JP2000175546A - Movable agricultural machine - Google Patents
Movable agricultural machineInfo
- Publication number
- JP2000175546A JP2000175546A JP10357368A JP35736898A JP2000175546A JP 2000175546 A JP2000175546 A JP 2000175546A JP 10357368 A JP10357368 A JP 10357368A JP 35736898 A JP35736898 A JP 35736898A JP 2000175546 A JP2000175546 A JP 2000175546A
- Authority
- JP
- Japan
- Prior art keywords
- steering
- speed
- traveling
- turning
- output
- 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
- 230000005540 biological transmission Effects 0.000 claims description 114
- 230000008859 change Effects 0.000 claims description 110
- 230000007935 neutral effect Effects 0.000 description 35
- 230000007246 mechanism Effects 0.000 description 30
- 238000010586 diagram Methods 0.000 description 18
- 230000008878 coupling Effects 0.000 description 14
- 238000010168 coupling process Methods 0.000 description 14
- 238000005859 coupling reaction Methods 0.000 description 14
- 230000009467 reduction Effects 0.000 description 13
- 230000033001 locomotion Effects 0.000 description 10
- 238000005520 cutting process Methods 0.000 description 9
- 238000012937 correction Methods 0.000 description 8
- 230000006870 function Effects 0.000 description 8
- 235000013339 cereals Nutrition 0.000 description 7
- 238000012423 maintenance Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000003306 harvesting Methods 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
- 230000002093 peripheral effect Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 239000010902 straw Substances 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 239000006096 absorbing agent Substances 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000006386 neutralization reaction Methods 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 238000003971 tillage Methods 0.000 description 1
- 230000007723 transport mechanism Effects 0.000 description 1
Landscapes
- Guiding Agricultural Machines (AREA)
- Harvester Elements (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
- Mechanical Control Devices (AREA)
Abstract
Description
【0001】[0001]
【発明の属する技術分野】本発明は例えば圃場の穀稈を
連続的に刈取って脱穀するコンバインまたは耕耘トラク
タまたは圃場管理車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 or tillage tractor or a field management vehicle for continuously cutting and threshing grain culms in a field.
【0002】[0002]
【発明が解決しようとする課題】従来、走行変速レバー
の操作によって走行速度を無段階に変更自在なベルトま
たは油圧無段変速機構を介して左右走行クローラに駆動
力を伝えて任意の車速で移動させると共に、操向ハンド
ルによって操向用の無段変速機構を操作して差動機構を
制御し、左右走行クローラの駆動速度の差を無段階に変
化させ、走行進路を変更させる技術がある。しかし乍
ら、操向ハンドルの操向操作だけでは直進時と旋回時と
で車速が略一定に保たれ、旋回半径が小さいスピンター
ン動作などを行うときに走行変速レバーにより減速操作
を行う必要があり、圃場枕地で方向転換するときに操向
ハンドル操作と走行変速レバー操作の両方を行う必要が
ある。そこで、操向ハンドル操作と連動させて車速を自
動的に減速させ、かつ直進走行に戻すハンドル操作と連
動させて元の車速に自動的に増速させることにより、操
向ハンドル操作だけでスピンターン動作などを適正車速
に減速させて行え、面倒な走行変速操作を省けるが、ス
ピンターンが不要な作業のときに減速によって作業能率
が低下する不具合があると共に、湿田作業のときに減速
によって走行性能が低下する不具合がある。また、操向
ハンドル操作量に対する車速の減速比を小さくすると、
路上または乾田などで機敏な旋回動作を得られず、特に
乾田作業での方向転換(スピンターン)性能が低下する
不具合がある。Conventionally, a driving force is transmitted to left and right traveling crawlers via a belt or a hydraulic stepless transmission mechanism capable of continuously changing the traveling speed by operating a traveling speed change lever to move at an arbitrary vehicle speed. In addition, there is a technique for operating a continuously variable transmission mechanism for steering with a steering handle to control a differential mechanism, changing the drive speed difference between the left and right traveling crawlers in a stepless manner, and changing the traveling course. However, if the steering operation of the steering wheel alone is performed, the vehicle speed is maintained substantially constant between straight traveling and turning, and when performing a spin turn operation with a small turning radius, it is necessary to perform a deceleration operation with the traveling shift lever. Yes, it is necessary to perform both the steering handle operation and the traveling speed change lever operation when turning in the field headland. Therefore, by automatically decelerating the vehicle speed in conjunction with the steering wheel operation and automatically increasing the vehicle speed to the original vehicle speed in conjunction with the steering wheel operation returning to straight running, the spin turn is performed only by the steering wheel operation Operation can be slowed down to the appropriate vehicle speed, which can save troublesome traveling shifting operations.However, there is a problem in that work efficiency is reduced by deceleration when work that does not require spin turns, and traveling performance is reduced by deceleration when working in wet fields. Is reduced. Also, if the reduction ratio of the vehicle speed to the steering wheel operation amount is reduced,
There is a problem that a quick turning operation cannot be obtained on a road or in a dry field, and the turning performance (spin turn) performance particularly in dry field work is reduced.
【0003】[0003]
【課題を解決するための手段】然るに、本発明は、走行
変速レバーの操作によって走行速度を無段階に変更自在
な変速部材を介して左右走行クローラに駆動力を伝える
と共に、操向ハンドルによって操向部材を操作して左右
走行クローラの駆動速度の差を無段階に変化させる移動
農機において、操向ハンドルの操作量に比例させて車速
を減速させる協動系路を介して走行変速レバーに変速部
材を連結させると共に、前記協動系路と別の第三系路で
走行変速レバーに変速部材を連結させたもので、前記協
動系路と第三系路を使い分けることによって変速部材の
制御構造を組み換えることなく旋回性能及び走行性能を
変更し得、鈍感な旋回フィーリングまたは機敏な旋回フ
ィーリングなど旋回特性を容易に選択し得るものであ
る。According to the present invention, a driving force is transmitted to left and right traveling crawlers via a speed change member capable of changing a traveling speed steplessly by operating a traveling speed change lever, and a steering wheel is operated by a steering handle. In a mobile agricultural machine that changes the drive speed of the left and right traveling crawlers steplessly by operating the steering member, the speed is shifted to the traveling shift lever via a cooperative system that reduces the vehicle speed in proportion to the amount of operation of the steering wheel. In addition to connecting the members, the transmission member is connected to the traveling speed change lever in the third cooperative path and another cooperative path, and the transmission member is controlled by selectively using the cooperative path and the third system path. The turning performance and running performance can be changed without changing the structure, and turning characteristics such as insensitive turning feeling or agile turning feeling can be easily selected.
【0004】また、協動系路からの減速入力と別の第三
系路からの変速操作入力を選択するフィーリング切換部
材を設けたもので、協動系路を用いた変速制御と第三系
路を用いた変速制御の切換をフィーリング切換部材の操
作によって容易に行い得、操舵機能の向上並びに取扱い
操作の簡略化などを容易に図り得るものである。A feeling switching member for selecting a deceleration input from the cooperative system and a shift operation input from another third system is provided. The switching of the shift control using the system can be easily performed by operating the feeling switching member, so that the steering function can be improved and the handling operation can be simplified.
【0005】また、協動系路からの減速入力と別の第三
系路からの変速操作入力を同一軸芯上で選択していずれ
かの入力によって変速部材を制御するように構成したも
ので、走行変速レバー及び操向ハンドル及び変速部材の
間の連結機構の簡略化及びコンパクト化を容易に行い
得、組立及び調整など作業性の向上を容易に図り得るも
のである。Further, the speed change member is controlled by selecting one of a deceleration input from a cooperative system path and a shift operation input from another third system path on the same axis. This facilitates simplification and downsizing of the traveling transmission lever, the steering handle, and the coupling mechanism between the transmission member, and facilitates improvement of workability such as assembly and adjustment.
【0006】また、旋回内側の走行クローラを逆転させ
るスピンターン旋回走行と、操向ハンドルの最大操作量
で旋回内側の走行クローラの回転方向を外側走行クロー
ラと同一方向に維持する非スピンターン旋回走行を、選
択切換自在としたもので、スピンターン旋回走行の選択
によって路上または乾田などでの旋回を機敏に行わせ
得、また非スピンターン旋回走行の選択によって湿田ま
たは泥土面などでの旋回性能を向上させ得、旋回特性の
切換によって操舵機能の向上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。[0006] A spin-turn turning travel in which the traveling crawler inside the turning is reversed, and a non-spin-turn turning travel in which the rotation direction of the traveling crawler inside the turning is maintained in the same direction as the outer traveling crawler with the maximum operation amount of the steering wheel. It is possible to switch the selection freely, it is possible to make a quick turn on the road or dry field by selecting the spin turn turning, and the turning performance on wet or muddy surface etc. by selecting the non-spin turn turning. It is possible to easily improve the steering function and the handling operability by switching the turning characteristic.
【0007】[0007]
【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はコンバインの全体側面図、図2
は同平面図であり、図中(1)は左右一対の走行クロー
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
る油圧シリンダ、(13)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、(1
7)は前記タンク(15)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)などを備える運転台、(21)は運転席(2
0)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 of the combine, Fig. 2
Is a plan view of the same, in which (1) is a track frame on which a pair of left and right traveling crawlers (2) are mounted, (3) is a machine frame installed on the track frame (1), and (4) is a feed chain. A threshing unit which stretches (5) to the left and incorporates a handling cylinder (6) and a processing cylinder (7), and (8) a cutting unit provided with a cutting blade (9) and a grain culm transport mechanism (10). , (11) are hydraulic cylinders for raising and lowering the cutting unit (8) via the cutting frame (12), (13) is a straw processing unit facing the end of the straw chain (14), and (15) is a threshing unit ( A grain tank that carries the grains from 4) through a frying cylinder (16), (1
7) a discharge auger for carrying out the grains of the tank (15) out of the machine, (18) a driver's cab provided with a round steering handle (19) and a driver's seat (20), and (21) a driver's seat (2
0) An engine provided below, configured to continuously cut and thresh grain culms.
【0008】さらに、図3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)は、1対
の第1油圧ポンプ(23)及び第1油圧モータ(24)
を備えて走行主変速用の油圧式無段変速機構を形成する
変速部材(25)と、1対の第2油圧ポンプ(26)及
び第2油圧モータ(27)を備えて旋回用の油圧式無段
変速機構を形成する操向部材(28)とを備え、前記エ
ンジン(21)の出力軸(21a)に第1及び第2油圧
ポンプ(23)(26)の入力軸(29a)(29b)
を伝達ベルト(30a)(30b)によって連結させ、
前記各油圧ポンプ(23)(26)を駆動するように構
成している。Further, as shown in FIG. 3, a transmission case (22) for driving the traveling crawler (2) includes a pair of a first hydraulic pump (23) and a first hydraulic motor (24).
And a pair of a second hydraulic pump (26) and a second hydraulic motor (27) for forming a hydraulic continuously variable transmission mechanism for traveling main transmission. A steering member (28) forming a continuously variable transmission mechanism; and an input shaft (29a) (29b) of the first and second hydraulic pumps (23) (26) on an output shaft (21a) of the engine (21). )
Are connected by transmission belts (30a) (30b),
The hydraulic pumps (23) and (26) are configured to be driven.
【0009】また、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)を介して左右走行クローラ(2)の各駆動輪(3
4)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
し、各遊星ギヤ機構(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、これらプラネタリギヤ(37)に噛
合うリングギヤ(38)などで形成している。The auxiliary transmission mechanism (32) and the differential mechanism (3) are connected to the output shaft (31) of the first hydraulic motor (24).
3) through the driving wheels (3) of the left and right traveling crawlers (2).
The differential mechanism (33) has a pair of left and right symmetric planetary gear mechanisms (35) and (35), and each planetary gear mechanism (35) has one sun gear (36).
, Three planetary gears (37) meshed on the outer periphery of the sun gear (36), and a ring gear (38) meshed with the planetary gears (37).
【0010】前記プラネタリギヤ(37)はサンギヤ軸
(39)と同軸線上とのキャリヤ軸(40)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(38a)を有し
てサンギヤ軸(39)とは同一軸芯上に配置させ、キャ
リヤ軸(40)に回転自在に軸支させ、キャリヤ軸(4
0)を延設して車軸を形成して駆動輪(34)を軸支さ
せている。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 carrier (4) is rotatably supported on the shaft (40).
0) is extended to form an axle to support the drive wheel (34).
【0011】また、走行用の油圧式無段変速部材(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)より各ギヤ(4
3)(44)(45)及び副変速機構(32)を介し
て、サンギヤ軸(39)に固定したセンタギヤ(46)
に伝達してサンギヤ(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(44)を
有する副変速軸(47)と、前記ギヤ(45)を介して
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)間に各1対の低速用ギヤ(50)(5
1)・中速用ギヤ(52)(53)・高速用ギヤ(5
4)(48)を設けて、低中速スライダ(55)及び高
速スライダ(56)のスライド操作によって副変速の低
速・中速・高速の切換を行うように構成している。なお
低速・中速間及び中速・高速間には中立を有する。また
前記ブレーキ軸(49)に駐車ブレーキ(57)を設け
ると共に、刈取部(8)に回転力を伝達する刈取PTO
軸(58)にギヤ(59)(60)及び一方向クラッチ
(61)を介して副変速軸(47)を連結させ、刈取部
(8)を車速同調速度で駆動している。A traveling hydraulic continuously variable transmission member (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. The output is transmitted 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 sub-transmission mechanism (32) includes a sub-transmission shaft (47) having the gear (44) and a parking brake shaft (49) having a gear (48) that meshes with a center gear (46) via the gear (45). ), And a pair of low-speed gears (50) (5) between the auxiliary transmission shaft (47) and the brake shaft (49).
1) Medium-speed gear (52) (53) High-speed gear (5
4) By providing (48), the low-medium-speed slider (55) and the high-speed slider (56) are slid to switch the sub-transmission between low speed, medium speed, and high speed. Note that there is neutrality between low and medium speeds and between medium and high speeds. In addition, a parking brake (57) is provided on the brake shaft (49), and a cutting PTO that transmits torque to the cutting unit (8).
The auxiliary transmission shaft (47) is connected to the shaft (58) via gears (59) and (60) and a one-way clutch (61), and the mowing unit (8) is driven at the vehicle speed synchronization speed.
【0012】上記のように、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)
を介して左右キャリヤ軸(40)に伝達させると共に、
左右キャリヤ軸(40)に伝達された回転を左右の駆動
輪(34)にそれぞれ伝え、左右走行クローラ(2)を
駆動するように構成している。As described above, the driving force from the first hydraulic motor (24) transmitted to the sun gear shaft (39) via the center gear (46) is applied to the left and right planetary gear mechanisms (35).
And to the left and right carrier shafts (40) via
The rotation transmitted to the left and right carrier shafts (40) is transmitted to the left and right drive wheels (34), respectively, to drive the left and right traveling crawlers (2).
【0013】さらに、旋回用の油圧式無段変速機構で形
成する操向部材(28)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)
の正逆回転と回転数の制御を行うもので、操向出力ブレ
ーキ(62)を有するブレーキ軸(63)と、操向出力
クラッチ(64)を有するクラッチ軸(65)と、前記
の左右リングギヤ(38)の外歯(38b)に常時噛合
させる左右入力ギヤ(66)(67)を設け、第2油圧
モータ(27)の出力軸(68)に前記ブレーキ軸(6
3)及び操向出力クラッチ(64)を介してクラッチ軸
(65)を連結させ、クラッチ軸(65)に正転ギヤ
(69)を介して右入力ギヤ(67)を連結させ、また
クラッチ軸(65)に正転ギヤ(69)及び逆転ギヤ
(70)を介して左入力ギヤ(66)を連結させてい
る。そして、副変速スライダ(55)(56)の中立に
よって前記ブレーキ(62)を入にしかつクラッチ(6
4)を切にする一方、前記中立以外の副変速出力時にブ
レーキ(62)を切にしかつクラッチ(64)を入に
し、右側のリングギヤ(38)の外歯(38b)に正転
ギヤ(69)を介してモータ(27)回転力を伝え、ま
た左側のリングギヤ(38)の外歯(38b)に正転ギ
ヤ(69)及び逆転ギヤ(70)を介してモータ(2
7)回転を伝え、第2油圧モータ(27)を正転(逆
転)時、左右同一回転数で、左リングギヤ(38)を逆
転(正転)させ、かつ右リングギヤ(38)を正転(逆
転)とさせるように構成している。Further, a steering member (28) formed by a turning hydraulic continuously variable transmission mechanism is provided with a second hydraulic motor (27) by adjusting an angle of a rotary swash plate of a second hydraulic pump (26).
