、取扱い作業性の向上並びに走行
変速及び操向性能の多様化などを容易に図り得ない等の
問題がある。Conventionally, a first hydraulic pump and a first hydraulic motor for driving the left and right traveling crawlers and a second hydraulic pump and a second hydraulic motor for producing a difference in the driving speed of the left and right traveling crawlers are provided. Developed a technique for mechanically connecting the main shift lever to the first hydraulic pump, mechanically connecting the steering handle to the second hydraulic pump, and operating the first and second hydraulic pumps in association with each other. A mechanism for interconnecting the main transmission lever coupling mechanism of the first hydraulic pump and the steering handle coupling mechanism of the second hydraulic pump is required,
In addition, a lock mechanism is required to prevent the steering operation of the second hydraulic pump even when the steering handle is operated when the subtransmission is in a neutral position, which facilitates adjustment work during assembly and simplification of management of components. And there is a problem that it is not easy to improve the handling workability and diversify the traveling speed and the steering performance.
【０００３】[0003]
【課題を解決するための手段】然るに、本発明は、左右
走行クローラを駆動する第１油圧ポンプ及び第１油圧モ
ータと、左右走行クローラの駆動速度に差を生じさせる
第２油圧ポンプ及び第２油圧モータを設ける移動農機に
おいて、操向ハンドル操作量を検出して第２油圧ポンプ
の出力制御を行う操向アクチュエータを設け、副変速の
中立を検出して第２油圧ポンプ及び第２油圧モータによ
る操向動作を中止させるように構成したもので、例えば
電動モータまたは油圧シリンダなどの操向アクチュエー
タを作動させるコントローラに操向ハンドル操作量を入
力させて操向制御を行い得、副変速機構の中立によって
第２油圧モータの操向動作を禁止させるロック機構を不
要にし、組立調整作業及び部品管理の簡略化などを容易
に行い得、取扱い作業性の向上並びに走行変速及び操向
性能の多様化などを容易に図り得るものである。SUMMARY OF THE INVENTION The present invention provides a first hydraulic pump and a first hydraulic motor for driving the left and right traveling crawlers, and a second hydraulic pump and a second hydraulic pump for producing a difference in the driving speed of the left and right traveling crawlers. In a mobile agricultural machine provided with a hydraulic motor, a steering actuator for detecting the steering wheel operation amount and controlling the output of the second hydraulic pump is provided. The steering operation is interrupted. For example, the controller that operates a steering actuator such as an electric motor or a hydraulic cylinder can input a steering handle operation amount to perform steering control, and can perform neutral control of a subtransmission mechanism. This eliminates the need for a lock mechanism that inhibits the steering operation of the second hydraulic motor, and facilitates assembly adjustment work and simplified parts management, etc. Business improvement and travel gear and diversification of steering performance and is intended to obtain aim ease.
【０００４】また、副変速の中立を検出して第２油圧ポ
ンプを中立に維持させるように構成したもので、副変速
の中立によって操向アクチュエータの動作を制限するだ
けで副変速中立時の旋回動作を阻止し得るものである。The second hydraulic pump is configured to maintain the neutral position by detecting the neutral position of the sub-shift. The neutral operation of the steering actuator is limited only by the neutral position of the sub-shift, and the turning at the time of the neutral position of the sub-shift is performed. Operation can be prevented.
【０００５】また、副変速の中立を検出して第２油圧モ
ータの出力をオフにする旋回クラッチを設けたもので、
第２油圧モータによる走行クローラの旋回駆動力を旋回
クラッチによって入切して副変速中立時の旋回動作を阻
止し得るものである。In addition, a turning clutch is provided which detects neutral of the sub-shift and turns off the output of the second hydraulic motor.
The turning drive force of the traveling crawler by the second hydraulic motor is turned on / off by the turning clutch to prevent the turning operation when the sub-shift is in neutral.
【０００６】また、主変速が高速のときよりも低速のと
きの操向ハンドル操作量に対する第２油圧ポンプ制御量
の割合が大きくなるように構成したもので、第２油圧ポ
ンプ出力が低効率になる低速域で車速が遅いときであっ
ても操向ハンドルの少量操作によって適正な旋回動作を
容易に行わせ得、操向ハンドルの操作量と走行クローラ
の旋回半径を容易に一致させ得るものである。Further, the ratio of the control amount of the second hydraulic pump to the operation amount of the steering handle when the main speed is low is higher than that when the main speed is high, so that the output of the second hydraulic pump is low. Even when the vehicle speed is low in the low speed range, a proper turning operation can be easily performed by a small amount of operation of the steering wheel, and the operation amount of the steering wheel and the turning radius of the traveling crawler can be easily matched. is there.
【０００７】また、走行速度が遅いときの第２油圧ポン
プの操向制御を敏感に行わせるように構成したもので、
主変速全域並びに操向操作全域において操向ハンドル操
作量と走行クローラ旋回半径を容易に一致させ得、操向
操作性及び操向機能の向上を容易に図り得るものであ
る。The steering control of the second hydraulic pump when the traveling speed is low is sensitively performed.
The steering wheel operation amount and the traveling crawler turning radius can be easily matched in the entire main shift range and the entire steering operation range, and the steering operability and the steering function can be easily improved.
【０００８】また、主変速の中立を検出して第２油圧ポ
ンプを中立に維持させるように構成したもので、停止時
の走行クローラの旋回動作を阻止し乍ら低速域の旋回性
能を容易に向上させ得、操向ハンドルの操作性向上並び
に運転操作の簡略化などを容易に図り得るものである。The second hydraulic pump is configured to maintain the neutral state by detecting the neutral state of the main shift, thereby facilitating the turning performance in the low speed range while preventing the traveling crawler from rotating when stopped. It is possible to easily improve the operability of the steering wheel and simplify the driving operation.
【０００９】また、操向ハンドルの切れ角度が小さいと
きに操向制御出力の変化が大きくなるように構成したも
ので、畦または作物列に走行進路を一致させる条合せ等
の微少進路修正を容易に行い得、農作業中の直進走行時
の操向性能の向上などを容易に図り得るものである。Further, the steering control output is designed to have a large change when the steering angle of the steering wheel is small, so that it is easy to correct a fine course such as alignment to match a running course with a ridge or a row of crops. It is possible to easily improve the steering performance when traveling straight during farm work.
【００１０】また、操向ハンドルの切れ角度が小さいと
きに敏感な操向制御を行い、操向ハンドルの切れ角度が
大きいときに鈍感な操向制御を行うように構成したもの
で、直進作業時の進路修正を適正に行い得、また操向ハ
ンドルの誤操作による過剰進路修正を容易に防止し得、
高速走行での方向転換などを安定良く行い得るものであ
る。[0010] The present invention is also configured to perform sensitive steering control when the steering angle of the steering wheel is small, and perform insensitive steering control when the steering angle of the steering wheel is large. Can correct the course properly, and can easily prevent excessive course correction due to erroneous operation of the steering wheel,
It can stably change directions at high speeds.
【００１１】また、操向ハンドルの操作量に対して第２
油圧ポンプの制御出力を非直線的に変化させるように構
成したもので、第２油圧ポンプの特性または農作業内容
などに適応させた操向動作を容易に設定し得、操向機能
並びに取扱い操作性の向上などを容易に図り得るもので
ある。In addition, the operation amount of the steering handle
The control output of the hydraulic pump is changed in a non-linear manner, and the steering operation adapted to the characteristics of the second hydraulic pump or the contents of agricultural work can be easily set, and the steering function and handling operability can be easily set. And the like can be easily improved.
【００１２】[0012]
【発明の実施の形態】以下、本発明の実施例を図面に基
づいて詳述する。図１は全体側面図、図２は同平面図で
あり、図中（１）は走行クローラ（２）を装設するトラ
ックフレーム、（３）は前記トラックフレーム（１）に
架設する機台、（４）はフィードチェン（５）を左側に
張架し扱胴（６）及び処理胴（７）を内蔵している脱穀
部、（８）は刈刃（９）及び穀稈搬送機構（１０）など
を備える刈取部、（１１）は刈取フレーム（１２）を介
して刈取部（８）を昇降させる油圧昇降シリンダ、（１
３）は排藁チェン（１４）終端を臨ませる排藁処理部、
（１５）は脱穀部（４）からの穀粒を揚穀筒（１６）を
介して搬入する穀物タンク、（１７）は前記タンク（１
５）の穀粒を機外に搬出する排出オーガ、（１８）は丸
形操向ハンドル（１９）及び運転席（２０）などを備え
る運転キャビン、（２１）は運転キャビン（１８）下方
に設けるエンジンであり、連続的に穀稈を刈取って脱穀
するように構成している。Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is an overall side view, and FIG. 2 is a plan view thereof, wherein (1) is a track frame on which a traveling crawler (2) is mounted, (3) is a machine frame installed on the track frame (1), (4) a threshing unit in which a feed chain (5) is stretched to the left and a handling drum (6) and a processing drum (7) are built in; (8) is a cutting blade (9) and a grain culm transport mechanism (10) ), And (11) a hydraulic lifting cylinder that raises and lowers the reaping unit (8) via the reaping frame (12).
3) a straw processing unit that faces the end of the straw chain (14);
(15) is a grain tank for carrying the grains from the threshing unit (4) via a fryer (16), and (17) is a grain tank (1).
5) A discharge auger for carrying out grains outside the machine, (18) an operation cabin provided with a round steering handle (19) and a driver's seat (20), and (21) provided below the operation cabin (18). It is an engine and is configured to continuously cut and thresh grain culms.
【００１３】さらに、図３、図４に示す如く、前記走行
クローラ（２）を駆動するミッションケース（２２）上
面に、１対の第１油圧ポンプ（２３）及び第１油圧モー
タ（２４）からなる主変速機構である走行用の油圧式無
段変速機構（２５）と、１対の第２油圧ポンプ（２６）
及び第２油圧モータ（２７）からなる操向機構である旋
回用の油圧式無段変速機構（２８）を並設させ、前記エ
ンジン（２１）の出力軸（２１ａ）駆動力を変速及び操
向用の第１及び第２油圧ポンプ（２３）（２６）の入力
軸（２９）にカウンタケース（３０）を介してベルト伝
動させ、各油圧ポンプ（２３）（２６）を駆動するよう
に構成している。Further, as shown in FIGS. 3 and 4, a pair of a first hydraulic pump (23) and a first hydraulic motor (24) are provided on the upper surface of a transmission case (22) for driving the traveling crawler (2). A traveling hydraulic continuously variable transmission mechanism (25) as a main transmission mechanism, and a pair of second hydraulic pumps (26).
And a turning hydraulic continuously variable transmission mechanism (28), which is a steering mechanism including a second hydraulic motor (27), is arranged side by side to shift and steer the driving force of the output shaft (21a) of the engine (21). The first and second hydraulic pumps (23) and (26) are driven by an input shaft (29) via a counter case (30) with a belt to drive each of the hydraulic pumps (23) and (26). ing.
【００１４】そして、前記第１油圧モータ（２４）の出
力軸（３１）に、副変速機構（３２）及び差動機構（３
３）を介し、左右走行クローラ（２）（２）の駆動輪
（３４）（３４）を連動連結させるもので、前記差動機
構（３３）は左右対称の１対の遊星ギヤ機構（３５）
（３５）を有する。前記遊星ギヤ機構（３５）は１つの
サンギヤ（３６）と、該サンギヤ（３６）の外周で噛合
う３つのプラネタリギヤ（３７）…と、各プラネタリギ
ヤ（３７）…に噛合うリングギヤ（３８）などで形成し
ている。An output shaft (31) of the first hydraulic motor (24) is provided with an auxiliary transmission mechanism (32) and a differential mechanism (3).
3) The driving wheels (34) and (34) of the left and right traveling crawlers (2) and (2) are interlockingly connected via the 3), and the differential mechanism (33) is a pair of symmetric planetary gear mechanisms (35).
(35). The planetary gear mechanism (35) includes one sun gear (36), three planetary gears (37) meshing with the outer periphery of the sun gear (36), and a ring gear (38) meshing with each planetary gear (37). Has formed.
【００１５】また、前記各プラネタリギヤ（３７）…
は、サンギヤ軸（３９）と同軸線上とのキャリヤ軸（４
０）のキャリヤ（４１）にそれぞれ回転自在に軸支さ
せ、左右のサンギヤ（３６）（３６）を挾んで左右のキ
ャリヤ（４１）を対向配置させると共に、前記リングギ
ヤ（３８）は、各プラネタリギヤ（３７）に噛み合う内
歯を有し、サンギヤ軸（３９）と同一軸芯上のキャリヤ
軸（４０）に回転自在に軸支させている。Each of the planetary gears (37) ...
Is the carrier shaft (4) coaxial with the sun gear shaft (39).
0) are rotatably supported on the respective carriers (41), and the left and right carriers (41) are disposed opposite each other with the left and right sun gears (36) and (36) interposed therebetween, and the ring gear (38) is connected to each planetary gear ( 37), and is rotatably supported by a carrier shaft (40) coaxial with the sun gear shaft (39).
【００１６】また、走行用の油圧式無段変速機構（２
５）は、第１油圧ポンプ（２３）の回転斜板の角度変更
調節により第１油圧モータ（２４）の正逆回転と回転数
の制御を行うもので、第１油圧モータ（２４）の回転出
力を出力軸（３１）の伝達ギヤ（４２）から、各ギヤ
（４３）（４４）（４５）及び副変速機構（３２）を介
し、サンギヤ軸（３９）に固定したセンタギヤ（４６）
に伝達し、サンギヤ（３６）を回転するように構成して
いる。前記副変速機構（３２）は、前記ギヤ（４５）を
有する副変速軸（４７）と、前記センタギヤ（４６）に
噛合うギヤ（４８）を有する駐車ブレーキ軸（４９）と
を備え、副変速軸（４７）とブレーキ軸（４９）間に、
低速用ギヤ（５０）（４８）及び中速用ギヤ（５１）
（５２）及び高速用ギヤ（５３）（５４）を設け、中央
位置の副変速切換用ギヤ（５１）のスライダ摺動操作に
よって副変速の低速と中速と高速の切換を行う。また、
副変速の低速と中速の間及び中速と高速の間には副変速
中立（出力オフ）を有する。なお、刈取部（８）に回転
力を伝達する刈取ＰＴＯ軸（５５）のＰＴＯ入力ギヤ
（５６）に、前記出力軸（３１）の伝達ギヤ（４２）を
噛合連結させている。A traveling hydraulic continuously variable transmission mechanism (2)
5) The forward / reverse rotation of the first hydraulic motor (24) and the control of the number of rotations are performed by adjusting the angle change of the rotary swash plate of the first hydraulic pump (23), and the rotation of the first hydraulic motor (24) is performed. An output is transmitted from a transmission gear (42) of an output shaft (31) to a center gear (46) fixed to a sun gear shaft (39) via respective gears (43), (44), (45) and a subtransmission 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). Between the shaft (47) and the brake shaft (49)
Low speed gear (50) (48) and medium speed gear (51)
(52) and high-speed gears (53) and (54) are provided, and the sub-transmission is switched between low speed, medium speed and high speed by sliding the sub-transmission switching gear (51) at the center position with the slider. Also,
Between the low speed and the middle speed and between the middle speed and the high speed of the subtransmission, there is a subtransmission neutral (output off). The transmission gear (42) of the output shaft (31) is meshed and connected to the PTO input gear (56) of the cutting PTO shaft (55) that transmits the rotational force to the cutting unit (8).
【００１７】そして、前記センタギヤ（４６）を介しサ
ンギヤ軸（３９）に伝達された第１油圧モータ（２４）
からの駆動力を、左右の遊星ギヤ機構（３５）（３５）
を介して左右キャリヤ軸（４０）（４０）に伝達させ、
各キャリヤ軸（４０）（４０）に伝達された回転出力を
左右一対二組の減速ギヤ（５７）（５７）（５８）（５
８）を介して左右の駆動輪（３４）（３４）の左右車軸
（５９）（５９）にそれぞれ伝えると共に、左右のギヤ
（５８）（５８）の回転数によって左右走行クローラ
（２）（２）の車速を検出する左右車速センサ（６０）
（６１）を設けている。The first hydraulic motor (24) transmitted to the sun gear shaft (39) via the center gear (46).
Drive force from the left and right planetary gear mechanisms (35) (35)
To the left and right carrier shafts (40) and (40) via
The rotational output transmitted to each of the carrier shafts (40) (40) is converted into a pair of left and right reduction gears (57) (57) (58) (5).
8) to the right and left axles (59) and (59) of the left and right drive wheels (34) and (34), respectively, and the left and right traveling crawlers (2) and (2) according to the rotation speed of the left and right gears (58) and (58). Left and right vehicle speed sensor (60) for detecting vehicle speed
(61) is provided.
【００１８】さらに、旋回用の油圧式無段変速機構（２
８）は、第２油圧ポンプ（２６）の回転斜板の角度変更
調節により第２油圧モータ（２７）の正逆回転切換と回
転数の制御を行うもので、第２油圧モータ（２７）の出
力軸（６２）の出力ギヤからギヤ伝達機構（６３）を介
し旋回入力軸（６４）の左右の入力ギヤ（６５）（６
６）に回転出力を伝達し、右側のリングギヤ（３８）の
外歯に対して左入力ギヤ（６５）を噛合させ、また左側
のリングギヤ（３８）の外歯に逆転ギヤ（６７）を介し
て右入力ギヤ（６６）を連結させ、第２油圧モータ（２
７）の正転時に左右のリングギヤ（３８）（３８）を左
右同一回転数で回転させ、かつ左リングギヤ（３８）を
正転させ、右リングギヤ（３８）を逆転させるように構
成している。Further, the hydraulic stepless speed change mechanism for turning (2)
8) The switching of forward / reverse rotation of the second hydraulic motor (27) and the control of the rotation speed by adjusting the angle change of the rotary swash plate of the second hydraulic pump (26). The left and right input gears (65) (6) of the turning input shaft (64) from the output gear of the output shaft (62) via the gear transmission mechanism (63).
The rotation output is transmitted to 6), the left input gear (65) meshes with the external teeth of the right ring gear (38), and the external teeth of the left ring gear (38) via the reverse gear (67). The right input gear (66) is connected, and the second hydraulic motor (2
At the time of forward rotation of 7), the left and right ring gears (38) and (38) are rotated at the same rotational speed, and the left ring gear (38) is rotated forward and the right ring gear (38) is rotated reversely.
【００１９】そして、旋回用の第２油圧モータ（２７）
の駆動を停止させ、かつ左右リングギヤ（３８）を静止
固定させた状態で、走行用の第１油圧モータ（２４）を
駆動させると、第１油圧モータ（２４）からの回転出力
はセンタギヤ（４６）から左右のサンギヤ（３６）に同
一回転数で伝達され、左右遊星ギヤ機構（３５）のプラ
ネタリギヤ（３７）及びキャリヤ（４１）及び減速ギヤ
（５７）（５８）を介して左右の車軸（５９）（５９）
に左右同一回転方向でかつ同一回転数で伝達され、機体
の前後直進走行が行われる。一方、走行用の第１油圧モ
ータ（２４）を停止させ、かつ左右のサンギヤ（３６）
（３６）を静止固定させた状態で、旋回用の第２油圧モ
ータ（２７）を正逆回転駆動すると、左側の遊星ギヤ機
構（３５）が正或いは逆回転し、また右側の遊星ギヤ機
構（３５）が逆或いは正回転し、左右走行クローラ
（２）（２）の一方を前進回転させかつもう一方を後進
回転させ、機体を左或いは右にその場で方向転換（心地
旋回）させ、圃場枕地での方向転換などを行うように構
成している。The second hydraulic motor for turning (27)
When the driving of the first hydraulic motor (24) is stopped in a state where the driving of the first hydraulic motor (24) is stopped and the left and right ring gears (38) are stationary and fixed, the rotation output from the first hydraulic motor (24) is changed to the center gear (46). ) To the left and right sun gears (36) at the same rotational speed, and via the planetary gear (37) and the carrier (41) and the reduction gears (57) (58) of the left and right planetary gear mechanism (35), the left and right axles (59). ) (59)
Are transmitted to the left and right at the same rotational direction and at the same rotational speed, so that the aircraft travels straight back and forth. On the other hand, the first hydraulic motor (24) for traveling is stopped, and the left and right sun gears (36) are stopped.
When the second hydraulic motor (27) for rotation is driven forward and reverse while the (36) is stationary, the left planetary gear mechanism (35) rotates forward or reverse, and the right planetary gear mechanism (35) rotates. 35) rotates in reverse or forward direction, rotates one of the left and right traveling crawlers (2) and (2) forward and rotates the other backward, and turns the aircraft to the left or right in place (comfortable turning). It is configured to change direction at the headland.