For controlling the forward / reverse rotation and the number of revolutions of the vehicle, including a brake shaft (63) having a steering output brake (62), a clutch shaft (65) having a steering output clutch (64), and the left and right ring gears. Left and right input gears (66) and (67) that are always engaged with the external teeth (38b) of (38) are provided, and the brake shaft (6) is mounted on the output shaft (68) of the second hydraulic motor (27).
3) The clutch shaft (65) is connected via the steering output clutch (64), the right input gear (67) is connected to the clutch shaft (65) via the forward gear (69), and the clutch shaft is The left input gear (66) is connected to (65) via a forward rotation gear (69) and a reverse rotation gear (70). The brake (62) is turned on by the neutralization of the sub-transmission sliders (55) and (56), and the clutch (6) is turned on.
4), the brake (62) is turned off and the clutch (64) is turned on at the time of the output of the sub-shift other than the neutral, and the forward gear (69) is applied to the external teeth (38b) of the right ring gear (38). ) Is transmitted to the external gear (38b) of the left ring gear (38) via the forward gear (69) and the reverse gear (70).
7) The rotation is transmitted, and when the second hydraulic motor (27) is rotated forward (reverse rotation), the left ring gear (38) is rotated reversely (forward rotation) and the right ring gear (38) is rotated forward (rotation) at the same left and right rotation speed. (Reverse rotation).
【0014】而して、旋回用の第2油圧モータ(27)
を停止させて左右リングギヤ(38)を静止固定させた
状態で、走行用の第1油圧モータ(24)を駆動する
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)・キャリヤ(41)を介して左右の走行クロー
ラ(2)が左右同一回転方向で同一回転数によって駆動
され、機体の前後方向直進走行が行われる。一方、走行
用の第1油圧モータ(24)を停止させて左右のサンギ
ヤ(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、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)を逆方向に駆動し、機体を左或いは右に旋回させ
る。また、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)を駆動するこ
とにより、機体が左右に旋回して進路が修正されるもの
で、機体の旋回半径は第2油圧モータ(27)の出力回
転数によって決定される。Thus, the second hydraulic motor for turning (27)
When the first hydraulic motor (24) for traveling is driven in a state where the left and right ring gears (38) are stopped and fixed, the rotation output from the first hydraulic motor (24) is The right and left traveling crawlers (2) are transmitted to the sun gear (36) at the same rotation speed, and are driven by the same rotation speed in the left and right same rotation direction via the planetary gear (37) and the carrier (41) of the left and right planetary gear mechanism (35). Then, the vehicle travels straight in the front-rear direction. On the other hand, when the first hydraulic motor (24) for traveling is stopped and the left and right sun gears (36) are stationary and fixed, the second hydraulic motor (27) for turning is driven forward and reverse to rotate the left planetary gear. The gear mechanism (35) rotates forward or backward, and the right planetary gear mechanism (35) rotates reversely or forward, driving the left and right traveling crawlers (2) in the reverse direction, and turning the body left or right. Further, by driving the second hydraulic motor for turning (27) while driving the first hydraulic motor for traveling (24), the body turns right and left and the course is corrected. The turning radius is determined by the output rotation speed of the second hydraulic motor (27).
【0015】さらに、図2、図4乃至図13に示す如
く、前記運転台(18)の前部上面にステアリングコラ
ム(71)を立設固定させ、ステアリングコラム(7
1)上面上方側に操向ハンドル(19)を縦軸回りに回
転自在に取付けると共に、運転台(18)左側にサイド
コラム(72)を設け、サイドコラム(72)下方にミ
ッション(22)を配設させ、主変速レバー(73)、
副変速レバー(74)、刈取クラッチレバー(75)、
脱穀クラッチレバー(76)を前記サイドコラム(7
2)に取付ける。また、前記ステアリングコラム(7
1)は、アルミニウム合金鋳物を成形加工して形成し、
左右に分割自在な2つ割れ構造で複数のボルト(77)
で締結して箱形に形成している。Further, as shown in FIGS. 2, 4 to 13, a steering column (71) is erected and fixed on the front upper surface of the cab (18).
1) A steering handle (19) is attached to the upper side of the upper surface so as to be rotatable around the vertical axis, a side column (72) is provided on the left side of the cab (18), and a transmission (22) is provided below the side column (72). The main transmission lever (73),
Sub transmission lever (74), reaping clutch lever (75),
Push the threshing clutch lever (76) to the side column (7
Attach to 2). In addition, the steering column (7
1) is formed by molding an aluminum alloy casting,
Multiple bolts (77) with a split structure that can be split left and right
To form a box shape.
【0016】また、前記ステアリングコラム(71)上
部にチルト台(78)を一体形成し、チルト台(78)
に支点ボルト(79)を介してチルトブラケット(8
0)を回転自在に軸支させ、チルトレバー(81)によ
ってチルトブラケット(80)を角度調節自在に固定さ
せる。前記チルトブラケット(80)に軸ケース(8
2)下部を一体固定させ、コラム(71)上面に固定さ
せる上面カバー(83)上方に軸ケース(82)を延設
させ、軸ケース(82)内部に上ハンドル軸(84)を
回転自在に軸支させ、上ハンドル軸(84)上端に操向
ハンドル(19)を固定させ、チルトレバー(81)操
作により支点ボルト(79)回りにハンドル(19)を
前後方向に移動調節して一定位置に支持させ、ハンドル
(19)取付け位置を前後方向に調節して作業者が操作
し易い位置に固定させる。A tilt base (78) is integrally formed on the steering column (71), and the tilt base (78) is formed.
To the tilt bracket (8) via the fulcrum bolt (79).
0) is rotatably supported, and the tilt bracket (80) is fixed by the tilt lever (81) so that the angle can be freely adjusted. A shaft case (8) is attached to the tilt bracket (80).
2) A shaft case (82) is extended above an upper cover (83) for fixing the lower part integrally and fixed to the upper surface of the column (71), and the upper handle shaft (84) is rotatable inside the shaft case (82). The steering handle (19) is fixed at the upper end of the upper handle shaft (84), and the handle (19) is moved and adjusted around the fulcrum bolt (79) by operating the tilt lever (81) to a fixed position. And the handle (19) mounting position is adjusted in the front-rear direction to be fixed at a position where the operator can easily operate.
【0017】また、前記上ハンドル軸(84)の下端部
に自在継手(85)を介して下ハンドル軸(86)上端
側を連結させ、下ハンドル軸(86)をステアリングコ
ラム(71)上部に回転自在に軸支させると共に、ステ
アリングコラム(71)上部に操向入力軸(87)上端
部を回転自在に軸支させ、下ハンドル軸(86)のギヤ
(88)と操向入力軸(87)のセクタギヤ(89)を
噛合させて各軸(86)(87)を連結させ、ステアリ
ングコラム(71)内部の略中央で上下方向に操向入力
軸(87)を延設させる。The upper end of the lower handle shaft (86) is connected to the lower end of the upper handle shaft (84) via a universal joint (85), and the lower handle shaft (86) is mounted on the upper part of the steering column (71). In addition to being rotatably supported, the upper end of the steering input shaft (87) is rotatably supported above the steering column (71), and the gear (88) of the lower handle shaft (86) and the steering input shaft (87). ) Is engaged with each other to connect the shafts (86) and (87), and the steering input shaft (87) is extended vertically at substantially the center of the inside of the steering column (71).
【0018】さらに、前記ステアリングコラム(71)
の左側面で上下幅略中間に軸受部材(90)を着脱自在
に固定させ、変速入力軸(91)の一端部を軸受部材
(90)にベアリング(92)を介して回転自在に片持
ち支持させ、変速入力軸(91)を左右方向に略水平に
軸支させると共に、操向入力軸(87)下端に自在継手
(93)を介して入力支点軸(94)上端側を連結さ
せ、入力支点軸(94)に操向入力部材(95)を固定
させ、変速入力軸(91)に操向入力部材(95)を回
転自在に取付けると共に、操向入力部材(95)に入力
連結体(96)を着脱自在に固定させ、連係ボルト(9
7)によって前記操向入力部材(95)と入力連結体
(96)を連結させ、また変速入力軸(91)にベアリ
ング(95a)を介して操向入力部材(95)を回転自
在に軸支させ、操向入力部材(95)を操向入力軸(8
7)回りに回転自在に支持させる。また、前記操向入力
軸(87)の正逆転によって操向入力部材(95)を略
垂直な入力軸(87)芯線回りに正逆転させると共に、
前記変速入力軸(91)の正逆転によって略水平な左右
方向の入力軸(91)芯線回りに入力支点軸(94)及
び操向入力部材(95)を前後方向に傾動させるもの
で、垂直方向の操向入力軸(87)芯線と左右水平方向
の変速入力軸(91)芯線とが直角交叉する交点に自在
継手(93)を取付け、操向ハンドル(19)の操向入
力軸(87)正逆転操作により操向入力軸(87)芯線
回りに操向入力部材(95)と入力連結体(96)を正
逆転させる。Further, the steering column (71)
A bearing member (90) is detachably fixed to the left and right sides substantially in the middle of the vertical width, and one end of the transmission input shaft (91) is rotatably cantilevered to the bearing member (90) via the bearing (92). The transmission input shaft (91) is supported substantially horizontally in the left-right direction, and the lower end of the steering input shaft (87) is connected to the upper end of the input fulcrum shaft (94) via a universal joint (93). The steering input member (95) is fixed to the fulcrum shaft (94), the steering input member (95) is rotatably mounted on the speed change input shaft (91), and the input connector (95) is connected to the steering input member (95). 96) is detachably fixed, and the link bolt (9
7) connects the steering input member (95) to the input connector (96), and rotatably supports the steering input member (95) to the transmission input shaft (91) via a bearing (95a). Then, the steering input member (95) is moved to the steering input shaft (8).
7) Make it rotatably supported around. The steering input member (95) is rotated forward and reverse around a substantially vertical axis of the input shaft (87) by forward and reverse rotation of the steering input shaft (87).
The input fulcrum shaft (94) and the steering input member (95) are tilted in the front-rear direction around the center line of the substantially horizontal input shaft (91) by forward / reverse rotation of the speed change input shaft (91). The universal joint (93) is attached to the intersection of the center line of the steering input shaft (87) of the steering wheel and the center line of the speed change input shaft (91) in the horizontal direction at right angles, and the steering input shaft (87) of the steering handle (19). By the forward / reverse operation, the steering input member (95) and the input connector (96) are rotated forward / reverse around the center line of the steering input shaft (87).
【0019】さらに、前記ステアリングコラム(71)
の下部前側に主変速軸(99)を回転自在に軸支させ、
左右方向に略水平に横架させる主変速軸(99)の左側
端をステアリングコラム(71)の左側外方に突設させ
ると共に、サイドコラム(72)下方の機台(3)に回
転自在に設ける中介軸(100)に、リンク(101)
(102)並びに長さ調節ターンバックル(103)付
きロッド(104)を介して主変速軸(99)を連結さ
せる。また、図4の如く、レバー支点軸(105)を介
して機台(3)に回転自在に支点板(106)を取付
け、支点板(106)に筒軸(107)を介して主変速
レバー(73)基部を左右方向に揺動自在に取付けると
共に、支点板(106)にリンク(108)(109)
を介して中介軸(100)を連結させ、主変速レバー
(73)をレバー支点軸(105)回りに前後方向に揺
動させる変速操作によって主変速軸(99)を正逆転さ
せる。また、ロッド形主変速部材(110)及び上連結
板(111)及び下リンク(112)を介して変速入力
軸(91)に主変速軸(99)を連結させ、主変速レバ
ー(73)の主変速軸(99)正逆転操作により前記操
向入力部材(95)を変速入力軸(91)芯線回りに前
後に傾動させる。Further, the steering column (71)
The main transmission shaft (99) is rotatably supported on the lower front side of the
The left end of the main transmission shaft (99), which extends substantially horizontally in the left-right direction, protrudes to the left outside of the steering column (71), and is rotatable on the machine base (3) below the side column (72). A link (101) is attached to the intermediate shaft (100).
(102) and the main transmission shaft (99) is connected via the rod (104) with the length adjustment turnbuckle (103). As shown in FIG. 4, a fulcrum plate (106) is rotatably mounted on the machine base (3) via a lever fulcrum shaft (105), and the main transmission lever is mounted on the fulcrum plate (106) via a cylinder shaft (107). (73) The base is mounted to be swingable in the left-right direction, and the links (108) (109) are connected to the fulcrum plate (106).
The main transmission shaft (99) is rotated forward and backward by a speed change operation of swinging the main transmission lever (73) forward and backward around the lever fulcrum shaft (105) by connecting the intermediate shaft (100) via the. Further, the main transmission shaft (99) is connected to the transmission input shaft (91) via the rod-type main transmission member (110), the upper connecting plate (111) and the lower link (112). The steering input member (95) is tilted back and forth around the center line of the transmission input shaft (91) by a forward / reverse operation of the main transmission shaft (99).
【0020】さらに、筒軸形の操向出力軸(113)を
前記主変速軸(99)に回転自在に取付け、リンク形操
向出力部材(114)を操向出力軸(113)に固定さ
せると共に、ロッド形操向結合部材(115)の上端部
を前記入力連結体(96)に自在継手形操向入力連結部
(116)を介して連結させ、球関継手形操向出力連結
部(117)を介して操向結合部材(115)の下端部
を操向出力部材(114)に連結させ、走行進路を変更
させる操向機構(118)を構成している。Further, a cylindrical steering output shaft (113) is rotatably mounted on the main transmission shaft (99), and the link steering output member (114) is fixed to the steering output shaft (113). At the same time, the upper end of the rod-shaped steering connection member (115) is connected to the input connector (96) via the universal joint-type steering input connection (116), and the ball-and-joint-type steering output connection ( The lower end of the steering connection member (115) is connected to the steering output member (114) via the steering connection member (117) to constitute a steering mechanism (118) for changing the traveling course.
【0021】さらに、前記操向出力軸(113)の上方
で該軸(113)と略平行に変速出力軸(119)をス
テアリングコラム(71)内部に回転自在に軸支させ、
リンク形変速出力部材(120)を変速出力軸(11
9)に固定させると共に、ロッド形変速結合部材(12
1)の上端部を前記入力連結体(96)に自在継手形変
速入力連結部(122)を介して連結させ、球関継手形
変速出力連結部(123)を介して変速結合部材(12
1)の下端部を変速出力部材(120)に連結させ、走
行速度の変更並びに前後進の切換を行う変速機構(12
4)を構成している。Further, a transmission output shaft (119) is rotatably supported inside the steering column (71) substantially parallel to the steering output shaft (113) above the steering output shaft (113),
The link type shift output member (120) is connected to the shift output shaft (11).
9) and a rod-shaped speed change coupling member (12).
The upper end of 1) is connected to the input connector (96) via a universal joint type speed change input connection (122), and the speed change coupling member (12) is connected via a ball joint type speed change output connection (123).
The lower end of 1) is connected to a shift output member (120) to change the traveling speed and switch between forward and reverse.
4).
【0022】さらに、互に回転自在な二重軸構造の内側
の操向操作軸(125)並びに外側の変速操作軸(12
6)をステアリングコラム(71)の下部後側で左右幅
中央の軸受部(127)に回転自在に取付けるもので、
長さ調節自在な球関継手軸(128)及び変速リンク
(129)(130)を介して前記変速出力軸(11
9)に変速操作軸(126)上端部を連結させると共
に、長さ調節自在な球関継手軸(131)及び操向リン
ク(132)(133)を介して前記操向出力軸(11
3)に操向操作軸(125)上端部を連結させる。Further, the inner steering operation shaft (125) and the outer speed change operation shaft (12) of the dual shaft structure rotatable with each other.
6) is rotatably mounted on a bearing (127) in the center of the left and right widths at the lower rear side of the steering column (71).
The variable speed output shaft (11) is connected via a ball joint shaft (128) and a variable speed link (129) (130) whose length is adjustable.
9), the upper end of the speed change operation shaft (126) is connected, and the steering output shaft (11) is connected via a ball joint joint shaft (131) whose length can be adjusted and the steering links (132) and (133).
The upper end of the steering operation shaft (125) is connected to 3).