【００２０】さらに、走行用の第１油圧モータ（２４）
を駆動させながら、旋回用の第２油圧モータ（２７）を
駆動すると、左右走行クローラ（２）（２）の駆動速度
に差が生じて機体を左右に旋回させ、旋回半径の大きい
旋回によって走行方向が修正され、また前記旋回半径は
左右走行クローラ（２）（２）の速度差に応じて決定さ
れると共に、左右走行クローラ（２）（２）の駆動速度
の差を大きくすることにより、一方の走行クローラ
（２）を停止または逆転させて該クローラ（２）を中心
にもう一方の走行クローラ（２）を旋回させ、略Ｖ字形
に方向転換するスピンターンを行えるように構成してい
る。Further, a first hydraulic motor for traveling (24)
When the second hydraulic motor (27) for turning is driven while driving the motor, a difference occurs in the driving speed of the left and right traveling crawlers (2) and (2), and the aircraft turns left and right, and the vehicle travels by turning with a large turning radius. The direction is corrected, and the turning radius is determined according to the speed difference between the left and right traveling crawlers (2) and (2), and by increasing the difference between the driving speeds of the left and right traveling crawlers (2) and (2), One of the traveling crawlers (2) is stopped or rotated in reverse, and the other traveling crawler (2) is turned around the crawler (2) so as to perform a spin turn that changes its direction into a substantially V-shape. .
【００２１】さらに、図５に示す如く、前記入力軸（２
９）上に設けて各ポンプ（２３）（２６）と連動してエ
ンジン（２１）により駆動する油圧チャージポンプ（６
８）と、走行変速レバー（６９）手動操作によって切換
える電動変速モータ（７０）と、走行変速レバー（６
９）の中立操作時に電磁中立ソレノイド（７１）を作動
させて切換える中立バルブ（７２）と、該バルブ（７
２）を介して前記チャージポンプ（６８）に接続させる
変速ブレーキシリンダ（７３）を設ける。そして、前記
走行変速レバー（６９）を操作して変速モータ（７０）
を作動させて変速ポンプ（２３）の斜板（２３ａ）角度
を変更させ、第１油圧モータ（２４）の出力軸（３１）
の回転数を無段階に変化させたり、逆転させる前後進切
換動作を行わせ、走行変速レバー（６９）の操作量に比
例させて前記斜板（２３ａ）角度を変化させ、第１油圧
モータ（２４）の回転数を変更させると共に、前記走行
変速レバー（６９）の中立操作によって電磁中立ソレノ
イド（７１）が励磁して中立バルブ（７２）が自動的に
切換わり、変速ブレーキシリンダ（７３）を作動させて
第２油圧モータ（２４）の出力軸（３１）を制動し、中
立操作時の出力軸（３１）の前後進回転を阻止するよう
に構成している。Further, as shown in FIG. 5, the input shaft (2
9) A hydraulic charge pump (6) provided on the top and driven by the engine (21) in conjunction with each of the pumps (23) and (26).
8), an electric transmission motor (70) switched by a manual operation of the traveling speed change lever (69), and a traveling speed change lever (6).
9) a neutral valve (72) that switches by activating an electromagnetic neutral solenoid (71) during a neutral operation;
A variable speed brake cylinder (73) connected to the charge pump (68) via 2) is provided. Then, the traveling speed change lever (69) is operated to operate the speed change motor (70).
Is operated to change the angle of the swash plate (23a) of the transmission pump (23), and the output shaft (31) of the first hydraulic motor (24) is changed.
A forward / backward switching operation of continuously changing or reversing the rotation speed of the swash plate (23a) in proportion to the operation amount of the traveling speed change lever (69) is performed, and the first hydraulic motor ( 24), the electromagnetic neutral solenoid (71) is excited by the neutral operation of the traveling speed change lever (69), and the neutral valve (72) is automatically switched to operate the speed change brake cylinder (73). By operating the output shaft (31) of the second hydraulic motor (24), the output shaft (31) is braked to prevent the output shaft (31) from rotating forward and backward during the neutral operation.
【００２２】さらに、前記操向ハンドル（１９）手動操
作によって切換える電動操向モータ（７４）と、操向ハ
ンドル（１９）の直進操作並びに副変速機構（３２）中
立切換によって電磁直進ソレノイド（７５）を作動させ
て切換える直進バルブ（７６）と、該バルブ（７６）を
介して前記チャージポンプ（６８）に接続させる操向ブ
レーキシリンダ（７７）及びクラッチシリンダ（７８）
を設ける。そして、前記操向ハンドル（１９）を操作し
て操向モータ（７４）を作動させて第２油圧ポンプ（２
６）の斜板（２６ａ）角度を変更させ、第２油圧モータ
（２７）の出力軸（６２）の回転数を無段階に変化させ
たり、逆転させる左右操向動作を行わせ、走行方向を左
右に変更して圃場枕地で方向転換したり進路を修正す
る。また操向ハンドル（１９）の操作量に比例させて前
記斜板（２６ａ）角度を変化させ、操向モータ（２７）
の回転数を変更させると共に、前記操向ハンドル（１
９）の直進操作並びに副変速機構（３２）の中立操作に
よって直進ソレノイド（７５）が励磁して直進バルブ
（７６）が自動的に切換わり、操向ブレーキシリンダ
（７７）を作動させて第２油圧モータ（２７）の出力軸
（６２）を制動し、直進操作時の出力軸（６２）の左右
操向回転を阻止する一方、副変速機構（３２）の中立操
作によって直進ソレノイド（７５）が励磁してクラッチ
シリンダ（７８）を作動させ、第２油圧モータ（２７）
の駆動力を出力軸（６２）に伝える操向クラッチ（７
９）をクラッチシリンダ（７８）によって切動作させ、
操向駆動を中止させるように構成している。Further, an electric steering motor (74) switched by manual operation of the steering handle (19), an electromagnetic straight solenoid (75) by straight operation of the steering handle (19) and neutral switching of the auxiliary transmission mechanism (32). And a steering cylinder (77) and a clutch cylinder (78) connected to the charge pump (68) via the valve (76).
Is provided. Then, the steering handle (19) is operated to operate the steering motor (74), and the second hydraulic pump (2) is operated.
6) The angle of the swash plate (26a) is changed, the rotation speed of the output shaft (62) of the second hydraulic motor (27) is steplessly changed, or a left-right steering operation of reversing is performed to change the traveling direction. Change to the left or right to change direction or correct the course at the field headland. The angle of the swash plate (26a) is changed in proportion to the amount of operation of the steering handle (19), and the steering motor (27)
Of the steering handle (1)
The straight-ahead solenoid (75) is excited by the straight-ahead operation 9) and the neutral operation of the auxiliary transmission mechanism (32), the straight-ahead valve (76) is automatically switched, and the steering brake cylinder (77) is actuated to cause the second operation. While the output shaft (62) of the hydraulic motor (27) is braked to prevent the output shaft (62) from rotating left and right during the straight-ahead operation, the straight-ahead solenoid (75) is activated by the neutral operation of the subtransmission mechanism (32). Energized to operate the clutch cylinder (78), the second hydraulic motor (27)
Clutch (7) for transmitting the driving force of the motor to the output shaft (62).
9) is disengaged by a clutch cylinder (78),
The steering drive is configured to be stopped.
【００２３】さら、図６に示す如く、前記操向ハンドル
（１９）を固定させるハンドル操作軸（８０）下端部に
ギヤ（８１）を設け、この後方の回転軸（８２）に取付
けるセクタギヤ（８３）に前記ギヤ（８１）を噛合せる
と共に、前記ギヤ（８１）下方のハンドル操作軸（８
０）下端に直進位置決めカム板（８４）を固定させ、軸
（８５）回りに回転自在な直進アーム（８６）先端のロ
ーラ（８７）をカム板（８４）のノッチ（８８）にバネ
（８９）によって係脱自在に弾圧係入させ、操向ハンド
ル（１９）を左右回転自在に直進位置に支持させ、操向
ハンドル（１９）の直進支持を直進アーム（８６）を介
して検出するオンオフスイッチ型直進センサ（９０）を
設けている。また、前記回転軸（８２）に操向出力アー
ム（９１）の一端を固定させ、操向ハンドル（１９）を
直進位置に戻す左右一対の直進バネ（９２）（９２）
と、前記バネ（９２）に抗して操向ハンドル（１９）の
回転速度を遅くする戻り抵抗アブソーバ（９３）を、前
記出力アーム（９１）に連結させ、操向ハンドル（１
９）を左右に回転させる手動操作を行ったとき、ハンド
ル（１９）から作業者が手を離すことにより、ハンドル
（１９）を緩やかに直進位置に自動的に戻し、作業者に
よるハンドル（１９）直進戻し操作を省くと共に、スラ
イドポテンショメータ型操向角度センサ（９４）を前記
出力アーム（９１）に連結させ、操向ハンドル（１９）
の操向操作量を操向角度センサ（９４）によって検出さ
せるように構成している。Further, as shown in FIG. 6, a gear (81) is provided at the lower end of a handle operation shaft (80) for fixing the steering handle (19), and a sector gear (83) attached to the rear rotation shaft (82). ) Is meshed with the gear (81), and the handle operation shaft (8) below the gear (81) is engaged.
0) A rectilinear positioning cam plate (84) is fixed to the lower end, and a roller (87) at the tip of a rectilinear arm (86) rotatable around an axis (85) is attached to a notch (88) of the cam plate (84) by a spring (89). ) Allows the steering handle (19) to be freely rotatable left and right, and supports the steering handle (19) in the straight-ahead position, and detects the straight-ahead support of the steering handle (19) via the straight-ahead arm (86). A mold straight sensor (90) is provided. A pair of left and right rectilinear springs (92) (92) for fixing one end of the steering output arm (91) to the rotating shaft (82) and returning the steering handle (19) to the rectilinear position.
And a return resistance absorber (93) for reducing the rotation speed of the steering handle (19) against the spring (92) is connected to the output arm (91).
When the operator releases the hand from the handle (19) when the manual operation of rotating the handle (9) to the left or right is performed, the handle (19) is automatically returned to the straight traveling position slowly and automatically. The straight-back operation is omitted, and a slide potentiometer-type steering angle sensor (94) is connected to the output arm (91) to provide a steering handle (19).
Is configured to be detected by the steering angle sensor (94).
【００２４】さらに、図７に示す如く、前記主変速レバ
ー（６９）の変速操作位置及び中立位置及び前後進切換
動作を検出するポテンショメータ型主変速センサ（９
５）と、前記副変速機構（３２）を切換える副変速レバ
ー（９６）の変速操作位置及び中立位置を検出するポテ
ンショメータ型副変速センサ（９７）と、作業者が切換
える撮形手元操作部材（９８）の操作によって操向ハン
ドル（１９）の切れ角増大に対する車速の減速比を変更
させるボリューム形旋回感度設定器（９９）と、前記左
右車速センサ（６０）（６１）及び直進センサ（９０）
を、マイクロコンピュータで形成する変速操向コントロ
ーラ（１００）に入力接続させる。Further, as shown in FIG. 7, a potentiometer type main shift sensor (9) for detecting a shift operation position, a neutral position, and a forward / reverse switching operation of the main shift lever (69).