【0023】また、前記各操作軸(125)(126)
は同一軸芯上に略垂直にステアリングコラム(71)底
部に立設させ、各操作軸(125)(126)上端部を
ステアリングコラム(71)内部に延設させて各出力軸
(113)(119)に連結させると共に、ステアリン
グコラム(71)底面下方に各操作軸(125)(12
6)下端部を突設させ、前記運転台(20)の作業者搭
乗ステップ(134)下面側に各操作軸(125)(1
26)下端側を延設させるもので、前記変速部材(2
5)の出力制御軸(135)に車速制御アーム(13
6)を固定させ、ターンバックル(137)付き長さ調
節自在車速ロッド(138)及び車速リンク(139)
を介して前記変速操作軸(126)下端部に車速制御ア
ーム(136)を連結させ、出力制御軸(135)の正
逆転操作により第1油圧ポンプ(23)斜板角調節を行
って第1油圧モータ(24)の回転数制御及び正逆転切
換を行い、走行速度(車速)の無段階変更並びに前後進
の切換を行う。また、前記操向部材(28)の出力制御
軸(140)に操向制御アーム(141)を固定させ、
ターンバックル(142)付き長さ調節自在旋回ロッド
(143)及び旋回リンク(144)を介して操向操作
軸(125)下端部に操向制御アーム(141)を連結
させ、出力制御軸(140)の正逆転操作により第2油
圧ポンプ(26)斜板角調節を行って第2油圧モータ
(27)の回転数制御及び正逆転切換を行い、操向角度
(旋回半径)の無段階変更並びに左右旋回方向の切替を
行う。Each of the operating shafts (125) (126)
Are set up on the bottom of the steering column (71) substantially vertically on the same axis, and the upper ends of the operation shafts (125) and (126) are extended inside the steering column (71), and the output shafts (113) ( 119) and each operating shaft (125) (12) below the bottom of the steering column (71).
6) The operation shafts (125) (1) are provided on the lower surface side of the operator's cab (20) on the operator boarding step (134) by projecting the lower end.
26) The transmission member (2
5) The vehicle speed control arm (13) is connected to the output control shaft (135).
6) fixed, adjustable length vehicle speed rod (138) with turnbuckle (137) and vehicle speed link (139)
A vehicle speed control arm (136) is connected to the lower end portion of the speed change operation shaft (126) via a gear. The first hydraulic pump (23) adjusts the swash plate angle by the forward / reverse operation of the output control shaft (135). The rotation speed control and forward / reverse switching of the hydraulic motor (24) are performed to continuously change the traveling speed (vehicle speed) and to switch between forward and backward. Further, a steering control arm (141) is fixed to an output control shaft (140) of the steering member (28),
A steering control arm (141) is connected to the lower end of the steering operation shaft (125) through a length-adjustable swing rod (143) with a turnbuckle (142) and a swing link (144). ), The swash plate angle of the second hydraulic pump (26) is adjusted to control the rotation speed of the second hydraulic motor (27) and to switch between forward and reverse rotations. Switching between left and right turning directions is performed.
【0024】さらに、前記ステアリングコラム(71)
の右側外面にアクセルレバー(145)を前後方向回転
自在に設け、エンジン(21)にアクセルレバー(14
5)を連結させるアクセルワイヤ(146)をステアリ
ングコラム(71)前面内側に沿わせて下方から延出さ
せ、アクセルレバー(145)によってエンジン(2
1)回転数を手動調節すると共に、前記ステアリングコ
ラム(71)後面にメンテナンス窓(147)を開設さ
せ、着脱自在な蓋(148)によってメンテナンス窓
(147)を閉鎖している。Further, the steering column (71)
An accelerator lever (145) is provided on the outer surface on the right side of the engine so as to be rotatable in the front-rear direction.
An accelerator wire (146) for connecting the engine (2) is extended from below along the inside of the front surface of the steering column (71), and the engine (2) is operated by an accelerator lever (145).
1) The number of revolutions is manually adjusted, a maintenance window (147) is opened on the rear surface of the steering column (71), and the maintenance window (147) is closed by a removable lid (148).
【0025】上記から明らかなように、変速機構(12
4)動作量に比例させて操向機構(118)操向量を変
化させるもので、高速側走行変速によって操向量を自動
的に拡大させ、かつ低速側走行変速によって操向量を自
動的に縮少させ、操向ハンドル(19)の一定量の操作
によって走行速度に関係なく左右走行クローラ(2)の
旋回半径を略一定に維持させ、農作業走行速度の変更並
びに作物列などに機体を沿わせる進路修正などを行わせ
ると共に、逆円錐形の変速機構(124)並びに操向機
構(118)を形成し、操向操作によって操向入力軸
(87)を回転させて操向入力部材(95)を作動さ
せ、例えば旋回させ乍ら走行速度を減速させる動作を行
わせ、変速操作によって変速入力軸(91)を回転させ
て操向入力部材(95)を作動させ、走行変速による旋
回半径の拡大縮少並びに走行変速中立による旋回出力の
中止などの操作を行わせる。As is apparent from the above, the transmission mechanism (12
4) The steering mechanism (118) changes the steering amount in proportion to the operation amount. The steering amount is automatically enlarged by the high-speed running shift, and the steering amount is automatically reduced by the low-speed running shift. With a certain amount of operation of the steering handle (19), the turning radius of the left and right traveling crawlers (2) is maintained substantially constant irrespective of the traveling speed, thereby changing the traveling speed of the agricultural work and making the aircraft follow the crop line. In addition to making corrections, a reverse conical transmission mechanism (124) and a steering mechanism (118) are formed, and the steering input shaft (87) is rotated by the steering operation to connect the steering input member (95). For example, an operation of reducing the traveling speed while turning is performed, and a speed change input shaft (91) is rotated by a speed change operation to operate a steering input member (95), thereby enlarging or reducing the turning radius due to the running speed change. Few rows To perform operations such as discontinuation of turning output by the running gear neutral.
【0026】また、操向入力部材(95)と操向結合部
材(115)を連結させる操向入力連結部(116)を
変速入力軸(91)芯線上に配設させ、変速入力部材
(96)と変速結合部材(121)を連結させる変速入
力連結部(122)を、変速入力軸(91)芯線と交叉
する直線(A)上に配設させ、操向入力軸(87)及び
変速入力軸(91)を中心とする操向入力部材(95)
の相対的な運動を容易に設定でき、設計及び組立及び構
造の簡略化並びに動作の信頼性向上などを図れると共
に、変速入力軸(91)芯線と操向入力軸(87)芯線
が交叉する軸芯交点(B)を中心とする円周(C)上
に、変速入力連結部(122)並びに操向入力連結部
(116)を配設させ、操向入力部材(95)などの構
造の簡略化及びコンパクト化などを図るもので、変速出
力部材(120)と変速結合部材(121)を連結させ
る変速出力連結部(123)と、操向出力部材(11
4)と操向結合部材(115)を連結させる操向出力連
結部(117)を、操向入力軸(87)芯線上に配設さ
せ、前進時と後進時の変速切換による逆ハンドル現像を
防止し、変速出力部材(120)及び操向出力部材(1
14)の設計及び組立及び構造の簡略化並びに動作の信
頼性向上などを図ると共に、変速入力軸(91)と操向
入力軸(87)の軸芯交点(B)に対する変速出力連結
部(123)の距離と、操向出力連結部(117)の距
離を異ならせ、変速出力連結部(123)と操向出力連
結部(117)を同一直線(D)上で離間させることに
よって各連結部(117)(123)の干渉防止並びに
移動範囲の設定などを容易に行え、変速結合部材(12
1)及び操向結合部材(115)を狭少場所に設置でき
るように構成している。Further, a steering input connecting portion (116) for connecting the steering input member (95) and the steering connecting member (115) is disposed on the center line of the transmission input shaft (91), and the transmission input member (96) is provided. ) And the speed change coupling member (121) are arranged on a straight line (A) intersecting the core of the speed change input shaft (91), and the steering input shaft (87) and the speed change input are arranged. Steering input member (95) about axis (91)
The relative motion of the gears can be easily set, the design and assembly and structure can be simplified, the operation reliability can be improved, and the axis of the transmission input shaft (91) and the axis of the steering input shaft (87) intersect. The speed change input connecting portion (122) and the steering input connecting portion (116) are arranged on the circumference (C) centered on the center intersection (B), and the structure of the steering input member (95) and the like is simplified. A speed change output connecting portion (123) for connecting the speed change output member (120) and the speed change coupling member (121), and a steering output member (11).
A steering output connecting portion (117) for connecting the steering coupling member (115) with the steering output coupling member (115) is disposed on the core wire of the steering input shaft (87) to perform reverse handle development by shifting between forward and reverse. The shift output member (120) and the steering output member (1)
14) Design, assembly and structure are simplified, operation reliability is improved, etc., and the transmission output connecting portion (123) is connected to the axis (B) of the transmission input shaft (91) and the steering input shaft (87). ) Is different from the distance of the steering output connecting portion (117), and the transmission output connecting portion (123) and the steering output connecting portion (117) are separated from each other on the same straight line (D). (117) The interference prevention and the setting of the movement range of (123) can be easily performed, and the speed change coupling member (12
1) and the steering connection member (115) are configured to be installed in a small place.
【0027】また、変速入力連結部(116)と、操向
入力連結部(122)を、変速入力軸(91)と操向入
力軸(87)の軸芯交点(B)を中心とする円周(C)
上で約90度離間させ、変速入力軸(91)の回転によ
って操向入力連結部(116)を一定位置に維持させか
つ変速入力連結部(122)の変位量を最大にして走行
変速を行わせると共に、前記各入力連結部(116)
(122)を移動させる平面上に変速入力軸(91)を
配置させる構造で各連結部(116)(122)の移動
量を容易に確保し、コンパクトで機能的に操向入力部材
(95)を配置させるもので、操向入力軸(87)回り
に約90度の範囲内で変速入力連結部(122)及び操
向入力連結部(116)を移動させ、前後進切換による
逆ハンドル現像の防止並びに各入力連結部(116)
(122)の移動量の確保と共に、操向入力軸(87)
を回転させる操向角度に応じて変速入力連結部(12
2)を減速方向に移動させる動作と、旋回内側の走行ク
ローラ(2)を中心に方向転換させるスピンターン動作
を容易に行わせ、コンパクトな構造で機能的に構成して
いる。また、前記スピンターン動作は、操向部材(2
8)の出力により差動機構(33)を介して左右走行ク
ローラ(2)の一方を正転させかつもう一方を逆転さ
せ、左右走行クローラ(2)の前後及び左右中心点回り
に旋回させる動作であり、前後進走行と旋回とが同時に
行われて前後進出力である変速部材(25)の回転と旋
回出力である操向部材(28)の回転の割合により旋回
半径が決定される。さらに、変速出力軸(119)及び
操向出力軸(113)を変速入力軸(91)と略平行に
設け、前記各出力軸(113)(119)を複数に分割
自在なケースを形成するコラム(71)に高精度で軸支
させると共に、変速入力軸(91)並びに前記各出力軸
(113)(119)を左右方向に延設させることによ
って機体前後方向の連結構造を容易に得られ、主変速レ
バー(73)と変速入力軸(91)の連結、並びに変速
部材(25)及び操向部材(28)と前記出力軸(11
3)(119)との連結を容易に行え、操作構造の簡略
化並びに取扱い性向上などを図れるように構成してい
る。Further, the transmission input connecting portion (116) and the steering input connecting portion (122) are formed by a circle centered on the axis intersection (B) between the transmission input shaft (91) and the steering input shaft (87). Zhou (C)
The traveling speed change is performed by keeping the steering input connection (116) at a constant position by rotating the speed change input shaft (91) and maximizing the displacement of the speed change input connection (122). And each of the input connection sections (116)
The structure in which the speed change input shaft (91) is arranged on the plane on which the (122) is moved easily ensures the amount of movement of each connecting portion (116) (122), and is compact and functionally the steering input member (95). The shift input connecting portion (122) and the steering input connecting portion (116) are moved within a range of about 90 degrees around the steering input shaft (87), and the reverse steering development by forward / reverse switching is performed. Prevention and each input connection (116)
In addition to securing the movement amount of (122), the steering input shaft (87)
Transmission input connecting portion (12
2) In the decelerating direction, the operation is easily performed, and the spin turn operation for changing the direction around the traveling crawler (2) inside the turning is easily performed, and the device is functionally configured with a compact structure. Further, the spin turn operation is performed by the steering member (2).
8) An operation of rotating one of the left and right traveling crawlers (2) in the forward direction and the other in the reverse direction via the differential mechanism (33) by the output of the differential mechanism (33), thereby turning the left and right traveling crawlers (2) forward and backward and around the left and right center points. The forward and backward traveling and turning are performed simultaneously, and the turning radius is determined by the ratio of the rotation of the transmission member (25), which is the forward and backward output, and the rotation of the steering member (28), which is the turning output. Further, a transmission output shaft (119) and a steering output shaft (113) are provided substantially parallel to the transmission input shaft (91), and the output shafts (113) and (119) form a case that can be divided into a plurality of columns. (71) and the transmission input shaft (91) and the output shafts (113) and (119) are extended in the left-right direction, so that the connecting structure in the longitudinal direction of the fuselage can be easily obtained. The connection between the main transmission lever (73) and the transmission input shaft (91), the transmission member (25) and the steering member (28) and the output shaft (11).
3) It is configured so that the connection with (119) can be easily performed, and the operation structure can be simplified and the handling property can be improved.
【0028】さらに、図14に示す如く、前記連係ボル
ト(97)を遊嵌挿通させる位相調節長孔(149)を
入力連結体(96)に開設させると共に、操向入力軸
(87)芯線を中心とする同一円周上に前記長孔(14
9)を形成し、変速入力軸(91)をボルト形基準設定
部材(98)と中立設定孔(150)の係合によって走
行変速中立位置に固定させた状態で、操向入力部材(9
5)だけを回転させ、変速入力軸(91)に対して左右
に回転させて操向入力部材(95)の相対位置を修正す
るもので、操向ハンドル(19)操作によって決定され
る旋回中立位置と走行速度の中立位置を設定する。ま
た、変速入力軸(91)を基準位置に固定させる基準設
定部材(98)を係脱自在に設け、図14に示すボルト
止め体(98a)を外し、図15のように基準設定部材
(98)先端を中立設定孔(150)に係入させ、走行
変速の中立位置並びに操向直進位置を中立設定孔(15
0)と基準設定部材(98)の係合によって確定し、図
8及び図11に示すジョイントナット(121a)(1
15a)の螺出入操作により、変速結合部材(121)
または操向結合部材(115)などの連結長さを伸縮さ
せる組立時の調整などを行い、組立作業性の向上などを
図るように構成している。Further, as shown in FIG. 14, a phase adjusting slot (149) through which the connecting bolt (97) is loosely inserted is opened in the input connector (96), and the core of the steering input shaft (87) is connected to the input connector (96). The slot (14) is placed on the same circumference as the center.
9) is formed, and the steering input member (9) is fixed in a state in which the shift input shaft (91) is fixed to the traveling shift neutral position by engagement of the bolt-shaped reference setting member (98) and the neutral setting hole (150).
5) is rotated only right and left with respect to the speed change input shaft (91) to correct the relative position of the steering input member (95), and the turning neutral determined by the operation of the steering handle (19). Set a neutral position and running speed. Further, a reference setting member (98) for fixing the shift input shaft (91) at the reference position is provided so as to be freely detachable, and the bolted body (98a) shown in FIG. 14 is removed, and the reference setting member (98) as shown in FIG. ) The tip is engaged with the neutral setting hole (150), and the neutral position of the traveling speed change and the steering straight-forward position are set to the neutral setting hole (15).
0) and the reference setting member (98), and the joint nut (121a) (1
By the screw-in / out operation of 15a), the speed change coupling member (121)
Alternatively, adjustment is made at the time of assembling such that the coupling length of the steering coupling member (115) or the like is expanded or contracted, so that the assembling workability is improved.