5), a potentiometer-type sub-transmission sensor (97) for detecting a shift operation position and a neutral position of a sub-transmission lever (96) for switching the sub-transmission mechanism (32), and a photographing hand operation member (98) for switching by an operator. ), The volume-type turning sensitivity setting device (99) for changing the reduction ratio of the vehicle speed with respect to the increase in the steering angle of the steering handle (19), and the left and right vehicle speed sensors (60) (61) and the straight traveling sensor (90).
Is input connected to a shift steering controller (100) formed by a microcomputer.
【００２５】さらに、前記変速モータ（７０）を正転ま
たは逆転させる増速及び減速回路（１０１）（１０２）
を前記コントローラ（１００）に接続させ、主変速レバ
ー（６９）操作量（操作角度）に対して変速モータ（７
０）による第１油圧ポンプ（２３）の斜板（２３ａ）角
を略正比例させて変化させ、主変速レバー（６９）の傾
き操作に応じた車速を得ると共に、前記中立バルブ（７
２）を切換えて変速ブレーキシリンダ（７３）を作動さ
せる主変速回路（１０３）を前記コントローラ（１０
０）に接続させ、主変速レバー（６９）中立時に第１油
圧モータ（２４）の出力軸（３１）を停止維持させ、主
変速レバー（６９）中立操作状態下での第１油圧モータ
（２４）による走行クローラ（２）の駆動を阻止してい
る。Further, speed increasing and reducing circuits (101) and (102) for rotating the speed change motor (70) forward or reverse.
Is connected to the controller (100), and the speed change motor (7) is operated with respect to the operation amount (operation angle) of the main speed change lever (69).
0), the angle of the swash plate (23a) of the first hydraulic pump (23) is changed in substantially direct proportion to obtain a vehicle speed corresponding to the tilting operation of the main shift lever (69), and the neutral valve (7).
The main transmission circuit (103) for operating the transmission brake cylinder (73) by switching 2) is connected to the controller (10).
0), the output shaft (31) of the first hydraulic motor (24) is stopped and maintained when the main shift lever (69) is in the neutral state, and the first hydraulic motor (24) is in the neutral operation state of the main shift lever (69). ) Of the traveling crawler (2) is prevented.
【００２６】さらに、前記操向モータ（７４）を正転ま
たは逆転させる左右旋回回路（１０４）（１０５）を前
記コントローラ（１００）に接続させ、操向ハンドル
（１９）の操向操作量（左右回転角度）に対して操向モ
ータ（７４）による第２油圧ポンプ（２６）の斜板（２
６ａ）を略正比例させて変化させ、また図８の旋回出力
線図に示す如く、主変速レバー（６９）の前進操作時と
後進操作時とでは、操向ハンドル（１９）の左右回転に
対して左右旋回出力を逆にし、前進時と後進時とで逆ハ
ンドルになるのを防ぎ、四輪自動車と同じ操向動作を行
わせて前後進させる。また、主変速レバー（６９）が中
立のときは、第２油圧ポンプ（２６）の斜板（２６ａ）
角を零に保ち、第２油圧モータ（２７）の出力軸（６
２）を停止維持し、主変速中立状態下でのハンドル（１
９）操作による旋回動作を阻止すると共に、操向ハンド
ル（１９）切れ角に応じて大きくなる第２油圧ポンプ
（２６）の斜板（２６ａ）角の絶対値を主変速レバー
（６９）操作角度の絶対値と比例するように制御し、操
向ハンドル（１９）切れ角が一定のときに車速を変化さ
せても旋回半径を一定に保ち、四輪自動車と同じ操向動
作で旋回させる。また、直進バルブ（７６）を切換えて
操向ブレーキシリンダ（７７）及びクラッチシリンダ
（７８）を作動させる直進回路（１０６）を前記コント
ローラ（１００）に接続させ、副変速中立またはハンド
ル（１９）直進によって出力軸（６２）を自動的に停止
させる。また、未刈り穀稈列に対する刈取部（８）の位
置を検出させる操向センサ（１１１）と、前記センサ
（１１１）の検出結果に基づき操向モータ（７４）を自
動制御する操向回路（１１２）を設け、操向ハンドル
（１９）の手動操作による操向角度センサ（９４）入力
を優先させ乍ら操向センサ（１１１）入力によって操向
モータ（７４）を作動させ、未刈り穀稈列に沿わせて進
路を自動的に修正させ、収穫作業を行わせる。Further, a left / right turning circuit (104) (105) for rotating the steering motor (74) forward or backward is connected to the controller (100), and a steering operation amount (left / right) of the steering handle (19) is connected. Swash plate (2) of the second hydraulic pump (26) by the steering motor (74) with respect to the rotation angle).
6a) is changed in substantially direct proportion, and as shown in the turning output diagram of FIG. 8, when the main shift lever (69) is operated forward or backward, the left and right rotation of the steering handle (19) is controlled. The right and left turning output is reversed to prevent the steering wheel from being reversed when the vehicle is moving forward and when moving backward. When the main shift lever (69) is neutral, the swash plate (26a) of the second hydraulic pump (26)
The angle is kept at zero, and the output shaft (6) of the second hydraulic motor (27) is
2) Stop and maintain the steering wheel (1
9) The turning operation by operation is prevented, and the absolute value of the swash plate (26a) angle of the second hydraulic pump (26) which increases according to the turning angle of the steering handle (19) is changed to the operation angle of the main shift lever (69). Is controlled in proportion to the absolute value of the steering wheel (19). When the steering angle of the steering wheel (19) is constant, the turning radius is kept constant even when the vehicle speed is changed, and the vehicle is turned by the same steering operation as that of a four-wheeled vehicle. Further, a straight-ahead circuit (106) for switching the straight-ahead valve (76) to operate the steering brake cylinder (77) and the clutch cylinder (78) is connected to the controller (100), and the sub-shift neutral or the steering wheel (19) is straightened. Automatically stops the output shaft (62). Further, a steering sensor (111) for detecting the position of the cutting unit (8) with respect to the uncut kernel row, and a steering circuit (74) for automatically controlling the steering motor (74) based on the detection result of the sensor (111). 112), the steering motor (74) is operated by the input of the steering sensor (111) while giving priority to the input of the steering angle sensor (94) by manual operation of the steering handle (19), and Automatically correct the course along the line and let the harvest work.
【００２７】上記から明らかなように、左右走行クロー
ラ（２）（２）を駆動する第１油圧ポンプ（２３）及び
第１油圧モータ（２４）と、左右走行クローラ（２）
（２）の駆動速度に差を生じさせる第２油圧ポンプ（２
６）及び第２油圧モータ（２７）を設ける移動農機にお
いて、主変速レバー（６９）操作量を検出して第１油圧
ポンプ（２３）の出力制御を行う変速アクチュエータで
ある変速モータ（７０）と、操向ハンドル（１９）操作
量を検出して第２油圧ポンプ（２６）の出力制御を行う
操向アクチュエータである操向モータ（７４）を設け、
変速モータ（７０）と操向モータ（７４）を作動させる
変速操向コントローラ（１００）に主変速レバー（６
９）操作量と操向ハンドル（１９）操作量を各センサ
（９５）（９４）から入力させて走行変速制御と操向制
御を行い、主変速レバー（６９）及び操向ハンドル（１
９）と第１及び第２油圧ポンプ（２３）（２６）を相互
に連結させる機構を不要にし、組立調整作業及び部品管
理の簡略化などを行い、取扱い作業性の向上並びに走行
変速及び操向性能の多様化などを図る。As is apparent from the above description, the first hydraulic pump (23) and the first hydraulic motor (24) for driving the left and right traveling crawlers (2) and (2), and the left and right traveling crawler (2)
The second hydraulic pump (2) causing a difference in the driving speed of (2)
6) and a speed change motor (70) which is a speed change actuator for detecting the operation amount of the main speed change lever (69) and controlling the output of the first hydraulic pump (23) in the mobile agricultural machine provided with the second hydraulic motor (27). A steering motor (74), which is a steering actuator that detects an operation amount of the steering handle (19) and controls the output of the second hydraulic pump (26);
The speed change steering controller (100) that operates the speed change motor (70) and the steering motor (74) has a main speed change lever (6).
9) The operation amount and the steering handle (19) The operation amount is input from each of the sensors (95) and (94) to perform the traveling shift control and the steering control, and the main shift lever (69) and the steering handle (1).
9) The mechanism for connecting the first and second hydraulic pumps (23) and (26) to each other is not required, the assembly adjustment work and parts management are simplified, the handling workability is improved, and the traveling speed and steering are improved. Diversify performance.
【００２８】また、主変速レバー（６９）操作量に対し
て第１油圧モータ（２４）出力を比例させて変化させ、
主変速レバー（６９）の操作角度に応じた車速を得ると
共に、主変速レバー（６９）の前進操作と後進操作とで
操向アクチュエータ（７４）による左右走行クローラ
（２）（２）の操向制御動作を逆にし、前後輪を備える
走行車と同様の感覚で操向操作を行わせる。The output of the first hydraulic motor (24) is changed in proportion to the operation amount of the main shift lever (69),
A vehicle speed corresponding to the operation angle of the main shift lever (69) is obtained, and the left and right traveling crawlers (2) and (2) are steered by the steering actuator (74) by the forward operation and the reverse operation of the main shift lever (69). The control operation is reversed, and the steering operation is performed with the same feeling as a traveling vehicle having front and rear wheels.
【００２９】また、主変速レバー（６９）が中立のとき
に第２油圧モータ（２７）の出力をオフ維持させ、停止
時に操向ハンドル（１９）の操作によって走行クローラ
（２）が旋回動作するの防止すると共に、操向ハンドル
（１９）操作量と第２油圧モータ（２７）出力を比例さ
せて変化させ、操向ハンドル（１９）の操作量が略一定
に維持されている状態下で、第２油圧モータ（２７）出
力である第２油圧ポンプ（２６）の斜板（２６ａ）角の
絶対値を主変速レバー（６９）操作量であるレバー（６
９）傾き角の絶対値と比例させることにより、操向ハン
ドル（１９）操作量が一定のとき、車速を変化させても
走行クローラ（２）の旋回半径が同一に保たれる。When the main shift lever (69) is in the neutral position, the output of the second hydraulic motor (27) is kept off. When the main shift lever (69) is stopped, the traveling crawler (2) is turned by operating the steering handle (19). And the amount of operation of the steering wheel (19) and the output of the second hydraulic motor (27) are changed in proportion to the amount of operation of the steering wheel (19). The absolute value of the angle of the swash plate (26a) of the second hydraulic pump (26), which is the output of the second hydraulic motor (27), is used as the lever (6) which is the operation amount of the main shift lever (69).
9) By making the inclination angle proportional to the absolute value, the turning radius of the traveling crawler (2) is kept the same even when the vehicle speed is changed, when the operation amount of the steering wheel (19) is constant.
【００３０】さらに、図９、図１０の車速出力線図に示
す如く、操向ハンドル（１９）の切れ角の増大に伴い、
主変速レバー（６９）変速位置で決定される車速を減速
させるもので、主変速レバー（６９）を一定位置に保ち
乍らハンドル（１９）切れ角に比例させて減速させ、ハ
ンドル（１９）を直進に戻すだけでレバー（６９）速度
に自動的に戻ると共に、ハンドル（１９）最大切り角で
スピンターン速度に減速され、またハンドル（１９）の
直進を中心とする不感帯（約１５度の回転角度）でレバ
ー（６９）速度を保たせ、収穫作業中に未刈り穀稈列に
沿わせる条合せ（進路修正）のための操向操作を行って
も、走行速度が減速されたり増速されて収穫作業途中に
走行速度が不均一に変化するのを防ぎ、作業者の運転感
覚とコンバインの走行動作との間にずれが生じることな
く適正な操向操作を行わせる。Further, as shown in the vehicle speed output diagrams of FIGS. 9 and 10, as the turning angle of the steering handle (19) increases,
The main transmission lever (69) reduces the vehicle speed determined at the transmission position. While maintaining the main transmission lever (69) at a fixed position, the main transmission lever (69) is decelerated in proportion to the steering angle of the handle (19). By simply returning to straight ahead, the lever (69) automatically returns to the speed, the handle (19) is reduced to the spin turn speed at the maximum turning angle, and the dead zone (about 15 degrees rotation) centering on the straight ahead of the handle (19) Angle) to maintain the speed of the lever (69), and even during the harvesting operation, the steering speed is reduced or increased even if the steering operation for alignment (path correction) is performed along the uncut culm row. In this way, it is possible to prevent the running speed from changing unevenly during the harvesting work, and to perform an appropriate steering operation without causing a difference between the driving feeling of the operator and the running operation of the combine.
【００３１】また、前記副変速センサ（９７）によって
検出する副変速レバー（９６）の低速及び中速お呼び高
速の切換（低速収穫作業、標準収穫作業、路上走行の切
換）、または手元操作部材（９８）を用いた作業者の手
動切換により、図１０のように、鋭敏な旋回、通常間旋
回、滑らかな旋回となるように減速比を変化させる制御
を、前記センサ（９７）の自動または前記部材（９８）
の手動によって行わせ、作業内容、圃場条件、作物状況
などに適応させた旋回性能を得る。Further, switching between low speed, medium speed and high speed of the sub speed lever (96) detected by the sub speed sensor (97) (switching between low speed harvesting, standard harvesting and road running) or a hand operating member ( 98), the control for changing the reduction ratio so as to achieve sharp turning, normal turning, and smooth turning is performed by the sensor (97) automatically or by the sensor (97) as shown in FIG. Member (98)
To obtain the turning performance adapted to the work content, field conditions, crop status, and the like.
【００３２】上記から明らかなように、主変速レバー
（６９）操作量によって決定される車速を操向ハンドル
（１９）操作量に比例させて減速させ、走行クローラ
（２）を駆動するエンジン（２１）負荷を旋回時に低減
させると共に、一方の走行クローラ（２）を中心にもう
一方の走行クローラ（２）を旋回させるスピンターン動
作に直進動作から連続的に減速させ乍ら移行させると共
に、操向ハンドル（１９）操作量に対して車速の減速比
を変更させ、圃場条件に適した操向動作を得るもので、
操向ハンドル（１９）操作量に対して車速の減速比を変
更させる手元操作部材（９８）を設け、運転作業者に適
した操向動作を得る。As is apparent from the above description, the engine (21) for driving the traveling crawler (2) reduces the vehicle speed determined by the operation amount of the main shift lever (69) in proportion to the operation amount of the steering handle (19). ) The load is reduced at the time of turning and the spinning operation of turning the other traveling crawler (2) around the one traveling crawler (2) is shifted from the straight running operation to the spinning operation while continuously decelerating, and the steering is performed. A steering operation suitable for field conditions is obtained by changing the reduction ratio of the vehicle speed with respect to the operation amount of the steering wheel (19).
A hand operation member (98) for changing the reduction ratio of the vehicle speed with respect to the operation amount of the steering handle (19) is provided to obtain a steering operation suitable for the driver.
【００３３】また、操向ハンドル（１９）の最大操作に
よってスピンターン動作を行わせ、主変速レバー（６
９）の操作を行うことなく、圃場枕地での方向転換乃至
直進走行作業を操向ハンドル（１９）操作だけで適正走
行速度によって行い、農作業中の直進走行及び進路修正
動作と、圃場枕地で次作業工程位置に向けて方向転換さ
せるスピンターン動作とを、連続した一連の操向操作だ
けでスムーズに行わせると共に、操向ハンドル（１９）
の直進付近の操作に対して車速を略一定に保ち、農作業
中に作物列または畦などに機体を沿わせる操向操作を行
っても走行速度が不均一に変化するのを防止し、略同一
走行速度を保ち乍ら農作業中の進路修正を行い、作業者
の運転感覚と機体の走行動作とを略一致させて適正な操
向操作を行わせる。The spin turn operation is performed by the maximum operation of the steering handle (19), and the main speed change lever (6) is operated.
Without performing the operation of 9), the direction change or the straight running operation on the field headland is performed at an appropriate running speed only by operating the steering handle (19), and the straight running and the course correcting operation during the agricultural work and the field headland are performed. And a spin turn operation for changing the direction toward the next work process position can be smoothly performed only by a continuous series of steering operations, and the steering handle (19)
The vehicle speed is kept substantially constant for operations near the straight ahead of the vehicle, and the running speed is prevented from changing unevenly even if the steering operation is performed along the crop row or ridge during agricultural work, and it is almost the same While maintaining the running speed, the course is corrected during the agricultural work, and the appropriate steering operation is performed by making the driving feeling of the operator substantially coincide with the running operation of the machine.
【００３４】さらに、左右走行クローラ（２）（２）を
駆動する第１油圧ポンプ（２３）及び第１油圧モータ
（２４）と、左右走行クローラ（２）（２）の駆動速度
に差を生じさせる第２油圧ポンプ（２６）及び第２油圧
モータ（２７）を設ける移動農機において、操向ハンド
ル（１９）操作量を検出して第２油圧ポンプ（２６）の
出力制御を行う操向モータ（７４）を設け、副変速レバ
ー（９６）の中立を副変速センサ（９７）によって検出
して第２油圧ポンプ（２６）及び第２油圧モータ（２
７）による操向動作を中止させ、操向モータ（７４）を
作動させるコントローラ（１００）に操向ハンドル（１
９）操作量を入力させて操向制御を行い、副変速機構
（３２）の中立によって第２油圧モータ（２７）の操向
動作を禁止させるロック機構を不要にし、組立調整作業
及び部品管理の簡略化などを行い、取扱い作業性の向上
並びに走行変速及び操向性能の多様化などを図るもの
で、副変速レバー（９６）の中立を副変速センサ（９
７）によって検出して第２油圧ポンプ（２６）の斜板
（２６ａ）を中立に維持させるように操向モータ（７
４）を中立復帰動作させることにより、副変速の中立に
よって操向モータ（７４）の動作を制限するだけで副変
速中立時の旋回動作を自動的に阻止できると共に、副変
速レバー（９６）の中立を副変速センサ（９７）によっ
て検出して第２油圧モータ（２７）の出力をオフにする
旋回クラッチ（７９）を設けることにより、第２油圧モ
ータ（２７）による走行クローラ（２）の旋回駆動力を
旋回クラッチ（７９）によって入切し、副変速中立時に
自動的に旋回クラッチ（７９）を切にして走行クローラ
（２）の旋回動作を阻止できる。Further, there is a difference between the first hydraulic pump (23) and the first hydraulic motor (24) for driving the left and right traveling crawlers (2) and (2) and the driving speed of the left and right traveling crawlers (2) and (2). In a mobile agricultural machine provided with a second hydraulic pump (26) and a second hydraulic motor (27) to be operated, a steering motor (19) that detects an operation amount of a steering handle (19) and controls output of the second hydraulic pump (26). 74), the neutral of the auxiliary transmission lever (96) is detected by the auxiliary transmission sensor (97), and the second hydraulic pump (26) and the second hydraulic motor (2) are detected.
7) The steering operation by the steering wheel (1) is stopped by the controller (100) that stops the steering operation by the operation (7) and operates the steering motor (74).
9) The steering amount is controlled by inputting the operation amount, and a lock mechanism for prohibiting the steering operation of the second hydraulic motor (27) by the neutralization of the auxiliary transmission mechanism (32) becomes unnecessary, and the assembly adjustment work and the parts management are eliminated. In order to improve simplicity and the like to improve handling efficiency and diversify traveling speed and steering performance, the neutral position of the sub-transmission lever (96) is detected by the sub-transmission sensor (9).
7) and the steering motor (7) is set so that the swash plate (26a) of the second hydraulic pump (26) is maintained neutral.
4), the turning operation at the time of the neutral position of the auxiliary shift can be automatically prevented only by restricting the operation of the steering motor (74) by the neutrality of the auxiliary speed change, and the rotation of the auxiliary speed change lever (96) can be prevented. By providing a turning clutch (79) that detects neutral by the sub-transmission sensor (97) and turns off the output of the second hydraulic motor (27), the turning of the traveling crawler (2) by the second hydraulic motor (27) is provided. The driving force is turned on / off by the turning clutch (79), and the turning clutch (79) is automatically turned off when the sub-shift is in neutral, so that the turning operation of the traveling crawler (2) can be prevented.
【００３５】さらに、図１１の旋回出力線図に示す如
く、前記主変速レバー（６９）の操作角度を検出する主
変速センサ（９５）入力に対し、操向角度センサ（９
４）に基づきコントローラ（１００）から出力される操
向モータ（７４）制御出力を二次曲線形に変化させ、容
積効率が低い斜板（２６ａ）の小さいときに車速が遅く
ても操向ハンドル（１９）を少し切るだけで斜板（２６
ａ）を大きく変化させ、第２油圧ポンプ（２６）及び油
圧モータ（２７）の特性を電気的に補正して遅い車速で
あっても敏感に操向モータ（７４）により第２油圧ポン
プ（２６）を旋回制御し、主変速レバー（６９）の変速
全域で操向ハンドル（１９）の切れ角に対して走行クロ
ーラ（２）の旋回半径を略同一に保つもので、主変速レ
バー（６９）が高速のときよりも低速のときの操向ハン
ドル（１９）操作量に対する第２油圧ポンプ（２６）制
御量の割合を大きくし、第２油圧ポンプ（２６）出力が
低効率になる低速域で車速が遅いときであっても操向ハ
ンドル（１９）の少量操作によって適正な旋回動作を行
わせ、操向ハンドル（１９）の操作量と走行クローラ
（２）の旋回半径を一致させる。Further, as shown in the turning output diagram of FIG. 11, a steering angle sensor (9) responds to an input of a main speed sensor (95) for detecting an operation angle of the main speed lever (69).