【0029】さらに、図16乃至図18に示す如く、前
記ギヤ(88)は、270度の外周範囲に複数の歯(1
51)を形成し、90度の外周範囲を円弧(152)に
形成し、操向ハンドル(19)の全回転角度を270度
とし、左操向回転または右操向回転の角度を135度に
設定し、操向ハンドル(19)回転操作を片手で作業者
が容易に行えるように形成する。また、前記セクタギヤ
(89)は、130度の外周範囲に複数の歯(153)
を形成し、230度の外周範囲を円弧カム(154)に
形成し、前記ギヤ(88)の歯(151)とセクタギヤ
(89)の歯(153)を噛合せ、各ギヤ(88)(8
9)の最大正逆転時、前記円弧(152)両端のストッ
パ(155)と前記円弧カム(154)両端のストッパ
(156)を当接させ、操向ハンドル(19)の回転を
規制すると共に、操向入力軸(87)芯線回りに操向入
力部材(95)及び入力連結体(96)を65度の範囲
で正転または逆転させ、操向入力部材(95)が回転移
動する平面上に変速入力軸(91)及び主変速部材(1
10)上端部を配置させる空間を確保し、変速入力軸
(91)芯線上に操向入力連結部(116)を設ける構
造、並びに同一円周上で前記各入力連結部(116)
(122)を90度離間させる構造を容易に得られ、構
造のコンパクト化、設計組立の簡略化などを図れるよう
に構成している。Further, as shown in FIGS. 16 to 18, the gear (88) has a plurality of teeth (1) in an outer peripheral range of 270 degrees.
51) is formed, an outer peripheral range of 90 degrees is formed in an arc (152), the total rotation angle of the steering handle (19) is set to 270 degrees, and the angle of left steering rotation or right steering rotation is set to 135 degrees. The steering wheel (19) is set so that the operator can easily perform the rotation operation with one hand. Further, the sector gear (89) has a plurality of teeth (153) in an outer peripheral range of 130 degrees.
Is formed on the circular cam (154), and the teeth (151) of the gear (88) and the teeth (153) of the sector gear (89) are engaged with each other to form the gears (88) (8).
At the time of the maximum forward / reverse rotation of 9), the stoppers (155) at both ends of the arc (152) and the stoppers (156) at both ends of the arc cam (154) are brought into contact with each other to regulate the rotation of the steering handle (19). The steering input member (95) and the input connector (96) are rotated forward or backward in the range of 65 degrees around the center line of the steering input shaft (87), so that the steering input member (95) is rotated and moved on a plane. The speed change input shaft (91) and the main speed change member (1
10) A structure in which a space for arranging the upper end portion is secured, and the steering input connecting portion (116) is provided on the core line of the transmission input shaft (91), and the input connecting portions (116) on the same circumference.
(122) can be easily obtained at a 90-degree distance, and the structure can be made compact, and the design and assembly can be simplified.
【0030】また、前記セクタギヤ(89)の円弧カム
(154)中央に直進ノッチ(157)を形成すると共
に、前記ステアリングコラム(71)上面壁にデテント
軸(158)を回転自在に軸支させ、デテント軸(15
8)下端部にデテントアーム(159)を固定させ、デ
テントアーム(159)にローラ軸(160)を介して
デテントローラ(161)を回転自在に軸支させ、前記
円弧カム(154)にデテントローラ(161)を当接
させ、直進ノッチ(157)に係脱自在にデテントロー
ラ(161)を係合させ、操向ハンドル(19)を直進
位置に支持させる。また、前記デテント軸(158)上
端側にデテントレバー(162)を固定させ、デテント
軸(158)に巻装させる中立バネ(163)の一端を
デテントレバー(162)に係止させ、ステアリングコ
ラム(71)の受板(164)に中立バネ(163)の
他端を当接させ、円弧カム(154)及び直進ノッチ
(157)にデテントローラ(161)を中立バネ(1
63)によって弾圧当接させている。また、操向ハンド
ル(19)の直進位置をオンオフ切換によって電気的に
検出するマイクロスイッチ型直進センサ(165)をデ
テントレバー(162)に取付けている。A straight notch (157) is formed at the center of the arc cam (154) of the sector gear (89), and a detent shaft (158) is rotatably supported on the upper surface wall of the steering column (71). Detent axis (15
8) A detent arm (159) is fixed to the lower end, a detent roller (161) is rotatably supported on the detent arm (159) via a roller shaft (160), and the detent roller (161) is attached to the arc cam (154). The detent roller (161) is removably engaged with the straight notch (157), and the steering handle (19) is supported at the straight position. Further, a detent lever (162) is fixed to the upper end side of the detent shaft (158), and one end of a neutral spring (163) wound around the detent shaft (158) is locked to the detent lever (162), and the steering column (162) is fixed. The other end of the neutral spring (163) is brought into contact with the receiving plate (164) of (71), and the detent roller (161) is attached to the circular cam (154) and the linear notch (157) by the neutral spring (1).
63). Further, a microswitch-type straight-ahead sensor (165) for electrically detecting the straight-ahead position of the steering handle (19) by switching on and off is attached to the detent lever (162).
【0031】さらに、図12、図13に示す如く、前記
旋回ロッド(143)中間部に伸縮ダンパ(166)を
設けるもので、一方のロッド(143)端部に固定させ
るバネケース(167)と、他方のロッド(143)端
部に摺動自在に係止させるバネ座(168)(169)
と、バネ座(168)(169)を介して圧縮状態にロ
ッド(143)に巻装させる圧縮バネ(170)を、前
記ダンパ(166)に備え、操向ハンドル(19)の操
向操作による押し方向と引き方向の双方向で前記ロッド
(143)に一定以上の押引力が作用したとき、即ち、
操向ハンドル(19)の切角116度(85パーセン
ト)操作により、操向制御アーム(141)が最高出力
位置に移動したとき、前記バネ(170)が圧縮してロ
ッド(143)を伸縮させ、第2油圧ポンプ(26)を
最高出力維持した状態で操向ハンドル(19)をさらに
旋回方向に回転操作させ、操向ハンドル(19)を切角
116度から切角135度まで操作するように構成して
いる。Further, as shown in FIGS. 12 and 13, a telescopic damper (166) is provided at an intermediate portion of the revolving rod (143), and a spring case (167) fixed to one rod (143) end is provided. Spring seats (168) and (169) that are slidably locked to the other rod (143) end.
And a compression spring (170) that is wound around the rod (143) in a compressed state via spring seats (168) and (169) in the damper (166), and is provided by a steering operation of a steering handle (19). When a certain pushing force is applied to the rod (143) in both the pushing direction and the pulling direction,
When the steering control arm (141) is moved to the maximum output position by operating the steering angle (116%) (85%) of the steering handle (19), the spring (170) compresses to expand and contract the rod (143). Then, the steering handle (19) is further rotated in the turning direction while the second hydraulic pump (26) is maintained at the maximum output, and the steering handle (19) is operated from the turning angle of 116 degrees to the turning angle of 135 degrees. It is composed.
【0032】さらに、図12、図19、図20に示す如
く、前記車速制御アーム(136)にピン(171)を
固定させ、前記ピン(171)を摺動自在に貫挿させる
長孔(172)を前記車速ロッド(138)端部に形成
し、車速ロッド(138)を車速制御アーム(136)
に長孔(172)及びピン(171)を介して連結させ
ると共に、車速制御アーム(136)と同軸上にデテン
トカム(173)を固定させ、前記カム(173)にデ
テントローラ(174)をバネ(175)によって弾圧
させ、前記カム(173)とローラ(174)によって
車速制御アーム(136)を中立位置に自動的に復動さ
せ、前記アーム(136)の中立支持によって第1油圧
モータ(24)を停止維持し、かつ前記アーム(13
6)が中立で主変速レバー(73)が中立操作位置のと
きに前記長孔(172)の長手方向の略中央にピン(1
71)を位置させ、前記ロッド(138)の押引による
前後進変速の両方に略等しいストロークがピン(17
1)に対して形成され、前後進変速の両方で前記アーム
(136)が略対称(正逆転)動作を行うように構成し
ている。Further, as shown in FIGS. 12, 19 and 20, a pin (171) is fixed to the vehicle speed control arm (136), and a slot (172) through which the pin (171) is slidably inserted. ) Is formed at the end of the vehicle speed rod (138), and the vehicle speed rod (138) is connected to the vehicle speed control arm (136).
To the vehicle via a long hole (172) and a pin (171), a detent cam (173) is fixed coaxially with the vehicle speed control arm (136), and a detent roller (174) is spring-connected to the cam (173). 175), the vehicle speed control arm (136) is automatically returned to the neutral position by the cam (173) and the roller (174), and the first hydraulic motor (24) is neutralized by the neutral support of the arm (136). And the arm (13)
6) is neutral and the main transmission lever (73) is in the neutral operation position, and the pin (1) is located substantially at the center of the long hole (172) in the longitudinal direction.
71), and the stroke of the pin (17) is substantially equal to both forward and backward shifts by pushing and pulling the rod (138).
1), the arm (136) is configured to perform a substantially symmetrical (forward / reverse) operation in both forward and backward shifts.
【0033】そして、図20に示すように、中立位置
(O)の主変速レバー(73)を変速操作して不感帯ゾ
ーン(P)を移動させて変速開始位置(Q)に移動させ
ることにより、車速ロッド(138)の押引によって長
孔(172)の長手方向端部にピン(171)が当接
し、主変速レバー(73)と車速制御アーム(136)
が連結させると共に、主変速レバー(73)をさらに変
速操作して変速ゾーン(R)を移動させて変速部材(2
5)の最高出力位置(S)までの間に傾倒支持させるこ
とにより、中立位置(T)の車速制御アーム(136)
を最高出力位置(S)までの変速ゾーン(R)に主変速
レバー(73)操作量に比例させて移動させ、変速部材
(25)の第1油圧モータ(24)を無段階に変速出力
させ、左右走行クローラ(2)を等速度で同一方向に駆
動して前後進させるように構成している。Then, as shown in FIG. 20, the main shift lever (73) in the neutral position (O) is shifted to move the dead zone (P) and shift to the shift start position (Q). The pin (171) abuts on the longitudinal end of the long hole (172) by pushing and pulling the vehicle speed rod (138), and the main speed change lever (73) and the vehicle speed control arm (136)
And the main transmission lever (73) is further shifted to move the shift zone (R) to shift the transmission member (2).
5) The vehicle speed control arm (136) in the neutral position (T) by tilting and supporting it up to the maximum output position (S).
Is moved to the shift zone (R) up to the maximum output position (S) in proportion to the amount of operation of the main shift lever (73), and the first hydraulic motor (24) of the shift member (25) is steplessly output. The left and right traveling crawlers (2) are driven at the same speed in the same direction to move forward and backward.
【0034】さらに、図14、図21、図22に示す如
く、前記軸受部(90)に切欠(176)を設けて凹部
(177)を形成し、操向ハンドル(19)を左旋回最
大切角(135度)操作したとき、変速入力連結部(1
22)及び変速結合部材(121)を前記凹部(17
7)に入り込ませ、前記連結部(122)が軸受部(9
0)に当接する構造に比べ、操向ハンドル(19)を左
右旋回操作したときの最大車速減速率を大きく形成する
もので、操向ハンドル(19)の直進位置(U)を中心
に、連係ボルト(97)が位相調節孔(149)縁に当
接するまでの間に定速ゾーン(V)が形成され、操向ハ
ンドル(19)の切角15度以内の操向操作によって機
体中心速度を略一定に保って進路を修正する。また、操
向ハンドル(19)をさらに操向操作して旋回ゾーン
(W)を移動させて操向部材(28)の最高出力位置
(X)までの操向ハンドル(19)切角116殿間で回
転させることにより、操向ハンドル(19)回転角度に
比例して操向制御アーム(141)を最高出力位置
(X)までの間で移動させ、操向部材(28)の第2油
圧モータ(27)を無段階に変速出力させ、左右走行ク
ローラ(2)の速度差を無段階に変更させると共に、操
向ハンドル(19)回転角度に比例して車速ロッド(1
38)及び車速制御アーム(136)を変速中立方向に
復動させ、左右走行クローラ(2)の走行速度を無段階
に減速させ、操向ハンドル(19)切角を大きくするこ
とにより、旋回半径が小さくなり、走行速度が遅くな
り、左右旋回動作が行われる。また、切角116度の操
向ハンドル(19)をさらに操向操作してスピンターン
ゾーン(Y)内を切角135度の最大操向位置(Z)ま
での間に回転させることにより、ダンパ(166)の伸
縮吸収動作によって旋回ロッド(143)(連結長さ)
を伸縮させ、操向制御アーム(141)を最高出力位置
(X)に維持した状態で、車速ロッド(138)及び車
速制御アーム(136)をさらに変速中立方向に復動さ
せ、左右走行クローラ(2)の左右幅中間に形成される
旋回中心回りに方向転換するスピンターン動作が行われ
るように構成している。Further, as shown in FIGS. 14, 21, and 22, a notch (176) is provided in the bearing portion (90) to form a concave portion (177), and the steering handle (19) is turned to the maximum left turning position. When the angle (135 degrees) is operated, the shift input connecting portion (1
22) and the speed change coupling member (121) with the concave portion (17).
7), and the connecting portion (122) is inserted into the bearing portion (9).
As compared with the structure that abuts the steering wheel (19), the maximum vehicle speed deceleration rate when the steering wheel (19) is turned left and right is made larger. A constant speed zone (V) is formed before the bolt (97) comes into contact with the edge of the phase adjustment hole (149), and the center speed of the body is reduced by a steering operation of the steering handle (19) within a turning angle of 15 degrees. Correct the course while keeping it approximately constant. Further, the steering handle (19) is further steered to move the turning zone (W) to move the steering handle (19) to the maximum output position (X) of the steering member (28). To move the steering control arm (141) up to the maximum output position (X) in proportion to the rotation angle of the steering handle (19), and the second hydraulic motor of the steering member (28). (27) steplessly outputs a speed change to change the speed difference between the left and right traveling crawlers (2) steplessly, and sets the vehicle speed rod (1) in proportion to the rotation angle of the steering handle (19).
38) and the vehicle speed control arm (136) are moved back in the neutral direction of shifting, the traveling speed of the left and right traveling crawlers (2) is steplessly reduced, and the turning angle is increased by increasing the steering angle of the steering handle (19). Becomes smaller, the traveling speed becomes slower, and a left-right turning operation is performed. Further, the steering wheel (19) having a turning angle of 116 degrees is further steered to rotate the inside of the spin turn zone (Y) to the maximum steering position (Z) having a turning angle of 135 degrees, thereby providing a damper. Swivel rod (143) by the expansion and contraction absorption operation of (166) (connection length)
While the steering control arm (141) is maintained at the maximum output position (X), the vehicle speed rod (138) and the vehicle speed control arm (136) are further moved back in the neutral direction of the speed change, and the left and right traveling crawlers ( It is configured to perform a spin-turn operation of turning around a turning center formed in the middle of the left and right widths of 2).
【0035】また、図19、図20、図22のように、
車速ロッド(138)と車速制御アーム(136)を長
孔(172)によって連結させ、主変速レバー(73)
の変速操作ストローク(L)を実変速ストロークよりも
大きく形成すると共に、変速入力連結部(122)の左
旋回方向に設ける軸受部(90)に凹部(177)を形
成して前記連結部(122)を凹部(177)に出入さ
せ、主変速レバー(73)最大出力操作時に操向ハンド
ル(19)最大切角(135度)で車速減速率を25パ
ーセントに設定し、前記変速機構(124)によって減
速率を40パーセントまで下げたのに対し、さらに減速
率を上げて25パーセントまで減速させ、スピンターン
動作を行わせ、圃場枕地で機体を約180度方向転換さ
せて次の未刈り穀稈刈取り工程に移動させるように構成
している。なお、図22のように、主変速レバー(7
3)最大出力時、操向ハンドル(19)の切角116度
でダンパ(166)が作動して操向部材(28)が最高
出力維持されると、操向ハンドル(19)の切角116
度乃至135度の範囲で左右走行クローラ(2)の減速
率が略等しく保たれるもので、操向ハンドル(19)の
切角116度の位置で左右走行クローラ(2)速度差が
最大となり、操向ハンドル(19)の切角116度乃至
135度の範囲で、左右走行クローラ(2)の速度差が
略一定に維持され、走行速度がハンドル(19)切角に
比例して減速される。As shown in FIGS. 19, 20 and 22,
The vehicle speed rod (138) and the vehicle speed control arm (136) are connected by a long hole (172), and the main speed change lever (73) is connected.
Is formed larger than the actual speed change stroke, and a concave portion (177) is formed in the bearing (90) provided in the left turning direction of the speed change input connecting portion (122) to form the connecting portion (122). ) Into and out of the recess (177) to set the vehicle speed reduction rate to 25% at the maximum steering angle (135 degrees) of the steering handle (19) at the time of the maximum output operation of the main transmission lever (73). While the deceleration rate was reduced to 40%, the deceleration rate was further increased to decelerate to 25%, a spin-turn operation was performed, and the aircraft was turned about 180 degrees on the field headland, and the next uncut kernel It is configured to move to the culm cutting process. As shown in FIG. 22, the main shift lever (7
3) At the maximum output, when the damper (166) operates at the steering angle (116) of the steering handle (19) to maintain the maximum output of the steering member (28), the steering angle (116) of the steering handle (19) is maintained.