4) The control output of the steering motor (74) output from the controller (100) is changed to a quadratic curve in accordance with 4), and when the swash plate (26a) having a low volumetric efficiency is small, the steering handle even if the vehicle speed is low. Just cut a little (19) and swash plate (26
a) is greatly changed, and the characteristics of the second hydraulic pump (26) and the hydraulic motor (27) are electrically corrected so that the steering hydraulic motor (74) is sensitive to the second hydraulic pump (26) even at a low vehicle speed. ) Is controlled so as to keep the turning radius of the traveling crawler (2) substantially the same as the turning angle of the steering handle (19) throughout the entire shifting range of the main transmission lever (69). The ratio of the control amount of the second hydraulic pump (26) to the operation amount of the steering handle (19) when the speed of the second hydraulic pump (26) is lower than the speed when the speed is high is increased, and in a low-speed region where the output of the second hydraulic pump (26) is low. Even when the vehicle speed is slow, an appropriate turning operation is performed by a small amount of operation of the steering handle (19), and the operation amount of the steering handle (19) and the turning radius of the traveling crawler (2) are matched.
【００３６】また、走行速度が遅くて動力伝達効率が低
いときの第２油圧ポンプ（２６）の操向制御を敏感に行
わせ、主変速レバー（６７）変速全域並びに操向ハンド
ル（１９）操作全域において操向ハンドル（１９）操作
量と走行クローラ（２）旋回半径を一致させ、操向操作
性及び操向機能の向上を図ると共に、主変速レバー（６
９）の中立を主変速センサ（９５）によって検出して第
２油圧ポンプ（２６）を中立に維持させ、停止時の走行
クローラ（２）の旋回動作を阻止し乍ら低速域の旋回性
能を向上させ、操向ハンドル（１９）の操作性向上並び
に運転操作の簡略化などを図る。Further, the steering control of the second hydraulic pump (26) is performed sensitively when the traveling speed is low and the power transmission efficiency is low, and the entire range of the main shift lever (67) and the operation of the steering handle (19) are operated. In all regions, the operation amount of the steering wheel (19) and the turning radius of the traveling crawler (2) are matched to improve the steering operability and the steering function, and the main shift lever (6) is used.
9) Neutral is detected by the main speed change sensor (95) to maintain the second hydraulic pump (26) at neutral, and to prevent turning operation of the traveling crawler (2) at the time of stoppage, and to improve turning performance in a low speed range. The operability of the steering handle (19) is improved, and the driving operation is simplified.
【００３７】さらに、図１２の旋回出力線図に示す如
く、操向ハンドル（１９）の切れ角を検出する操向角度
センサ（９４）入力に対し、直進位置を基準にしてハン
ドル（１９）切れ角が小さい（約０〜１０度の範囲）と
きにコントローラ（１００）から出力させる操向モータ
（７４）制御出力を大きく変化させ、ハンドル（１９）
切れ角が大きい（約１０〜７０度の範囲）ときにコント
ローラ（１００）から出力させる操向モータ（７４）制
御出力を小さく変化させ、第２油圧ポンプ（２６）及び
モータ（２７）の特性を電気的に補正して小さい切れ角
のときにハンドル（１９）操作に対して操向モータ（７
４）制御を敏感にし、低効率となる低出力域での第２油
圧ポンプ（２６）及びモータ（２７）による走行クロー
ラ（２）旋回を機敏に行わせるもので、操向ハンドル
（１９）の切れ角度が小さいときに操向制御出力の変化
を大きくし、畦または作物列に走行進路を一致させる条
合せ等の微少進路修正を行わせ、農作業中の直進走行時
の操向性能の向上などを図る。Further, as shown in the turning output diagram of FIG. 12, in response to the input of a steering angle sensor (94) for detecting the turning angle of the steering handle (19), the turning of the handle (19) is performed with reference to the straight traveling position. When the angle is small (in the range of about 0 to 10 degrees), the control output of the steering motor (74) output from the controller (100) is greatly changed, and the steering wheel (19)
When the turning angle is large (in the range of about 10 to 70 degrees), the control output of the steering motor (74) output from the controller (100) is changed small, and the characteristics of the second hydraulic pump (26) and the motor (27) are changed. The steering motor (7) is electrically corrected to operate the steering wheel (19) when the steering angle is small.
4) The traveling crawler (2) is swiftly turned by the second hydraulic pump (26) and the motor (27) in a low power range where the control is sensitive and the efficiency is low, and the steering handle (19) When the turning angle is small, the change in steering control output is increased, and a small course correction such as alignment that matches the running course with the ridge or crop row is performed, and the steering performance during straight running during agricultural work is improved. Plan.
【００３８】また、操向ハンドル（１９）の切れ角度が
小さいときに敏感な操向制御を行い、操向ハンドル（１
９）の切れ角度が大きいときに鈍感な操向制御を行い、
直進作業時の進路修正を適正に行い、また操向ハンドル
（１９）の誤操作による過剰進路修正を防止し、高速走
行での方向転換などを安定良く行わせると共に、操向ハ
ンドル（１９）の操作量に対して第２油圧ポンプ（２
６）の制御出力を非直線的に変化させ、第２油圧ポンプ
（２６）の特性または農作業内容などに適応させた操向
動作を設定し、操向機能並びに取扱い操作性の向上など
を図る。When the steering angle of the steering wheel (19) is small, sensitive steering control is performed, and the steering wheel (1) is controlled.
9) Performs insensitive steering control when the turning angle is large,
Corrects the course during straight-ahead work, prevents excessive course correction due to erroneous operation of the steering handle (19), stably changes direction at high speed running, and operates the steering handle (19). The second hydraulic pump (2
The control output of 6) is changed non-linearly to set a steering operation adapted to the characteristics of the second hydraulic pump (26) or the contents of agricultural work, etc., and to improve the steering function and handling operability.
【００３９】本実施例は上記の如く構成するもので、図
１３のフローチャートに示す如く、主変速センサ（９
５）、副変速センサ（９７）、操向角度センサ（９
４）、旋回感度設定器（９９）、直進センサ（９０）、
左右車速センサ（６０）（６１）からコントローラ（１
００）に入力させる。そして、副変速レバー（９６）が
中立のときに旋回出力切制御を行って第２油圧モータ
（２７）を停止維持し、かつ操向クラッチ（７９）を切
動作させると共に、副変速高速切換によって図８の旋回
出力による路上走行モードで旋回制御を行い、副変速中
速切換並びに副変速低速切換によって図１０乃至図１２
の出力線図に基づき主変速制御及び操向制御を行わせる
もので、主変速レバー（６９）が中立のとき、旋回出力
切制御によって第２油圧モータ（２７）の出力軸（６
２）を停止させ、かつ主変速制動制御によって第１油圧
モータ（２４）の出力軸（３１）を停止させると共に、
操向ハンドル（１９）が直進位置のとき、操向制動制御
によって第２油圧モータ（２７）の出力軸（６２）を停
止させる。また、副変速が中速または低速で、主変速が
中立以外で、操向ハンドル（１９）が直進以外に操作さ
れることにより、主変速センサ（９５）入力と操向角度
センサ（９４）入力によって走行速度（車速）及び操向
角度及び操向方向が演算されて決定され、主変速及び操
向制御によって変速モータ（７０）及び操向モータ（７
４）を作動させ、左右走行クローラ（２）（２）の駆動
速度を変更して条合せ進路修正並びに圃場枕地でのスピ
ンターンによる方向転換を行い、連続的に穀稈を刈取っ
て脱穀する収穫作業を行う。This embodiment is constructed as described above, and as shown in the flowchart of FIG.
5), a sub-transmission sensor (97), a steering angle sensor (9)
4), turning sensitivity setting device (99), straight traveling sensor (90),
From the left and right vehicle speed sensors (60) (61) to the controller (1)
00). When the auxiliary shift lever (96) is in the neutral position, the turning output disengagement control is performed to stop and maintain the second hydraulic motor (27), and to disengage the steering clutch (79). The turning control is performed in the on-road running mode based on the turning output shown in FIG.
The main transmission control and the steering control are performed based on the output diagram of FIG. 2. When the main transmission lever (69) is in the neutral position, the output shaft (6) of the second hydraulic motor (27) is controlled by the turning output cutoff control.
2) is stopped, and the output shaft (31) of the first hydraulic motor (24) is stopped by the main transmission braking control.
When the steering handle (19) is in the straight traveling position, the output shaft (62) of the second hydraulic motor (27) is stopped by steering braking control. Also, when the sub-shift is medium speed or low speed, the main shift is other than neutral, and the steering handle (19) is operated other than straight ahead, the input of the main shift sensor (95) and the input of the steering angle sensor (94) are performed. The traveling speed (vehicle speed), the steering angle, and the steering direction are calculated and determined according to the main speed and the steering control, and the speed change motor (70) and the steering motor (7) are determined.
Activate 4) to change the driving speed of the left and right traveling crawlers (2) and (2) to correct the alignment course and to change the direction by spin turn at the headland on the field, and continuously cut the culm to thresh. Perform harvesting work.
【００４０】さらに、図１４、図１５に示す如く、主変
速センサ（９５）によって切換える電磁変速バルブ（１
０７）と、前記チャージポンプ（６８）に変速バルブ
（１０７）を介して接続させる変速シリンダ（１０８）
を設け、図７に示す変速モータ（７０）を省き、増速及
び減速回路（１０１）（１０２）を介してコントローラ
（１００）に変速バルブ（１０７）の増速ソレノイド及
び減速ソレノイドを接続させ、前記主変速センサ（９
５）の検出結果に基づき変速バルブ（１０７）を自動的
に切換え、変速シリンダ（１０８）を作動させて第１油
圧ポンプ（２３）の斜板（２３ａ）角度を変更させ、第
１油圧モータ（２４）の出力軸（３１）の回転数を無段
階に変化させたり、逆転させる走行変速動作を行わせ、
また前記斜板（２３ａ）の角度調節動作によって変速バ
ルブ（１０７）が中立復帰するフィードバック動作を行
わせ、主変速レバー（６９）の操作量に比例させて前記
斜板（２３ａ）角度を変化させ、第１油圧モータ（２
４）の回転数を変更させる。さらに、操向角度センサ
（９４）によって切換える電磁操向バルブ（１０９）
と、前記チャージポンプ（６８）に操向バルブ（１０
９）を介して接続させる操向シリンダ（１１０）を設
け、図７に示す操向モータ（７４）を省き、左及び右旋
回回路（１０４）（１０５）を介してコントローラ（１
００）に操向バルブ（１０９）の左旋回ソレノイド及び
右旋回ソレノイドを接続させ、前記操向角度センサ（９
４）の検出結果に基づき操向バルブ（１０９）を自動的
に切換え、操向シリンダ（１１０）を作動させて第２油
圧ポンプ（２６）の斜板（２６ａ）角度を変更させ、第
２油圧モータ（２７）の出力軸（６２）の回転数を無段
階に変化させたり、逆転させる左右操向動作を行わせ、
走行方向を左右に変更して圃場枕地で方向転換させるス
ピンターン動作と進路を修正する条合せ動作を行わせ
る。また前記斜板（２６ａ）の角度調節動作によって操
向バルブ（１０９）が中立復帰するフィードバック動作
を行わせ、操向ハンドル（１９）の操作量に比例させて
前記斜板（２６ａ）角度を変化させ、第２油圧モータ
（２７）の回転数を変更させる。また、未刈り穀稈列に
対する刈取部（８）の位置を検出させる操向センサ（１
１１）と、前記センサ（１１１）の検出結果に基づき操
向バルブ（１０９）を自動制御する操向回路（１１２）
を設け、操向ハンドル（１９）の手動操作による操向角
度センサ（９４）入力を優先させ乍ら操向センサ（１１
１）入力によって操向シリンダ（１１０）を作動させ、
未刈り穀稈列に沿わせて進路を自動的に修正させ、収穫
作業を行わせる。上記のように、変速アクチュエータと
して変速モータ（７０）または変速シリンダ（１０８）
を用い、操向アクチュエータとして操向モータ（７４）
または操向シリンダ（１１０）を用いる。なお、図１４
において、操向バルブ（１０９）に電磁比例弁（１１
３）（１１４）を設け、前記各回路（１０４）（１０
５）によって比例弁（１１３）（１１４）とバルブ（１
０９）を作動させる。Further, as shown in FIGS. 14 and 15, the electromagnetic transmission valve (1) which is switched by the main transmission sensor (95).
07) and a transmission cylinder (108) connected to the charge pump (68) via a transmission valve (107).
And the speed increasing motor and the speed reducing solenoid of the speed changing valve (107) are connected to the controller (100) via the speed increasing and reducing circuits (101) and (102) by omitting the speed changing motor (70) shown in FIG. The main shift sensor (9
The shift valve (107) is automatically switched based on the detection result of 5), the shift cylinder (108) is operated to change the angle of the swash plate (23a) of the first hydraulic pump (23), and the first hydraulic motor ( 24) changing the rotation speed of the output shaft (31) in a stepless manner or causing the output shaft (31) to reversely rotate,
The swash plate (23a) adjusts the angle to perform a feedback operation in which the shift valve (107) returns to the neutral position, and changes the swash plate (23a) angle in proportion to the operation amount of the main shift lever (69). , The first hydraulic motor (2
4) Change the rotation speed. Furthermore, an electromagnetic steering valve (109) switched by a steering angle sensor (94)
And the steering valve (10) is connected to the charge pump (68).
9), a steering cylinder (110) is provided, the steering motor (74) shown in FIG. 7 is omitted, and the controller (1) is connected via left and right turning circuits (104) (105).
00), a left-turning solenoid and a right-turning solenoid of the steering valve (109) are connected to the steering angle sensor (9).
The steering valve (109) is automatically switched based on the detection result of 4), the steering cylinder (110) is operated to change the angle of the swash plate (26a) of the second hydraulic pump (26), and the second hydraulic pressure is changed. The rotation speed of the output shaft (62) of the motor (27) is changed steplessly, or a left-right steering operation for reverse rotation is performed,
A spin turn operation for changing the running direction to the left and right to change the direction on the field headland and a matching operation for correcting the course are performed. In addition, the swash plate (26a) adjusts the angle to perform a feedback operation in which the steering valve (109) returns to the neutral position, and changes the swash plate (26a) angle in proportion to the operation amount of the steering handle (19). Then, the rotation speed of the second hydraulic motor (27) is changed. In addition, a steering sensor (1) for detecting the position of the cutting unit (8) with respect to the uncut culm row.
11) and a steering circuit (112) for automatically controlling the steering valve (109) based on the detection result of the sensor (111).
The steering sensor (11) is input while giving priority to the input of the steering angle sensor (94) by the manual operation of the steering handle (19).
1) actuate the steering cylinder (110) by input,
The course is automatically corrected along the uncut culm row, and the harvesting work is performed. As described above, the speed change motor (70) or the speed change cylinder (108) is used as the speed change actuator.
And a steering motor (74) as a steering actuator
Alternatively, a steering cylinder (110) is used. FIG.
, The steering valve (109) is connected to the electromagnetic proportional valve (11
3) (114) is provided, and each of the circuits (104) (10)
5), the proportional valves (113) and (114) and the valve (1)
09) is activated.
【００４１】[0041]
【発明の効果】以上実施例から明らかなように本発明
は、左右走行クローラ（２）（２）を駆動する第１油圧
ポンプ（２３）及び第１油圧モータ（２４）と、左右走
行クローラ（２）（２）の駆動速度に差を生じさせる第
２油圧ポンプ（２６）及び第２油圧モータ（２７）を設
ける移動農機において、操向ハンドル（１９）操作量を
検出して第２油圧ポンプ（２６）の出力制御を行う操向
アクチュエータ（７４）を設け、副変速の中立を検出し
て第２油圧ポンプ（２６）及び第２油圧モータ（２７）
による操向動作を中止させるように構成したもので、例
えば電動モータまたは油圧シリンダなどの操向アクチュ
エータ（７４）を作動させるコントローラ（１００）に
操向ハンドル（１９）操作量を入力させて操向制御を行
うことができ、副変速機構（３２）の中立によって第２
油圧モータ（２７）の操向動作を禁止させるロック機構
を不要にし、組立調整作業及び部品管理の簡略化などを
容易に行うことができ、取扱い作業性の向上並びに走行
変速及び操向性能の多様化などを容易に図ることができ
るものである。As is apparent from the above embodiments, the present invention provides a first hydraulic pump (23) and a first hydraulic motor (24) for driving the left and right traveling crawlers (2) and (2), and the left and right traveling crawlers (2). 2) In a mobile agricultural machine provided with a second hydraulic pump (26) and a second hydraulic motor (27) that cause a difference in the driving speed of (2), the second hydraulic pump is detected by detecting the operation amount of the steering handle (19). A steering actuator (74) for performing the output control of (26) is provided, and the second hydraulic pump (26) and the second hydraulic motor (27) are detected by detecting the neutrality of the sub-shift.
The steering operation is stopped by inputting an operation amount of a steering handle (19) to a controller (100) that operates a steering actuator (74) such as an electric motor or a hydraulic cylinder. Control can be performed, and the second speed is controlled by the neutrality of the subtransmission mechanism (32).
It eliminates the need for a lock mechanism that inhibits the steering operation of the hydraulic motor (27), simplifies assembly adjustment work and simplifies parts management, etc., improves handling workability, and provides a variety of traveling speeds and steering performance. It is possible to easily achieve the conversion.
【００４２】また、副変速の中立を検出して第２油圧ポ
ンプ（２６）を中立に維持させるように構成したもの
で、副変速の中立によって操向アクチュエータ（７４）
の動作を制限するだけで副変速中立時の旋回動作を阻止
できるものである。The second hydraulic pump (26) is configured to maintain the neutral position by detecting the neutral position of the auxiliary shift.
The turning operation during the neutral position of the sub-shift can be prevented only by restricting the operation of (1).
【００４３】また、副変速の中立を検出して第２油圧モ
ータ（２７）の出力をオフにする旋回クラッチ（７９）
を設けたもので、第２油圧モータ（２７）による走行ク
ローラ（２）の旋回駆動力を旋回クラッチ（７９）によ
って入切して副変速中立時の旋回動作を阻止できるもの
である。A turning clutch (79) for detecting the neutral position of the sub-shift and turning off the output of the second hydraulic motor (27).
The turning drive force of the traveling crawler (2) by the second hydraulic motor (27) can be turned on / off by the turning clutch (79) to prevent the turning operation when the sub-shift is in neutral.
【００４４】また、主変速が高速のときよりも低速のと
きの操向ハンドル（１９）操作量に対する第２油圧ポン
プ（２６）制御量の割合が大きくなるように構成したも
ので、第２油圧ポンプ（２６）出力が低効率になる低速
域で車速が遅いときであっても操向ハンドル（１９）の
少量操作によって適正な旋回動作を容易に行わせること
ができ、操向ハンドル（１９）の操作量と走行クローラ
（２）の旋回半径を容易に一致させることができるもの
である。The ratio of the control amount of the second hydraulic pump (26) to the operation amount of the steering handle (19) when the main speed is lower than when the main speed is higher is higher. Even when the vehicle speed is low in a low speed region where the output of the pump (26) is low, proper turning operation can be easily performed by a small amount of operation of the steering handle (19), and the steering handle (19) And the turning radius of the traveling crawler (2) can be easily matched.
【００４５】また、走行速度が遅いときの第２油圧ポン
プ（２６）の操向制御を敏感に行わせるように構成した
もので、主変速全域並びに操向操作全域において操向ハ
ンドル（１９）操作量と走行クローラ（２）旋回半径を
容易に一致させることができ、操向操作性及び操向機能
の向上を容易に図ることができるものである。Further, the steering control of the second hydraulic pump (26) when the traveling speed is slow is made sensitive so that the operation of the steering handle (19) can be performed in the entire main shift range and the entire steering operation range. The amount and the turning radius of the traveling crawler (2) can be easily matched, and the steering operability and the steering function can be easily improved.
【００４６】また、主変速の中立を検出して第２油圧ポ
ンプ（２６）を中立に維持させるように構成したもの
で、停止時の走行クローラ（２）の旋回動作を阻止し乍
ら低速域の旋回性能を容易に向上させることができ、操
向ハンドル（１９）の操作性向上並びに運転操作の簡略
化などを容易に図ることができるものである。Further, the second hydraulic pump (26) is configured to maintain the neutral state by detecting the neutrality of the main speed change. The turning performance of the steering wheel (19) can be easily improved, and the operability of the steering handle (19) can be easily improved, and the driving operation can be simplified.
【００４７】また、操向ハンドル（１９）の切れ角度が
小さいときに操向制御出力の変化が大きくなるように構
成したもので、畦または作物列に走行進路を一致させる
条合せ等の微少進路修正を容易に行うことができ、農作
業中の直進走行時の操向性能の向上などを容易に図るこ
とができるものである。Further, the steering control output is configured to have a large change when the steering angle of the steering handle (19) is small. The correction can be easily performed, and the steering performance during straight running during agricultural work can be easily improved.