The deceleration rate of the left and right traveling crawlers (2) is maintained substantially equal in the range of degrees to 135 degrees, and the speed difference between the left and right traveling crawlers (2) becomes maximum at the position of the turning angle of the steering handle (19) of 116 degrees. The speed difference between the left and right traveling crawlers (2) is maintained substantially constant in the range of the steering angle of the steering handle (19) from 116 degrees to 135 degrees, and the traveling speed is reduced in proportion to the steering angle of the handle (19). You.
【0036】また、操向ハンドル(19)による車速制
御アーム(136)の減速動作量を多くして減速率を大
きく形成し、スピンターン動作に必要な減速率を容易に
得られて圃場枕地での方向転換機能の向上などを図るも
ので、車速制御アーム(136)と車速ロッド(13
8)を長孔(172)とピン(171)によって連結さ
せ、長孔(172)及びピン(171)の大きさによっ
て車速ロッド(138)の操作量または車速制御アーム
(136)の減速動作量などを容易に決定でき、変速部
材(25)及び操向部材(28)の出力特性並びに操向
ハンドル(19)の減速制御動作などの考慮を容易に行
え、車速ロッド(138)取付け構造の簡略化、並びに
組立作業など取扱い性向上、並びに製造コストの低減な
どを図れるように構成している。The amount of deceleration of the vehicle speed control arm (136) by the steering handle (19) is increased to increase the deceleration rate, and the deceleration rate required for the spin turn operation can be easily obtained. The vehicle speed control arm (136) and the vehicle speed rod (13)
8) is connected to the long hole (172) by the pin (171), and the amount of operation of the vehicle speed rod (138) or the amount of deceleration of the vehicle speed control arm (136) depends on the size of the long hole (172) and the pin (171). And the like, the output characteristics of the speed change member (25) and the steering member (28), the deceleration control operation of the steering handle (19), etc. can be easily considered, and the mounting structure of the vehicle speed rod (138) can be simplified. It is designed to improve handling, such as integration and assembly work, and to reduce manufacturing costs.
【0037】さらに、前記主変速レバー(73)の不感
帯ゾーン(P)の操作によって前記入力部材(95)
(96)を変速入力軸(91)回りに中立位置(P)か
ら変速開始位置(Q)に移行させ、操向ハンドル(1
9)の直進位置を中心とする定速ゾーン(V)でのハン
ドル(19)切角に対する操向制御アーム(141)の
動作比を大きくし、主変速レバー(73)を変速ゾーン
(R)に移行させて微速走行させたとき、操向ハンドル
(19)の定速ゾーン(V)での操作で、操向制御アー
ム(141)の動作量を多くし、操向部材(28)の第
2油圧ポンプ(26)の回転変化率をハンドル(19)
切角変化に対して大きくし、第2油圧ポンプ(26)の
微速出力での旋回動作時間を短縮し、前記モータ(2
7)微速出力域で旋回動作が行われるのを阻止し、主変
速レバー(73)微速走行状態での操向ハンドル(1
9)による旋回動作が第2油圧ポンプ(26)出力を一
定以上大きくして行われるように構成している。このよ
うに、第2油圧ポンプ(26)の微速回転出力での旋回
動作を防ぐことにより、第2油圧ポンプ(26)が微速
出力域で低効率であっても、第2油圧ポンプ(26)の
出力を一定以上確保して旋回動作を行わせることができ
る。また、主変速レバー(73)の変速操作により、操
向ハンドル(19)による操向部材(28)の制御が一
定以上の旋回力を確保して開始されるように設定した
後、走行変速動作を遅れて開始させ、微速移動時の操向
部材(28)の旋回力不足を防止し得、操向部材(2
8)など製造コストの低減並びに左右走行クローラ
(2)の旋回性能向上などを図るもので、主変速レバー
(73)の操作により、変速入力軸(91)芯線回りに
操向及び変速入力部材(95)(96)を一定角度回転
させた後、各入力部材(95)(96)が変速部材(2
5)に連結されて変速部材(25)を作動させ、変速操
作によって各入力部材(95)(96)を操向動作状態
に移動させた後で変速部材(25)から出力させて走行
クローラ(2)を駆動するから、走行出力が小さい微速
移動時でも、操向ハンドル(19)の操向操作による操
向部材(28)の制御量を多くして必要な旋回力を確保
し、微速移動時の旋回性能の向上などを図れるように構
成している。Further, the input member (95) is operated by operating the dead zone (P) of the main shift lever (73).
(96) is shifted from the neutral position (P) to the shift start position (Q) around the shift input shaft (91), and the steering handle (1) is shifted.
9) In the constant speed zone (V) centered on the straight traveling position, the operating ratio of the steering control arm (141) to the steering angle of the steering wheel (19) is increased, and the main shift lever (73) is shifted to the shift zone (R). When the vehicle is moved at a very low speed, the operation amount of the steering control arm (141) is increased by operating the steering handle (19) in the constant speed zone (V), and the steering amount of the steering member (28) is increased. 2 Handle the rotation change rate of the hydraulic pump (26) with the handle (19)
The turning operation time at the very low speed output of the second hydraulic pump (26) is reduced by increasing the turning angle, and the motor (2
7) Prevents the turning operation from being performed in the low-speed output range, and sets the main shift lever (73) to the steering handle (1) in the low-speed running state.
The turning operation according to 9) is performed by increasing the output of the second hydraulic pump (26) by a certain amount or more. As described above, by preventing the turning operation of the second hydraulic pump (26) at the low-speed rotation output, even if the second hydraulic pump (26) has low efficiency in the low-speed output range, the second hydraulic pump (26) , The turning operation can be performed while securing a certain output or more. Further, after the control of the steering member (28) by the steering handle (19) is started by securing the turning force of a certain level or more by the shifting operation of the main shift lever (73), the traveling shift operation is performed. Is started later, it is possible to prevent a shortage of the turning force of the steering member (28) during the low-speed movement, and the steering member (2)
8) to reduce the manufacturing cost and to improve the turning performance of the left and right traveling crawlers (2). By operating the main shift lever (73), the steering and shift input members (about the center line of the shift input shaft (91) are changed). After rotating the input members (95) and (96) by a fixed angle, the input members (95) and (96) are
5), the transmission member (25) is operated, and the input members (95) and (96) are moved to a steering operation state by a shift operation, and then output from the transmission member (25) to output the traveling crawler (25). Since 2) is driven, even when the vehicle travels at a low speed with a small running output, the necessary amount of turning force is secured by increasing the control amount of the steering member (28) by the steering operation of the steering handle (19), and the vehicle moves at a low speed. It is configured to improve the turning performance at the time.
【0038】そして、前記主変速レバー(73)が中立
のとき、操向ハンドル(19)の正転(逆転)操作によ
り、操向入力軸(87)芯線回りに前記各入力部材(9
5)(96)及び各結合部材(115)(121)が円
錐軌跡上で移動し、前記各出力部材(114)(12
0)及び各出力軸(113)(119)が停止した状態
が維持される。また、主変速レバー(73)を前方(後
方)に倒す前進(後進)操作により、前記各入力部材
(95)(96)が変速入力軸(91)芯線回りに前方
(後方)に傾き、操向入力連結部(116)が一定位置
に停止した状態を維持し乍ら、変速入力連結部(12
2)を上方(下方)に移動させ、変速出力部材(12
0)の上方(下方)揺動によって変速出力軸(119)
を正転(逆転)させ、変速部材(23)の第1油圧ポン
プ(23)の斜板角切換によって第1油圧モータ(2
4)を正転(逆転)させ、第1油圧モータ(24)の出
力軸(31)の正転(逆転)によって左右走行クローラ
(2)を前進(後進)駆動する。また、主変速レバー
(73)の倒し角に比例して出力軸(31)の回転数が
変化し、走行クローラ(2)の前進(後進)速度が無段
階に変速される。When the main shift lever (73) is in the neutral position, the forward (reverse) operation of the steering handle (19) causes each of the input members (9) to rotate around the axis of the steering input shaft (87).
5) (96) and the coupling members (115) (121) move on a conical trajectory, and the output members (114) (12)
0) and the state in which the output shafts (113) and (119) are stopped. Further, the forward (reverse) operation of tilting the main transmission lever (73) forward (rearward) causes the input members (95) and (96) to tilt forward (rearward) around the center line of the transmission input shaft (91), and to operate. While maintaining the state where the direction input connecting portion (116) is stopped at a fixed position, the speed change input connecting portion (12
2) is moved upward (downward) and the transmission output member (12
0) Upward (downward) swing of the transmission output shaft (119)
Of the first hydraulic motor (2) by switching the swash plate angle of the first hydraulic pump (23) of the transmission member (23).
4) is rotated forward (reverse), and the left and right traveling crawlers (2) are driven forward (reverse) by forward (reverse) rotation of the output shaft (31) of the first hydraulic motor (24). Further, the rotation speed of the output shaft (31) changes in proportion to the tilt angle of the main transmission lever (73), and the forward (reverse) speed of the traveling crawler (2) is continuously changed.
【0039】さらに、主変速レバー(73)を前方(後
方)に倒して前進(後進)操作を行っている状態下で、
操向ハンドル(19)を左方向(右方向)に回転させる
ことにより、変速入力軸(91)芯線回りに操向入力部
材(95)が前方(後方)に傾いた姿勢で操向入力軸
(87)芯線回りに正転(逆転)し、操向入力連結部
(116)が下方(上方)に移動し、操向出力部材(1
14)の下方(上方)揺動によって操向出力軸(11
3)を正転(逆転)させ、操向部材(28)の第2油圧
ポンプ(26)の斜板角切換によって第2油圧モータ
(27)を正転(逆転)させ、第2油圧モータ(27)
の出力軸(68)の正転(逆転)により、左走行クロー
ラ(2)を減速(増速)させ、かつ右走行クローラ
(2)を増速(減速)させ、左方向(右方向)に機体を
旋回させて左方向(右方向)に進路を修正する。また、
前記の進路修正動作と同時に、操向ハンドル(19)の
左方向(右方向)回転により、変速入力軸(91)芯線
回りに変速入力部材(96)が前方(後方)に傾いた状
態で操向入力軸(87)芯線回りに正転(逆転)し、変
速入力連結部(122)が下方(上方)に移動し、変速
出力部材(120)の下方(上方)揺動によって変速出
力軸(119)を逆転(正転)させ、変速部材(25)
を中立方向に戻す制御を行って出力軸(31)の回転数
を低下させ、走行速度(車速)を減速させる。このよう
に、走行移動中の操向ハンドル(19)の左右操向操作
により、操向ハンドル(19)の回転角度に比例して、
進路を修正する旋回半径(角度)と、走行速度の減速量
が変化し、操向ハンドル(19)を大きく回転させるこ
とによって左右走行クローラ(2)の速度差を大きくし
て旋回半径を小さくすると同時に、走行速度の減速量が
多くなって車速が遅くなると共に、前進時と後進時とで
は、操向ハンドル(19)の回転に対して旋回入力連結
部(116)の動きを逆方向にし、前後進の何れにおい
ても操向ハンドル(19)の回動操作方向と機体の旋回
方向とを一致させ、回転操作する丸形の操向ハンドル
(19)の回転操作によって例えばトラクタまたは田植
機など四輪自動車と同様の運転感覚で進路修正及び方向
転換などを行う。Further, when the main shift lever (73) is tilted forward (rearward) to perform a forward (reverse) operation,
By rotating the steering handle (19) leftward (rightward), the steering input member (95) is tilted forward (rearward) around the center line of the transmission input shaft (91). 87) Forward rotation (reverse rotation) around the core line, the steering input connecting portion (116) moves downward (upward), and the steering output member (1
14), the steering output shaft (11
3) is rotated forward (reverse rotation), the second hydraulic motor (27) is rotated forward (reverse rotation) by switching the swash plate angle of the second hydraulic pump (26) of the steering member (28), and the second hydraulic motor ( 27)
Forward (reverse) rotation of the output shaft (68), the left traveling crawler (2) is decelerated (increased), and the right traveling crawler (2) is accelerated (decelerated) to the left (right). Turn the aircraft and correct the course to the left (right). Also,
Simultaneously with the course correction operation, by turning the steering handle (19) to the left (rightward), the shift input member (96) is steered forward (rearward) around the center line of the shift input shaft (91). The input shaft (87) rotates forward (reverse) around the center line, the shift input connecting portion (122) moves downward (upward), and the shift output member (120) swings down (upward) to output the shift output shaft ( 119) is rotated in the reverse direction (forward rotation), and the speed change member (25) is rotated.
Is returned to the neutral direction to reduce the rotation speed of the output shaft (31) and reduce the traveling speed (vehicle speed). As described above, by the left and right steering operation of the steering handle (19) during the traveling movement, in proportion to the rotation angle of the steering handle (19),
The turning radius (angle) for correcting the course and the deceleration amount of the traveling speed change, and when the steering wheel (19) is rotated greatly, the speed difference between the left and right traveling crawlers (2) is increased to reduce the turning radius. At the same time, the amount of deceleration of the traveling speed increases and the vehicle speed decreases, and at the time of forward movement and reverse movement, the movement of the turning input connecting portion (116) is reversed with respect to the rotation of the steering handle (19), In both forward and backward traveling, the turning operation direction of the steering handle (19) and the turning direction of the fuselage are made to coincide with each other, and the turning operation of the circular steering handle (19) for rotating operation is performed by, for example, a tractor or rice transplanter. It performs course correction and direction change with the same driving feeling as a wheeled vehicle.
【0040】さらに、図22は機体の左右旋回時におけ
る操向ハンドル(19)の切れ角と左右走行クローラ
(2)の速度の関係を示すもので、ハンドル(19)の
切れ角が大となる程左右走行クローラ(2)の速度差は
大となると共に、左右走行クローラ(2)の平均速度と
なる機体中心速度も副変速レバー(74)の走行速度
(高速・標準・低速)状態に応じて減速される。直進位
置の操向ハンドル(19)を左方向(右方向)に約15
度回転させる刈取り進路修正範囲では、操向入力部材
(95)の回転に対して変速入力連結部(122)が略
接線方向に移動し、変速出力部材(120)が直進と略
同一位置に維持されると共に、操向部材(28)の第2
油圧ポンプ(26)によって第2油圧モータ(27)を
正転(逆転)させる操向出力によって左方向(右方向)
に旋回させ、未刈り穀稈(作物)列の湾曲に合せる進路
修正を行う。このとき、旋回内側の走行クローラ(2)
の減速量と、旋回外側の走行クローラ(2)の増速量が
略等しくなり、機体中心速度が直進と略同一速度に保た
れる。また、操向ハンドル(19)を直進位置から15
度以上回転させると、操向入力部材(95)の回転によ
って変速結合部材(121)が押引動作され、変速出力
部材(120)が左旋回及び右旋回のいずれでも減速動
作し、第1油圧ポンプ(23)及びモータ(24)の走
行変速出力を減速させ、左右走行クローラ(2)(2)
を同一方向に回転駆動させて前進(または後進)させ、
左右走行クローラ(2)(2)の走行速度差により左方
向(右方向)に旋回するブレーキターン動作を行わせ、
未刈り穀稈(作物)列から外れたときに元の列に戻した
り隣の列に移動させる進路修正を行う。さらに、操向ハ
ンドル(19)を約116度回転させると、ダンパ(1
66)が作動して旋回出力が最高出力維持され、135
度の切角範囲で機体中心速度が直進時の約4分の1に減
速され、旋回内側の走行クローラ(2)が逆転駆動さ
れ、左右走行クローラ(2)の間の旋回中心回りに機体
が旋回するスピンターン動作が行われ、左右走行クロー
ラ(2)の左右幅だけ旋回方向にずらせて機体を180
度方向転換させるもので、ハンドル切角0度からハンド
ル切角135度の範囲で操向ハンドル(19)を回転さ
せて左または右方向の旋回操作を行い、直進位置を中心
とした左右15度のハンドル(19)回転範囲で未刈り
穀稈(作物)列に沿って移動する条合せ進路修正を、直
進時の走行速度を維持し乍ら行うと共に、左右116度
乃至135度のハンドル(19)回転により、旋回部材
(28)を最高出力維持し乍ら、圃場枕地で機体を方向
転換させて次作業工程に移動させるスピンターン動作
を、直進時の約4分の1の走行速度(減速率25パーセ
ント)に自動的に減速して行う。FIG. 22 shows the relationship between the turning angle of the steering handle (19) and the speed of the left and right traveling crawlers (2) when the body turns right and left. The turning angle of the handle (19) becomes large. The difference between the speeds of the left and right traveling crawlers (2) becomes larger, and the body center speed, which is the average speed of the left and right traveling crawlers (2), also depends on the traveling speed (high speed / standard speed / low speed) of the auxiliary transmission lever (74). Slow down. Move the steering handle (19) in the straight-ahead position to the left (right) about 15
In the reaping course correction range in which the gears are rotated by degrees, the speed change input connecting portion (122) moves in a substantially tangential direction with respect to the rotation of the steering input member (95), and the speed change output member (120) is maintained at substantially the same position as the straight running. And the second of the steering member (28)
Leftward (rightward) by steering output that causes the second hydraulic motor (27) to rotate forward (reverse) by the hydraulic pump (26)
Turn to adjust the course to match the curvature of the uncut culm (crop) row. At this time, the traveling crawler inside the turn (2)
Is substantially equal to the speed increase amount of the traveling crawler (2) on the outside of the turn, and the center speed of the body is maintained at substantially the same speed as the straight traveling. Also, the steering handle (19) is moved 15 degrees from the straight traveling position.