【００４８】また、操向ハンドル（１９）の切れ角度が
小さいときに敏感な操向制御を行い、操向ハンドル（１
９）の切れ角度が大きいときに鈍感な操向制御を行うよ
うに構成したもので、直進作業時の進路修正を適正に行
うことができ、また操向ハンドル（１９）の誤操作によ
る過剰進路修正を容易に防止でき、高速走行での方向転
換などを安定良く行うことができるものである。When the steering angle of the steering wheel (19) is small, sensitive steering control is performed, and the steering wheel (1) is controlled.
9) The steering control is made insensitive when the turning angle is large, so that the course correction during straight-ahead work can be properly performed, and excessive course correction due to erroneous operation of the steering handle (19). Can be easily prevented, and the direction can be changed stably during high-speed running.
【００４９】また、操向ハンドル（１９）の操作量に対
して第２油圧ポンプ（２６）の制御出力を非直線的に変
化させるように構成したもので、第２油圧ポンプ（２
６）の特性または農作業内容などに適応させた操向動作
を容易に設定でき、操向機能並びに取扱い操作性の向上
などを容易に図ることができるものである。The control output of the second hydraulic pump (26) is changed in a non-linear manner with respect to the operation amount of the steering handle (19).
The steering operation adapted to the characteristic of 6) or the contents of farm work can be easily set, and the steering function and handling operability can be easily improved.
【図１】コンバインの全体側面図。FIG. 1 is an overall side view of a combine.
【図２】同平面図。FIG. 2 is a plan view of the same.
【図３】走行ミッション部の側面図。FIG. 3 is a side view of a traveling mission unit.
【図４】変速及び操向駆動説明図。FIG. 4 is an explanatory diagram of shifting and steering driving.
【図５】変速及び操向油圧回路図。FIG. 5 is a shift and steering hydraulic circuit diagram.
【図６】操向ハンドル部の平面説明図。FIG. 6 is an explanatory plan view of a steering handle portion.
【図７】変速及び操向制御回路図。FIG. 7 is a shift and steering control circuit diagram.
【図８】操向ハンドルと旋回出力を示す線図。FIG. 8 is a diagram showing a steering handle and a turning output.
【図９】操向ハンドルと変速出力を示す線図。FIG. 9 is a diagram showing a steering handle and a shift output.
【図１０】操向ハンドルと変速出力を示す線図。FIG. 10 is a diagram showing a steering wheel and a shift output.
【図１１】主変速レバーと旋回出力を示す線図。FIG. 11 is a diagram showing a main transmission lever and a turning output.
【図１２】操向ハンドルと旋回出力を示す線図。FIG. 12 is a diagram showing a steering handle and a turning output.
【図１３】図７の変速操向制御フローチャート。FIG. 13 is a flowchart of a shift steering control of FIG. 7;
【図１４】図５の変形例を示す油圧回路図。FIG. 14 is a hydraulic circuit diagram showing a modified example of FIG.
【図１５】図７の変形例を示す制御回路図。FIG. 15 is a control circuit diagram showing a modification of FIG. 7;
（２） 走行クローラ （１９） 操向ハンドル （２３） 第１油圧ポンプ （２４） 第１油圧モータ （２６） 第２油圧ポンプ （２７） 第２油圧モータ （７４） 操向モータ（操向アクチュエータ） （７９） 旋回クラッチ (2) Traveling crawler (19) Steering handle (23) First hydraulic pump (24) First hydraulic motor (26) Second hydraulic pump (27) Second hydraulic motor (74) Steering motor (steering actuator) (79) Swivel clutch
フロントページの続き Ｆターム(参考） 2B043 AA04 BA02 BA05 BB14 DA04 DB05 DB18 EA13 EB01 EB02 EB09 EB13 EB14 EB22 ED02 ED04 ED12 ED22 2B076 AA03 DA03 DA15 DB06 DC03 3D042 AA01 AA06 AB10 AB11 BA02 BA07 BA08 BA10 BA12 BA13 BA19 BA20 BC02 BC03 BC12 BC14 BC17 BD02 BD04 BD08 BD09 3D052 AA02 AA05 AA13 BB08 BB11 DD03 DD04 EE01 FF01 GG03 HH01 HH02 HH03 JJ00 JJ10 JJ21 JJ22 JJ37 3J053 AA03 AB03 AB04 AB21 AB23 AB46 DA12 DA22 EA02 EA04Continued on the front page F-term (reference) 2B043 AA04 BA02 BA05 BB14 DA04 DB05 DB18 EA13 EB01 EB02 EB09 EB13 EB14 EB22 ED02 ED04 ED12 ED22 2B076 AA03 DA03 DA15 DB06 DC03 3D042 AA01 AA06 AB10 BA11 BA10 BC12 BC14 BC17 BD02 BD04 BD08 BD09 3D052 AA02 AA05 AA13 BB08 BB11 DD03 DD04 EE01 FF01 GG03 HH01 HH02 HH03 JJ00 JJ10 JJ21 JJ22 JJ37 3J053 AA03 AB03 AB04 AB21 AB23 AB46 DA12 DA22 EA02 EA04
Claims (9)
ンプ及び第１油圧モータと、左右走行クローラの駆動速
度に差を生じさせる第２油圧ポンプ及び第２油圧モータ
を設ける移動農機において、操向ハンドル操作量を検出
して第２油圧ポンプの出力制御を行う操向アクチュエー
タを設け、副変速の中立を検出して第２油圧ポンプ及び
第２油圧モータによる操向動作を中止させるように構成
したことを特徴とする移動農機。1. A mobile agricultural machine having a first hydraulic pump and a first hydraulic motor for driving a left-right traveling crawler and a second hydraulic pump and a second hydraulic motor for producing a difference in driving speed of the left-right traveling crawler. A steering actuator is provided which detects the steering operation amount and controls the output of the second hydraulic pump, and detects neutral of the sub-shift to stop the steering operation by the second hydraulic pump and the second hydraulic motor. A mobile agricultural machine characterized by the above-mentioned.
を中立に維持させるように構成したことを特徴とする請
求項１に記載の移動農機。2. The mobile agricultural machine according to claim 1, wherein the second hydraulic pump is maintained at a neutral position by detecting the neutral position of the sub-shift.
の出力をオフにする旋回クラッチを設けたことを特徴と
する請求項１に記載の移動農機。3. The mobile agricultural machine according to claim 1, further comprising a swing clutch that detects neutral of the sub-shift and turns off the output of the second hydraulic motor.
操向ハンドル操作量に対する第２油圧ポンプ制御量の割
合が大きくなるように構成したことを特徴とする請求項
１に記載の移動農機。4. The movement according to claim 1, wherein the ratio of the control amount of the second hydraulic pump to the operation amount of the steering handle when the main speed is lower than the speed is higher. Farm machine.
操向制御を敏感に行わせるように構成したことを特徴と
する請求項１に記載の移動農機。5. The mobile agricultural machine according to claim 1, wherein steering control of the second hydraulic pump when the traveling speed is slow is sensitively performed.
を中立に維持させるように構成したことを特徴とする請
求項５に記載の移動農機。6. The mobile agricultural machine according to claim 5, wherein a neutral state of the main shift is detected to maintain the second hydraulic pump in a neutral state.
操向制御出力の変化が大きくなるように構成したことを
特徴とする請求項１に記載の移動農機。7. The mobile agricultural machine according to claim 1, wherein a change in steering control output increases when the steering angle of the steering handle is small.
敏感な操向制御を行い、操向ハンドルの切れ角度が大き
いときに鈍感な操向制御を行うように構成したことを特
徴とする請求項１に記載の移動農機。8. The system according to claim 1, wherein a sensitive steering control is performed when the steering angle of the steering wheel is small, and an insensitive steering control is performed when the steering angle of the steering wheel is large. Item 4. The mobile agricultural machine according to Item 1.
ポンプの制御出力を非直線的に変化させるように構成し
たことを特徴とする請求項１に記載の移動農機。9. The mobile agricultural machine according to claim 1, wherein the control output of the second hydraulic pump is changed in a non-linear manner with respect to the operation amount of the steering handle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21194898A JP3998109B2 (en) | 1998-07-10 | 1998-07-10 | Mobile farm machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21194898A JP3998109B2 (en) | 1998-07-10 | 1998-07-10 | Mobile farm machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2000025642A true JP2000025642A (en) | 2000-01-25 |
| JP3998109B2 JP3998109B2 (en) | 2007-10-24 |
Family
ID=16614358
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP21194898A Expired - Fee Related JP3998109B2 (en) | 1998-07-10 | 1998-07-10 | Mobile farm machine |
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| Country | Link |
|---|---|
| JP (1) | JP3998109B2 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001347965A (en) * | 2000-06-07 | 2001-12-18 | Iseki & Co Ltd | Steering system for combine |
| JP2003002228A (en) * | 2001-06-20 | 2003-01-08 | Yanmar Agricult Equip Co Ltd | Tractor |
| KR20170077537A (en) * | 2015-12-28 | 2017-07-06 | 현대건설기계 주식회사 | Control system and method for hydraulic motor in working equipment |
| WO2017138444A1 (en) * | 2016-02-09 | 2017-08-17 | ヤンマー株式会社 | Working vehicle |
| JP2017170957A (en) * | 2016-03-18 | 2017-09-28 | ヤンマー株式会社 | Work vehicle |
-
1998
- 1998-07-10 JP JP21194898A patent/JP3998109B2/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001347965A (en) * | 2000-06-07 | 2001-12-18 | Iseki & Co Ltd | Steering system for combine |
| JP4513174B2 (en) * | 2000-06-07 | 2010-07-28 | 井関農機株式会社 | Combine steering device |
| JP2003002228A (en) * | 2001-06-20 | 2003-01-08 | Yanmar Agricult Equip Co Ltd | Tractor |
| JP4570285B2 (en) * | 2001-06-20 | 2010-10-27 | ヤンマー株式会社 | Tractor |
| KR20170077537A (en) * | 2015-12-28 | 2017-07-06 | 현대건설기계 주식회사 | Control system and method for hydraulic motor in working equipment |
| WO2017138444A1 (en) * | 2016-02-09 | 2017-08-17 | ヤンマー株式会社 | Working vehicle |
| JP2017140893A (en) * | 2016-02-09 | 2017-08-17 | ヤンマー株式会社 | Work vehicle |
| US10926795B2 (en) | 2016-02-09 | 2021-02-23 | Yanmar Power Technology Co., Ltd. | Work vehicle |
| JP2017170957A (en) * | 2016-03-18 | 2017-09-28 | ヤンマー株式会社 | Work vehicle |
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| Publication number | Publication date |
|---|---|
| JP3998109B2 (en) | 2007-10-24 |
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