When the gear is rotated by more than degrees, the speed change coupling member (121) is pushed and pulled by the rotation of the steering input member (95), and the speed change output member (120) is decelerated in both left and right turns. The traveling speed output of the hydraulic pump (23) and the motor (24) is reduced, and the left and right traveling crawlers (2) (2)
Are driven in the same direction to advance (or reverse),
The left and right traveling crawlers (2) perform a brake turn operation to turn leftward (rightward) due to a traveling speed difference between the two (2),
Make a course correction to return to the original row or move to the next row when it comes off the uncut culm (crop) row. Further, when the steering handle (19) is rotated about 116 degrees, the damper (1) is rotated.
66) is operated to maintain the maximum swing output, and 135
The center speed of the aircraft is reduced to about one-fourth of the straight traveling speed in the range of the turning angle in degrees, the traveling crawler (2) inside the turning is driven in reverse, and the aircraft moves around the turning center between the left and right traveling crawlers (2). A rotating spin turn operation is performed, and the aircraft is shifted 180 degrees in the turning direction by the left and right widths of the left and right traveling crawlers (2).
The steering wheel (19) is rotated in the range of 0 to 135 degrees to perform a left or right turning operation, and 15 degrees to the left and right around the straight traveling position. Of the handle (19) in the range of rotation, along the row of uncut culms (crops), while correcting the alignment path while maintaining the traveling speed at the time of straight traveling, and changing the handle (19) from left to right to 116 to 135 degrees. ) While rotating the turning member (28) at the maximum output, the spin-turn operation of changing the direction of the airframe on the field headland and moving to the next work step is performed at a traveling speed of about one-fourth of that when traveling straight ( The deceleration is automatically reduced to 25%).
【0041】さらに、副変速を標準(秒速1.5メート
ル)速度に保ち、操向ハンドル(19)を90度回転さ
せたとき、主変速レバー(68)操作により主変速出力
を高速及び3分の2及び3分の1に変更しても、機体の
旋回半径が略一定に保たれた状態で、旋回速度(機体中
心速度)だけを変化させる。また、直進位置を基準とし
て連係ボルト(97)と位相調節孔(149)の設定範
囲で第1油圧ポンプ(23)及び第1油圧モータ(2
4)を直進状態に維持させ、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え、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える。ま
た、主変速レバー(73)の変速基準値を切換える副変
速レバー(74)副変速操作の低速及び標準及び高速切
換に比例させて旋回半径を小径乃至大径に変化させ、第
1油圧ポンプ(23)及びモータ(24)と走行クロー
ラ(2)間の減速比並びに第2油圧ポンプ(26)及び
モータ(27)と走行クローラ(2)間の減速比の設
定、或いはスピンターン動作に必要な小半径旋回に必要
な走行駆動力の確保などを図ると共に、同一副変速操作
位置で主変速レバー(73)を操作することによって旋
回半径を略一定に保った状態で旋回時の走行速度を変化
させる。When the sub-shift is maintained at the standard speed (1.5 meters per second) and the steering handle (19) is rotated by 90 degrees, the main shift lever (68) is operated to increase the main shift output to a high speed and 3 minutes. Even if it is changed to one-third and one-third, only the turning speed (body center speed) is changed while the turning radius of the aircraft is kept substantially constant. Further, the first hydraulic pump (23) and the first hydraulic motor (2) are set within the setting range of the link bolt (97) and the phase adjusting hole (149) based on the straight traveling position.
4) is maintained in a straight-ahead state, and even if a steering operation is performed along the crop line or ridge during agricultural work, the running speed is prevented from changing non-uniformly, and the running speed is kept substantially the same. It is possible to correct the course during the agricultural work, and to perform a proper steering operation by making the driving feeling of the operator substantially coincide with the traveling operation of the machine. The sub-transmission lever (74) for switching the transmission reference value of the main transmission lever (73) changes the turning radius from a small diameter to a large diameter in proportion to the low-speed, standard and high-speed switching of the sub-transmission operation. 23) and a reduction ratio between the motor (24) and the traveling crawler (2) and a reduction ratio between the second hydraulic pump (26) and the motor (27) and the traveling crawler (2), or a spin turn operation. The driving speed required for turning at a small radius is ensured while operating the main shift lever (73) at the same sub-shift operation position to change the running speed during turning while keeping the turning radius substantially constant. Let it.
【0042】さらに、図11、図23、図24に示す如
く、前記変速出力軸(119)に筒形の減速出力軸(1
78)と直結出力軸(179)を回転自在に軸支させ、
減速出力軸(178)に変速出力部材(120)を固定
させ、また変速出力軸(119)にボス(180)を介
して変速リンク(129)を固定させると共に、前記主
変速軸(99)にボス(181)を介して直結入力リン
ク(182)を固定させ、前記直結出力軸(179)に
直結出力リンク(183)を固定させ、入力リンク(1
82)の軸(184)に設けるローラ(185)を出力
リンク(183)の長孔(186)に摺動自在に嵌入さ
せ、各リンク(182)(183)を介して主変速軸
(99)に直結出力軸(179)を連結させ、各軸(9
9)(179)を連動回転させる。Further, as shown in FIGS. 11, 23, and 24, a cylindrical deceleration output shaft (1) is connected to the speed change output shaft (119).
78) and the directly connected output shaft (179) are rotatably supported,
A speed change output member (120) is fixed to the speed reduction output shaft (178), a speed change link (129) is fixed to the speed change output shaft (119) via a boss (180), and the speed change output shaft (119) is fixed to the main speed change shaft (99). The direct input link (182) is fixed via the boss (181), the direct output link (183) is fixed to the direct output shaft (179), and the input link (1) is fixed.
The roller (185) provided on the shaft (184) of the (82) is slidably fitted into the long hole (186) of the output link (183), and the main transmission shaft (99) is connected via each link (182) (183). The output shaft (179) is directly connected to the
9) Rotate (179) in conjunction.
【0043】また、前記変速出力軸(119)の中空に
クラッチ軸(187)を出入自在に挿入させ、変速出力
軸(119)に係止させるクラッチピン(188)をク
ラッチ軸(187)挿入端部に固定させると共に、前記
クラッチピン(188)を係脱自在に係止させるノッチ
(189)(190)を前記減速出力軸(178)及び
直結出力軸(179)に夫々形成し、クラッチ軸(18
7)出入操作によりクラッチピン(188)及びノッチ
(189)(190)を介して減速出力軸(178)ま
たは直結出力軸(179)のいずれか一方を変速出力軸
(119)に択一的に連結させる。また、バネ(19
1)によって位置決めボール(192)を係脱自在に係
入させる位置決め溝(193)(194)を前記クラッ
チ軸(187)に設け、前記ボール(192)と各溝
(193)(194)のいずれかの係止によって各出力
軸(178)(179)の各ノッチ(189)(19
0)のいずれかにクラッチピン(188)を係合維持さ
せると共に、前記ステアリングコラム(71)の外側で
ステップ(134)上の作業者が操作可能にフィーリン
グレバー(195)を取付け、該レバー(195)を前
記クラッチ軸(187)に連結させ、前記レバー(19
5)操作によってクラッチ軸(187)を切換え、変速
出力部材(120)からの変速入力と出力リンク(18
3)からの変速入力のいずれかによって変速リンク(1
29)を作動させ、操向ハンドル(19)の操作量に比
例させて車速を減速させる変速入力と、主変速レバー
(73)の操作量に基づく変速入力のいずれかにより、
変速部材(25)を変速制御する。Further, a clutch shaft (187) is inserted into the hollow of the transmission output shaft (119) so as to be able to move in and out, and a clutch pin (188) to be engaged with the transmission output shaft (119) is inserted into the clutch shaft (187) insertion end. Notches (189) and (190) are formed on the deceleration output shaft (178) and the directly-coupled output shaft (179), respectively. 18
7) Either one of the deceleration output shaft (178) or the directly-coupled output shaft (179) is selectively connected to the speed change output shaft (119) via the clutch pin (188) and the notch (189) (190) by the access operation. Connect. The spring (19)
Positioning grooves (193) and (194) for removably engaging the positioning ball (192) according to 1) are provided on the clutch shaft (187), and any one of the ball (192) and each groove (193) (194) is provided. Each notch (189) (19) of each output shaft (178) (179)
0), the clutch pin (188) is kept engaged, and a feeling lever (195) is attached to the outside of the steering column (71) so that the operator on the step (134) can operate it. (195) is connected to the clutch shaft (187), and the lever (19
5) The clutch shaft (187) is switched by the operation, and the shift input from the shift output member (120) and the output link (18).
3) The shift link (1)
29) is operated to reduce the vehicle speed in proportion to the amount of operation of the steering wheel (19), or the speed change input based on the amount of operation of the main shift lever (73).
The speed change control of the speed change member (25) is performed.
【0044】上記から明らかなように、主変速レバー
(73)からの変速操作出力を主変速軸(99)で2つ
に分け、一方の出力をハンドル(19)角度に応じた車
速減速出力として出力部材(120)から変速出力軸
(119)上の減速出力軸(178)を介して変速リン
ク(129)に伝え、もう一方の出力を出力リンク(1
83)から変速出力軸(119)上の直結出力軸(17
9)を介して変速リンク(129)に伝え、前記の2つ
の変速出力を変速出力軸(119)上で選択していずれ
か一方によって第1油圧ポンプ(23)を変速制御する
もので、走行変速レバーである主変速レバー(73)の
操作によって走行速度を無段階に変更自在な変速部材
(25)を介して左右走行クローラ(2)に駆動力を伝
えると共に、操向ハンドル(19)によって操向部材
(28)を操作して左右走行クローラ(2)の駆動速度
の差を無段階に変化させる移動農機において、操向ハン
ドル(19)の操作量に比例させて車速を減速させる協
動系路である減速出力軸(178)を介して主変速レバ
ー(73)に変速部材(25)を連結させると共に、前
記減速出力軸(178)と別の第三系路である直結出力
軸(179)で主変速レバー(73)に変速部材(2
5)を連結させ、前記減速出力軸(178)と直結出力
軸(179)を使い分けることによって変速部材(2
5)の制御構造を組み換えることなく旋回性能及び走行
性能を変更し、鈍感な旋回フィーリングまたは機敏な旋
回フィーリングなど旋回特性を選択するように構成して
いる。As is apparent from the above, the shift operation output from the main shift lever (73) is divided into two by the main shift shaft (99), and one output is set as a vehicle speed reduction output according to the angle of the steering wheel (19). The output member (120) is transmitted to the transmission link (129) via the deceleration output shaft (178) on the transmission output shaft (119), and the other output is output to the output link (1).
83) to the direct output shaft (17) on the transmission output shaft (119).
9) through a transmission link (129) to select the two transmission outputs on the transmission output shaft (119) and control the transmission of the first hydraulic pump (23) by one of the two transmission outputs. The driving force is transmitted to the left and right traveling crawlers (2) via a speed change member (25) capable of changing the traveling speed steplessly by operating a main transmission lever (73) as a transmission lever, and a steering handle (19) is used. In a mobile agricultural machine in which a difference in drive speed between left and right traveling crawlers (2) is steplessly changed by operating a steering member (28), a cooperative operation to reduce a vehicle speed in proportion to an operation amount of a steering handle (19). A transmission member (25) is connected to the main transmission lever (73) via a deceleration output shaft (178) which is a system path, and a direct connection output shaft (a third system path separate from the deceleration output shaft (178)). 179) Main speed change Shifting the bar (73) member (2
5), and the deceleration output shaft (178) and the directly-coupled output shaft (179) are selectively used.
The turning performance and the running performance are changed without changing the control structure of 5), and a turning characteristic such as an insensitive turning feeling or an agile turning feeling is selected.
【0045】また、減速出力軸(178)からの減速入
力と別の直結出力軸(179)からの変速操作入力を選
択するフィーリング切換部材であるフィーリングレバー
(195)を設け、減速出力軸(178)を用いた変速
制御と直結出力軸(179)を用いた変速制御の切換を
フィーリングレバー(195)の操作によって行い、操
舵機能の向上並びに取扱い操作の簡略化などを図ると共
に、減速出力軸(178)からの減速入力と別の直結出
力軸(179)からの変速操作入力を同一軸芯上で選択
していずれかの入力によって変速部材(25)を制御
し、主変速レバー(73)及び操向ハンドル(19)及
び変速部材(25)の間の連結機構の簡略化及びコンパ
クト化を行い、組立及び調整など作業性の向上を図るよ
うに構成している。Further, a feeling lever (195) as a feeling switching member for selecting a speed reduction input from the speed reduction output shaft (178) and a speed change operation input from another directly connected output shaft (179) is provided. Switching between the speed change control using (178) and the speed change control using the direct-coupled output shaft (179) is performed by operating the feeling lever (195) to improve the steering function, simplify the handling operation, and reduce the speed. The deceleration input from the output shaft (178) and the speed change operation input from another directly connected output shaft (179) are selected on the same axis, and the speed change member (25) is controlled by one of the inputs, and the main speed change lever ( 73), the connecting mechanism between the steering handle (19) and the speed change member (25) is simplified and downsized to improve workability such as assembly and adjustment.
【0046】さらに、図25、図26、図27に示す如
く、主変速レバー(73)手動操作によって切換える電
動変速モータ(196)を設け、前記主変速レバー(7
3)を操作して変速モータ(196)を作動させて第1
油圧ポンプ(23)の斜板角度を変更させ、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、主変速
レバー(73)の操作量に比例させて第1油圧モータ
(24)の回転数を変更させると共に、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
(197)と、操向ハンドル(19)の直進操作並びに
副変速機構(32)中立切換によって作動させる直進バ
ルブ(198)と、該バルブ(198)に接続させる操
向クラッチシリンダ(199)を設け、前記操向ハンド
ル(19)を操作して操向モータ(197)を作動させ
て第2油圧ポンプ(26)の斜板角度を変更させ、第2
油圧モータ(27)の出力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も
ので、操向ハンドル(19)の操作量に比例させて操向
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(19)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バルブ(198)が自動的に切
換わり、操向クラッチシリンダ(199)を作動させて
操向出力クラッチ(62)を切にして第2油圧モータ
(27)の出力を中止し、操向駆動を中止させるように
構成している。Further, as shown in FIGS. 25, 26 and 27, there is provided an electric transmission motor (196) which can be switched by manual operation of the main transmission lever (73).
3) to operate the transmission motor (196) to
The swash plate angle of the hydraulic pump (23) is changed, the rotation speed of the output shaft (31) of the first hydraulic motor (24) is steplessly changed, or a forward / reverse switching operation of reverse rotation is performed. The number of revolutions of the first hydraulic motor (24) is changed in proportion to the amount of operation of (73), and the electric steering motor (197) switched by manual operation of the steering handle (19); ), And a steering valve cylinder (199) connected to the valve (198) and a steering valve (198), which is operated by the neutral shift of the auxiliary transmission mechanism (32) and the auxiliary transmission mechanism (32), and operates the steering handle (19). Then, the steering motor (197) is operated to change the swash plate angle of the second hydraulic pump (26).
The output rotation speed of the hydraulic motor (27) is steplessly changed, or a left-right steering operation for reverse rotation is performed, and the traveling direction is changed left and right to change the direction at the headland or correct the course. The number of rotations of the steering motor (27) is changed in proportion to the amount of operation of the steering handle (19), and the straight steering operation of the steering handle (19) and the auxiliary transmission mechanism (32).
The straight-ahead valve (198) is automatically switched by the neutral operation, the steering clutch cylinder (199) is operated, the steering output clutch (62) is disengaged, and the output of the second hydraulic motor (27) is stopped. The steering drive is stopped.
【0047】また、前記操向入力軸(87)に操向出力
アーム(220)の一端を固定させ、操向ハンドル(1
9)を直進位置に戻す左右一対の直進バネ(221)
(221)と、前記バネ(221)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
(222)を、前記出力アーム(220)に連結させ、
操向ハンドル(19)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(223)を前記出力アーム(220)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
(223)によって検出させると共に、前記主変速レバ
ー(73)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(22
4)と、前記副変速レバー(74)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
(225)と、運転席(20)の作業者が切換えるステ
アリングコラム(71)上面の撮形手元操作部材(22
6)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フ
ィーリング設定器(227)と、前記直進センサ(16
5)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(228)に入力接続させる。Further, one end of a steering output arm (220) is fixed to the steering input shaft (87), and a steering handle (1) is provided.
9) A pair of left and right rectilinear springs (221) for returning to the rectilinear position
(221) and a return resistance absorber (222) for reducing the rotation speed of the steering handle (19) against the spring (221) are connected to the output arm (220);
When the operator releases the hand from the handle (19) when the manual operation of rotating the steering handle (19) to the left or right is performed, the handle (19) is automatically returned to the straight traveling position gently, and The steering (19) straight-back operation is omitted, and a slide potentiometer type steering angle sensor (223) is connected to the output arm (220).
A potentiometer type main transmission for detecting a steering operation amount of a steering handle (19) by a steering angle sensor (223) and detecting a shift operation position, a neutral position, and a forward / reverse switching operation of the main shift lever (73). Sensor (22
4), a potentiometer-type sub-transmission sensor (225) for detecting a shift operation position and a neutral position of the sub-transmission lever (74), and a photographing of an upper surface of a steering column (71) to be switched by an operator in a driver's seat (20). Hand operation member (22
6) a volume-type turning feeling setting device (227) for changing the reduction ratio of the vehicle speed with respect to an increase in the steering angle of the steering handle (19);
5) is input connected to a shift steering controller (228) formed by a microcomputer.
【0048】さらに、前記変速モータ(196)を正転
または逆転させる増速及び減速回路(229)(23
0)を前記コントローラ(228)に接続させ、主変速
レバー(73)操作量(操作角度)に対して変速モータ
(196)による第1油圧ポンプ(23)の斜板角を略
正比例させて変化させ、主変速レバー(73)の傾き操
作に応じた車速を得ると共に、前記操向モータ(19
7)を正転または逆転させる左右旋回回路(231)
(232)を前記コントローラ(228)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(197)による第2油圧ポンプ(2
6)の斜板を略正比例させて変化させ、また図28の旋
回出力線図に示す如く、主変速レバー(73)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(7
3)が中立のときは、第2油圧ポンプ(26)の斜板角
を零に保ち、第2油圧モータ(27)の出力を停止維持
し、主変速中立状態下でのハンドル(19)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)の斜板角
の絶対値を主変速レバー(73)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(234)を切換えて操向クラッチシリンダ(19
9)を作動させる直進回路(233)を前記コントロー
ラ(228)に接続させ、副変速中立またはハンドル
(19)直進によって操向出力を自動的に停止させる。Further, a speed increasing and reducing circuit (229) (23) for rotating the speed change motor (196) forward or reverse.
0) is connected to the controller (228) to change the swash plate angle of the first hydraulic pump (23) by the transmission motor (196) in substantially direct proportion to the operation amount (operation angle) of the main transmission lever (73). To obtain a vehicle speed corresponding to the tilting operation of the main shift lever (73), and at the same time, the steering motor (19).
7) Left / right turning circuit (231) for rotating forward or reverse
(232) to said controller (228),
The second hydraulic pump (2) driven by the steering motor (197) changes the steering operation amount (left-right rotation angle) of the steering handle (19).
6) The swash plate is changed in substantially direct proportion, and as shown in the turning output diagram of FIG. 28, the left and right sides of the steering handle (19) are changed between the forward operation and the reverse operation of the main shift lever (73). The right and left turning output is reversed with respect to the rotation to prevent the steering wheel from being reversed when the vehicle is moving forward and when the vehicle is moving backward, and the vehicle is moved forward and backward by performing the same steering operation as the four-wheeled vehicle. In addition, the main shift lever (7
When 3) is neutral, the swash plate angle of the second hydraulic pump (26) is kept at zero, the output of the second hydraulic motor (27) is stopped, and the handle (19) is operated under the neutral state of the main shift. And the absolute value of the swash plate angle of the second hydraulic pump (26), which increases with the steering angle of the steering handle (19), is proportional to the absolute value of the operation angle of the main shift lever (73). The turning radius is kept constant even if the vehicle speed is changed when the steering angle of the steering wheel (19) is constant,
The vehicle turns with the same steering motion as a four-wheeled vehicle. Further, by switching the straight traveling valve (234), the steering clutch cylinder (19
The straight driving circuit (233) for operating 9) is connected to the controller (228), and the steering output is automatically stopped when the sub-shift is neutral or the steering wheel (19) goes straight.
【0049】さらに、図29、図30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(73)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(73)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(7
3)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(73)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と共に、手元操
作部材(226)を用いた作業者の手動切換により、図
30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部材(22
6)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, as shown in the vehicle speed output diagrams of FIGS. 29 and 30, as the steering angle of the steering handle (19) increases, the vehicle speed determined by the shift position of the main shift lever (73) is reduced. Then, while keeping the main speed change lever (73) in a fixed position, the speed is reduced in proportion to the steering angle of the handle (19), and the lever (7) is simply returned by moving the handle (19) straight.
3) The speed automatically returns to the speed, and the speed of the handle (19) is reduced to the spin turn speed at the maximum turning angle, and the lever (73) is driven by a dead zone (about a 15-degree rotation angle) centered on the straight traveling of the handle (19). Even if the steering speed is maintained and the steering operation is performed for alignment (path correction) to follow the uncut culm row during the harvesting operation, the traveling speed is reduced or increased, and the traveling speed during the harvesting operation is increased. Is prevented from changing non-uniformly, a proper steering operation is performed without causing a shift between the driving sensation of the operator and the traveling operation of the combine, and the operator using the hand operation member (226) is used. As shown in FIG. 30, the manual switching of the member (22) controls the reduction of the reduction ratio so as to achieve sharp turning, normal turning, and smooth turning.
6) Manual operation is performed to obtain turning performance adapted to the work content, field conditions, crop conditions, and the like.
【0050】さらに、図31の旋回出力線図に示す如
く、前記主変速レバー(73)の操作角度を検出する主
変速センサ(224)入力に対し、操向角度センサ(2
23)に基づきコントローラ(228)から出力される
操向モータ(197)制御出力を二次曲線形に変化さ
せ、容積効率が低い第2油圧ポンプ(26)の斜板の小
さいときに車速が遅くても操向ハンドル(19)を少し
切るだけで斜板を大きく変化させ、第2油圧ポンプ(2
6)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(197)により
第2油圧ポンプ(26)を旋回制御し、主変速レバー
(73)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(73)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(7
3)の中立を主変速センサ(224)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, as shown in the turning output diagram of FIG. 31, a steering angle sensor (2) is provided in response to an input of a main shift sensor (224) for detecting an operation angle of the main shift lever (73).
The control output of the steering motor (197) output from the controller (228) is changed to a quadratic curve based on the control of the second hydraulic pump (26) having a low volumetric efficiency. Even if the steering handle (19) is slightly turned, the swash plate changes greatly, and the second hydraulic pump (2
6) and the characteristics of the hydraulic motor (27) are electrically corrected, and the turning of the second hydraulic pump (26) is controlled by the steering motor (197) sensitively even at a low vehicle speed, and the main shift lever (73). The turning radius of the traveling crawler (2) is kept substantially the same with the turning angle of the steering handle (19) in the entire range of the shift, and the steering is performed when the speed of the main shift lever (73) is lower than when the speed is high. The ratio of the control amount of the second hydraulic pump (26) to the operation amount of the steering wheel (19) is increased, and even when the vehicle speed is low in a low speed range where the output of the second hydraulic pump (26) is low, the steering handle ( The small amount operation of 19) causes an appropriate turning operation to be performed, thereby improving the steering operability and the steering function to match the operation amount of the steering handle (19) with the turning radius of the traveling crawler (2). Shift lever (7
3) Neutral is detected by the main speed change sensor (224) to maintain the second hydraulic pump (26) in neutral, and to prevent turning operation of the traveling crawler (2) at the time of stopping, to improve turning performance in a low speed range. The operability of the steering handle (19) is improved, and the driving operation is simplified.
【0051】さらに、図32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(223)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(228)から出力させる操向モー
タ(197)制御出力を大きく変化させ、ハンドル(1
9)切れ角が大きい(約10〜70度の範囲)ときにコ
ントローラ(228)から出力させる操向モータ(19
7)制御出力を小さく変化させ、第2油圧ポンプ(2
6)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(197)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もので、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(26)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。Further, as shown in the turning output diagram of FIG. 32, in response to the input of the steering angle sensor (223) for detecting the turning angle of the steering handle (19), the turning of the handle (19) is performed based on the straight traveling position. Small angle (range of about 0-10 degrees)
Sometimes, the control output of the steering motor (197) output from the controller (228) is greatly changed, and the steering wheel (1
9) The steering motor (19) output from the controller (228) when the turning angle is large (in the range of about 10 to 70 degrees).
7) The control output is changed slightly, and the second hydraulic pump (2
6) and the characteristics of the motor (27) are electrically corrected to make the control of the steering motor (197) sensitive to the operation of the steering wheel (19) when the steering angle is small, and the efficiency is reduced in a low output range. The turning of the traveling crawler (2) by the second hydraulic pump (26) and the motor (27) is performed promptly. When the turning angle of the steering handle (19) is small, the change of the steering control output is increased, It is intended to improve the steering performance during straight running during farm work by making small course corrections such as alignment that matches the running course to the ridge or crop row, and correct the course during straight running work properly. Steering handle (19)
This prevents excessive correction of the course due to erroneous operation of the steering wheel, stably changes the direction at high speed running, and makes the control output of the second hydraulic pump (26) nonlinear with respect to the operation amount of the steering handle (19). And the second hydraulic pump (26)
A steering operation adapted to the characteristics of the vehicle or the contents of agricultural work is set to improve the steering function and handling operability.
【0052】上記から明らかなように、走行変速レバー
である主変速レバー(73)の操作によって走行速度を
無段階に変更自在な変速部材(25)を介して左右走行
クローラ(2)に駆動力を伝えると共に、操向ハンドル
(19)によって操向部材(28)を操作して左右走行
クローラ(2)の駆動速度の差を無段階に変化させる移
動農機において、主変速レバー(73)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
せて減速させると共に、操向ハンドル(19)操作量に
対する車速の減速比を変更自在とし、操向ハンドル(1
9)操作量に対して車速の減速量を少なくし、滑らかな
旋回フィーリングとなって湿田走行性能を向上させ、ス
ピンターンが不要な作業での作業能率の向上並びに湿田
作業での走行性能の向上などを行うもので、操向ハンド
ル(19)操作量に対する車速の減速比を変更させる手
元操作部材(226)を設け、運転作業者または作業内
容または湿田作業に適した操向動作を容易に得られ、動
力損失の低減並びに操舵機能の向上などを図るように構
成している。As is apparent from the above description, the driving force is applied to the left and right traveling crawlers (2) through the speed change member (25) whose traveling speed can be changed steplessly by operating the main shifting lever (73) which is the traveling shifting lever. And the amount of operation of the main shift lever (73) in a mobile agricultural machine that operates the steering member (28) with the steering handle (19) to change the drive speed difference between the left and right traveling crawlers (2) steplessly. The vehicle speed determined by the steering wheel (19) is reduced in proportion to the operation amount of the steering wheel (19), and the reduction ratio of the vehicle speed to the operation amount of the steering wheel (19) is made changeable.
9) Reduce the amount of deceleration of the vehicle speed with respect to the operation amount, improve the wet field traveling performance with a smooth turning feeling, improve the work efficiency in work that does not require spin turns, and improve the traveling performance in wet field work. A hand operation member (226) for changing the reduction ratio of the vehicle speed with respect to the operation amount of the steering handle (19) is provided to facilitate the steering operation suitable for the driver or the work content or wetland work. Thus, the power loss is reduced and the steering function is improved.
【0053】また、主変速レバー(73)の操作量を検
出して変速部材(25)を出力制御する変速アクチュエ
ータである変速モータ(196)を設け、主変速レバー
(73)及び変速部材(25)の取付け及び制御構造の
簡略化並びに保守及び調整など取扱い操作性の向上など
を行うと共に、操向ハンドル(19)の操作量を検出し
て操向部材(28)を出力制御する操向アクチュエータ
である操向モータ(197)を設け、操向ハンドル(1
9)及び操向部材(28)の取付け及び制御構造の簡略
化並びに保守及び調整など取扱い操作性の向上などを行
うように構成している。Further, a speed change motor (196) which is a speed change actuator for detecting the operation amount of the main speed change lever (73) and controlling the output of the speed change member (25) is provided, and the main speed change lever (73) and the speed change member (25) are provided. A) a steering actuator that simplifies the mounting and control structure, improves handling operability such as maintenance and adjustment, and detects the amount of operation of the steering handle (19) to output-control the steering member (28). The steering motor (197) is provided, and the steering handle (1) is provided.
9) and simplification of the mounting and control structure of the steering member (28) and improvement of handling operability such as maintenance and adjustment.
【0054】そして、図33のフローチャートに示す如
く、主変速センサ(224)、副変速センサ(22
5)、操向角度センサ(223)、フィーリング設定器
(227)、直進センサ(165)からコントローラ
(228)に入力させる。また、副変速レバー(74)
が中立のときに旋回出力切制御を行って操向出力クラッ
チ(62)を切にして第2油圧モータ(27)を中止さ
せると共に、主変速レバー(73)が中立のときに旋回
出力切制御を行う一方、操向ハンドル(19)が直進位
置のとき、操向出力クラッチ(62)切制御によって第
2油圧モータ(27)の出力を中止させる。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(224)入力と操向角度センサ(223)入
力によって主変速減速量及び操舵量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(196)及び操向モータ(197)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
転換などを行い、連続的に穀稈を刈取って脱穀する収穫
作業を行うもので、操向ハンドル(19)操作角度に応
じて減速される車速の最終速度を手元操作部材(22
6)のフィーリング設定器(227)操作によって無段
階に変更させ、例えば路上走行または乾田作業におい
て、ハンドル(19)操作量に対して車速減速量を大き
くすると、敏感な旋回が可能になり、また車速減速量を
減らすことによって滑らかな旋回フィーリングになると
共に、湿田作業またはスピンターンが不要なときに車速
減速量を減らすと、湿田走行性能が向上し、またハンド
ル(19)を大きく操作してもスピンターンによる急旋
回が防止される。Then, as shown in the flowchart of FIG. 33, the main transmission sensor (224) and the sub transmission sensor (22)
5) The controller (228) is inputted from the steering angle sensor (223), the feeling setting device (227), and the straight traveling sensor (165). In addition, the auxiliary transmission lever (74)
When the vehicle is in the neutral position, the turning output disconnection control is performed to disengage the steering output clutch (62) to stop the second hydraulic motor (27), and when the main shift lever (73) is in the neutral position, the turning output disconnection control is performed. On the other hand, when the steering handle (19) is in the straight traveling position, the output of the second hydraulic motor (27) is stopped by the steering output clutch (62) disengagement control. In addition, 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 (224) and the input of the steering angle sensor (223) are performed. The main shift deceleration amount, the steering amount, and the steering direction are calculated and determined by the main shift and the main shift and steering control operate the shift motor (196) and the steering motor (197), and the left and right traveling crawlers (2) and (2) are operated. ) By changing the driving speed to change the alignment path and change the direction by spin turn at the headland on the field, and perform harvesting work for continuously cutting and threshing grain culm. The steering handle (19) ) The final speed of the vehicle speed decelerated in accordance with the operation angle is determined by the hand operation member (22).
6) When the feeling setting device (227) is operated, the speed is changed steplessly. For example, in road running or dry field work, when the vehicle speed deceleration amount is increased relative to the operation amount of the steering wheel (19), a sensitive turn becomes possible. Reducing the vehicle speed deceleration provides a smooth turning feeling, and reducing the vehicle speed deceleration when wetland work or a spin turn is not required improves wetland running performance and greatly manipulates the steering wheel (19). However, sharp turns due to spin turns are prevented.
【0055】さらに、図34に示す如く、車速を操向ハ
ンドル(19)角度によって減速させる減速時と減速さ
せない不減速時とを、フィーリングレバー(195)ま
たは手元操作部材(226)によって切換選択するもの
で、操向ハンドル(19)最大角度で旋回内側の走行ク
ローラ(2)を逆転させるスピンターン旋回走行と、操
向ハンドル(19)の最大操作量で旋回内側の走行クロ
ーラ(2)の回転方向を外側走行クローラ(2)と同一
方向に維持する非スピンターン旋回走行を、選択切換自
在とし、スピンターン旋回走行の選択によって路上また
は乾田などでの旋回を機敏に行わせ、また非スピンター
ン旋回走行の選択によって湿田または泥土面などでの旋
回性能を向上させ、旋回特性の切換によって操舵機能の
向上並びに取扱い操作性の向上などを図るように構成し
ている。Further, as shown in FIG. 34, switching between the time of deceleration in which the vehicle speed is reduced by the angle of the steering handle (19) and the time of non-deceleration in which the vehicle speed is not decelerated is selected by the feeling lever (195) or the hand operation member (226). A spin-turn turning operation for reversing the traveling crawler (2) at the maximum angle of the steering handle (19) and a rotation of the traveling crawler (2) at the maximum turning amount of the steering handle (19). The non-spin-turn turning travel, in which the rotation direction is maintained in the same direction as the outer traveling crawler (2), can be selectively switched. By selecting the spin-turn turning travel, turning on a road or a dry field can be performed promptly. Turning performance is improved by selecting a turning operation and improving turning performance on wet or muddy surfaces. It is configured to achieve, such as improvement of the work of.
【0056】[0056]
【発明の効果】以上実施例から明らかなように本発明
は、走行変速レバー(73)の操作によって走行速度を
無段階に変更自在な変速部材(25)を介して左右走行
クローラ(2)に駆動力を伝えると共に、操向ハンドル
(19)によって操向部材(28)を操作して左右走行
クローラ(2)の駆動速度の差を無段階に変化させる移
動農機において、操向ハンドル(19)の操作量に比例
させて車速を減速させる協動系路(178)を介して走
行変速レバー(73)に変速部材(25)を連結させる
と共に、前記協動系路(178)と別の第三系路(17
9)で走行変速レバー(73)に変速部材(25)を連
結させたもので、前記協動系路(178)と第三系路
(179)を使い分けることによって変速部材(25)
の制御構造を組み換えることなく旋回性能及び走行性能
を変更でき、鈍感な旋回フィーリングまたは機敏な旋回
フィーリングなど旋回特性を容易に選択できるものであ
る。As is apparent from the above embodiment, the present invention provides the right and left traveling crawlers (2) via the speed change member (25) capable of changing the traveling speed steplessly by operating the traveling speed change lever (73). In a mobile agricultural machine that transmits a driving force and operates a steering member (28) with a steering handle (19) to change the drive speed difference between the left and right traveling crawlers (2) steplessly, the steering handle (19) is used. The transmission member (25) is connected to the traveling transmission lever (73) via a cooperative system path (178) that reduces the vehicle speed in proportion to the operation amount of the vehicle, and a different one from the cooperative system path (178). Three-way (17
The transmission member (25) is connected to the traveling transmission lever (73) in (9), and the transmission member (25) is used by selectively using the cooperative system path (178) and the third system path (179).
The turning performance and the running performance can be changed without rearranging the control structure, and turning characteristics such as insensitive turning feeling or agile turning feeling can be easily selected.
【0057】また、協動系路(178)からの減速入力
と別の第三系路(179)からの変速操作入力を選択す
るフィーリング切換部材(195)を設けたもので、協
動系路(178)を用いた変速制御と第三系路(17
9)を用いた変速制御の切換をフィーリング切換部材
(195)の操作によって容易に行うことができ、操舵
機能の向上並びに取扱い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, a feeling switching member (195) for selecting a deceleration input from the cooperative path (178) and a speed change operation input from another third path (179) is provided. Speed control using the road (178) and the third system road (17
Switching of the shift control using 9) can be easily performed by operating the feeling switching member (195), so that the steering function can be improved and the handling operation can be simplified easily.
【0058】また、協動系路(178)からの減速入力
と別の第三系路(179)からの変速操作入力を同一軸
芯上で選択していずれかの入力によって変速部材(2
5)を制御するように構成したもので、走行変速レバー
(73)及び操向ハンドル(19)及び変速部材(2
5)の間の連結機構の簡略化及びコンパクト化を容易に
行うことができ、組立及び調整など作業性の向上を容易
に図ることができるものである。Further, a deceleration input from the cooperative path (178) and a speed change operation input from another third path (179) are selected on the same axis and the speed change member (2
5) is controlled, and the traveling speed change lever (73), the steering handle (19), and the speed change member (2) are controlled.
The connection mechanism during 5) can be easily simplified and made compact, and workability such as assembly and adjustment can be easily improved.
【0059】また、旋回内側の走行クローラ(2)を逆
転させるスピンターン旋回走行と、操向ハンドル(1
9)の最大操作量で旋回内側の走行クローラ(2)の回
転方向を外側走行クローラ(2)と同一方向に維持する
非スピンターン旋回走行を、選択切換自在としたもの
で、スピンターン旋回走行の選択によって路上または乾
田などでの旋回を機敏に行わせることができ、また非ス
ピンターン旋回走行の選択によって湿田または泥土面な
どでの旋回性能を向上させることができ、旋回特性の切
換によって操舵機能の向上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。A spin-turn turning operation for reversing the traveling crawler (2) inside the turning operation and a steering handle (1) are performed.
9) The non-spin-turn turning, in which the rotating direction of the inner traveling crawler (2) is maintained in the same direction as the outer running crawler (2) with the maximum operation amount of 9), can be selectively switched. Can be turned quickly on the road or in dry fields, etc., and turning performance on wet or muddy fields can be improved by selecting non-spin-turn turning, and steering can be switched by changing the turning characteristics. It is possible to easily improve the functions and the handling operability.
【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】コンバインの全体平面図。FIG. 2 is an overall plan view of the combine.
【図3】ミッション駆動系の説明図。FIG. 3 is an explanatory diagram of a mission drive system.
【図4】走行変速及び操向操作部の説明斜視図。FIG. 4 is an explanatory perspective view of a traveling speed change and steering operation unit.
【図5】同部の作動説明図。FIG. 5 is an operation explanatory view of the same part.
【図6】ステアリングコラムの側面図。FIG. 6 is a side view of the steering column.
【図7】同上部拡大側面図。FIG. 7 is an enlarged side view of the upper part.
【図8】同下部拡大側面図。FIG. 8 is an enlarged side view of the lower part.
【図9】ステアリングコラムの正面図。FIG. 9 is a front view of a steering column.
【図10】同上部拡大正面図。FIG. 10 is an enlarged front view of the same.
【図11】同下部拡大正面図。FIG. 11 is an enlarged front view of the lower part.
【図12】図4の平面説明図。FIG. 12 is an explanatory plan view of FIG. 4;
【図13】同拡大図。FIG. 13 is an enlarged view of FIG.
【図14】ステアリングコラム横断面図。FIG. 14 is a cross-sectional view of a steering column.
【図15】設定操作説明図。FIG. 15 is a diagram illustrating a setting operation.
【図16】ステアリングコラム上部の部分平面図。FIG. 16 is a partial plan view of the upper part of the steering column.
【図17】同部分図。FIG. 17 is a partial view of the same.
【図18】図16の作動説明図。FIG. 18 is an operation explanatory view of FIG. 16;
【図19】変速部材作動説明図。FIG. 19 is an explanatory diagram of the operation of the speed change member.
【図20】主変速動作説明図。FIG. 20 is an explanatory diagram of a main speed change operation.
【図21】操向動作説明図。FIG. 21 is an explanatory diagram of a steering operation.
【図22】主変速と操向ハンドル操作を示す線図。FIG. 22 is a diagram showing main speed change and steering handle operation.
【図23】走行変速出力切換部の正面説明図。FIG. 23 is an explanatory front view of a traveling speed change output switching unit.
【図24】同部の部分説明図。FIG. 24 is a partial explanatory view of the same part.
【図25】変速及び操向駆動説明図。FIG. 25 is an explanatory diagram of shifting and steering driving.
【図26】操向ハンドル部の平面説明図。FIG. 26 is an explanatory plan view of a steering handle portion.
【図27】変速及び操向制御回路図。FIG. 27 is a diagram showing a shift and steering control circuit.
【図28】操向ハンドルと旋回出力を示す線図。FIG. 28 is a diagram showing a steering handle and a turning output.
【図29】操向ハンドルと変速出力を示す線図。FIG. 29 is a diagram showing a steering handle and a shift output.
【図30】操向ハンドルと変速出力を示す線図。FIG. 30 is a diagram showing a steering handle and a shift output.
【図31】主変速レバーと旋回出力を示す線図。FIG. 31 is a diagram showing a main shift lever and a turning output.
【図32】操向ハンドルと旋回出力を示す線図。FIG. 32 is a diagram showing a steering handle and a turning output.
【図33】図7の変速操向制御フローチャート。FIG. 33 is a shift steering control flowchart of FIG. 7;
【図34】走行クローラ旋回出力線図。FIG. 34 is a traveling crawler turning output diagram.
(2) 走行クローラ (19) 操向ハンドル (25) 変速部材 (28) 操向部材 (73) 主変速レバー(走行変速レバー) (178) 減速出力軸(協動系路) (179) 直結出力軸(第三系路) (195) フィーリングレバー(フィーリング切換部
材)(2) Traveling crawler (19) Steering handle (25) Transmission member (28) Steering member (73) Main transmission lever (travel transmission lever) (178) Deceleration output shaft (cooperative path) (179) Direct connection output Shaft (third system path) (195) Feeling lever (Feeling switching member)
───────────────────────────────────────────────────── フロントページの続き (51)Int.Cl.7 識別記号 FI テーマコート゛(参考) G05G 11/00 G05G 11/00 Fターム(参考) 2B043 AA04 AB02 AB08 AB11 AB17 BA02 BA05 BB14 DA04 DB22 EA02 EA13 EB01 EB14 ED02 ED12 2B076 AA03 BA07 DC01 DC03 DD01 3D052 AA05 AA13 AA16 AA17 AA19 BB08 BB11 DD03 DD04 EE01 FF01 GG03 HH01 HH02 HH03 JJ10 JJ21 JJ22 JJ31 JJ35 JJ37 3J070 AA03 BA31 CC04 CC07 DA03──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. 7 Identification symbol FI Theme coat ゛ (Reference) G05G 11/00 G05G 11/00 F-term (Reference) 2B043 AA04 AB02 AB08 AB11 AB17 BA02 BA05 BB14 DA04 DB22 EA02 EA13 EB01 EB14 ED02 ED12 2B076 AA03 BA07 DC01 DC03 DD01 3D052 AA05 AA13 AA16 AA17 AA19 BB08 BB11 DD03 DD04 EE01 FF01 GG03 HH01 HH02 HH03 JJ10 JJ21 JJ22 JJ31 JJ35 JJ37 3J070 AA03 BA31 CC
Claims (4)
を無段階に変更自在な変速部材を介して左右走行クロー
ラに駆動力を伝えると共に、操向ハンドルによって操向
部材を操作して左右走行クローラの駆動速度の差を無段
階に変化させる移動農機において、操向ハンドルの操作
量に比例させて車速を減速させる協動系路を介して走行
変速レバーに変速部材を連結させると共に、前記協動系
路と別の第三系路で走行変速レバーに変速部材を連結さ
せたことを特徴とする移動農機。A driving force is transmitted to left and right traveling crawlers via a speed change member capable of changing a traveling speed steplessly by operating a traveling speed change lever, and a left and right traveling crawler is operated by operating a steering member with a steering handle. In a mobile agricultural machine in which a difference in drive speed is changed steplessly, a transmission member is connected to a traveling transmission lever via a cooperative system path that reduces the vehicle speed in proportion to the amount of operation of a steering handle, and the cooperative system A mobile agricultural machine wherein a transmission member is connected to a traveling transmission lever on a third system road different from the road.
からの変速操作入力を選択するフィーリング切換部材を
設け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, further comprising a feeling switching member for selecting a deceleration input from a cooperative route and a shift operation input from another third route.
からの変速操作入力を同一軸芯上で選択していずれかの
入力によって変速部材を制御す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。3. The transmission member is selected by selecting a deceleration input from a cooperative path and a shift operation input from another third path on the same axis and controlling the transmission member by one of the inputs. The mobile agricultural machine according to claim 1, wherein:
ピンターン旋回走行と、操向ハンドルの最大操作量で旋
回内側の走行クローラの回転方向を外側走行クローラと
同一方向に維持する非スピンターン旋回走行を、選択切
換自在としたことを特徴とする請求項1に記載の移動農
機。4. A spin-turn turning operation for reversing a traveling crawler inside the turning operation, and a non-spin-turn turning operation for maintaining the rotation direction of the traveling crawler inside the turning operation in the same direction as the outer traveling crawler with a maximum operation amount of a steering wheel. The mobile agricultural machine according to claim 1, wherein the mobile agricultural machine can be selectively switched.
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP10357368A JP3028482B1 (en) | 1998-12-16 | 1998-12-16 | Moving agricultural machine |
JP16627099A JP4065359B2 (en) | 1998-12-16 | 1999-06-14 | Mobile farm machine |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP10357368A JP3028482B1 (en) | 1998-12-16 | 1998-12-16 | Moving agricultural machine |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP16627099A Division JP4065359B2 (en) | 1998-12-16 | 1999-06-14 | Mobile farm machine |
Publications (2)
Publication Number | Publication Date |
---|---|
JP3028482B1 JP3028482B1 (en) | 2000-04-04 |
JP2000175546A true JP2000175546A (en) | 2000-06-27 |
Family
ID=18453784
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP10357368A Expired - Lifetime JP3028482B1 (en) | 1998-12-16 | 1998-12-16 | Moving agricultural machine |
JP16627099A Expired - Lifetime JP4065359B2 (en) | 1998-12-16 | 1999-06-14 | Mobile farm machine |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP16627099A Expired - Lifetime JP4065359B2 (en) | 1998-12-16 | 1999-06-14 | Mobile farm machine |
Country Status (1)
Country | Link |
---|---|
JP (2) | JP3028482B1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6535790B2 (en) | 2000-02-21 | 2003-03-18 | Kanazawa Institute Of Technology | Automated library system with retrieving and respositing robot |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5152969B2 (en) | 2007-12-19 | 2013-02-27 | ヤンマー株式会社 | Traveling vehicle |
JP5270933B2 (en) * | 2008-03-04 | 2013-08-21 | ヤンマー株式会社 | Traveling vehicle |
JP5324809B2 (en) * | 2008-04-01 | 2013-10-23 | ヤンマー株式会社 | Traveling vehicle |
JP5285321B2 (en) * | 2008-04-16 | 2013-09-11 | ヤンマー株式会社 | Traveling vehicle |
US20220287233A1 (en) * | 2021-03-10 | 2022-09-15 | Techtronic Cordless Gp | Lawnmowers |
-
1998
- 1998-12-16 JP JP10357368A patent/JP3028482B1/en not_active Expired - Lifetime
-
1999
- 1999-06-14 JP JP16627099A patent/JP4065359B2/en not_active Expired - Lifetime
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6535790B2 (en) | 2000-02-21 | 2003-03-18 | Kanazawa Institute Of Technology | Automated library system with retrieving and respositing robot |
Also Published As
Publication number | Publication date |
---|---|
JP3028482B1 (en) | 2000-04-04 |
JP4065359B2 (en) | 2008-03-26 |
JP2000177619A (en) | 2000-06-27 |
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