JP2004276814A

JP2004276814A - Working vehicle

Info

Publication number: JP2004276814A
Application number: JP2003073020A
Authority: JP
Inventors: Yuichi Niifuku; 勇一新福; Shigemi Hidaka; 茂實日高
Original assignee: Yanmar Agricultural Equipment Co Ltd
Current assignee: Yanmar Co Ltd
Priority date: 2003-03-18
Filing date: 2003-03-18
Publication date: 2004-10-07
Anticipated expiration: 2023-03-18
Also published as: JP4297327B2

Abstract

<P>PROBLEM TO BE SOLVED: To reduce the gear shift shock of a traveling mechanism 66 less than that of a conventional clutch system and increase the drive efficiency of traveling crawlers 2 more than that in hydraulically shifting the gears of the traveling mechanism 66. <P>SOLUTION: This working vehicle moving by driving the right and left traveling crawlers 2 comprises a torque control and traveling mechanism 66 outputting a drive force for the traveling crawlers 2 for straightforward traveling and a hydraulic transmission and swing mechanism 43 inputted from the traveling mechanism 66 to differentiate the right and left traveling crawlers 2. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

【０００１】
【発明の属する技術分野】
本発明は例えば左右一対の走行クローラを装設して移動するコンバインまたはトラクタまたは建設車輌などの作業車に関する。
【０００２】
【従来の技術】
従来、油圧変速走行機構と、油圧変速旋回機構を設け、左右の走行クローラを駆動し、直進、ブレーキターン、スピンターンを行わせる技術がある。（例えば、特許文献１参照）
【０００３】
【特許文献１】特開２００１−１３８９４３
【０００４】
【発明が解決しようとする課題】
前記従来技術は、直進動力と旋回動力の両方を油圧変速によって伝達させ、また走行と旋回の各機構にエンジンから動力を伝えるから、油圧による伝達損失に応じてエンジン出力を大きくする必要があると共に、操向ハンドルの左右旋回操作が前進と後進とで逆になる逆ハンドルを防ぐ機構が必要である等の問題がある。
【０００５】
【課題を解決するための手段】
然るに、本発明は、請求項１の如く、左右の走行クローラを駆動して移動する作業車において、直進用の走行クローラ駆動力を出力させるトルク制御走行機構と、走行機構の出力側から入力して左右の走行クローラを差動させる油圧変速旋回機構とを設けるもので、従来のクラッチ方式に比べて走行機構の変速ショックを低減し得ると共に、直進動力の下流から旋回動力を得ることによって逆ハンドルを防止し得、走行機構を油圧変速で行うのに比べて走行クローラの駆動効率の向上などを行い得るものである。
【０００６】
また、請求項２の如く、旋回機構をコントロールする操向ハンドルの切り荷重に偏曲点を設けるもので、例えば緩旋回またはブレーキターンまたはスピンターンの各ハンドル操作に荷重の偏曲点を設けることにより、機体の挙動を作業者が適正に認識し得、運転操作性の向上などを図り得るものである。
【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の斜視図、図２は同右側面図、図３は平面説明図であり、図中１は左右一対の走行クローラ２を装設する左右一対のトラックフレーム、３は前記の左右トラックフレーム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及び処理胴を内蔵している脱穀機である脱穀部、７は引起機構８及び刈刃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７を昇降させる油圧昇降シリンダ、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を介して搬入する穀物タンク、１６・１７は前記タンク１５の穀粒を機外に搬出する排出オーガ、１８は運転操作ハンドル１９及び運転席２０を備える運転キャビン、２１は運転キャビン１８下方に設けるエンジンであり、連続的に穀稈を刈取って脱穀するように構成している。
【０００８】
さらに、図４乃至図８に示す如く、機台３前側で左右の走行クローラ２の間にミッションケース２２を配設させ、ミッションケース２２とエンジン２１を略直列に前後に設け、ミッションケース２２を介して走行クローラ２にエンジン２１の駆動力を伝えると共に、脱穀部４前側の機台３上面に左右の支持台２３・２４を立設させ、支持台２３・２４に刈取フレーム１２を介して刈取部７を昇降自在及び横移動可能に設ける。また、支持台２３・２４後側の機台３上面にカウンタケース２５を設け、脱穀部４及び刈取部７にカウンタケース２５を介してエンジン２１の駆動力を伝える。
【０００９】
さらに、ミッションケース２２側方の機台３にキャビン前フレーム２６を立設させ、キャビン１８のステップフレーム２７前部を前フレーム２６上部に回動支点軸２８を介して設け、支点軸２８回りにキャビン１８を前方に回動自在に支持させると共に、右の支持台２４に左のキャビン後フレーム２９を立設させ、機台３に立設させる右のキャビン後フレーム３０との間の機台３上面にエンジン２１を設け、エンジン２１をエンジンルームカバー３１で覆う。また、前記カバー３１の上方で左右の後フレーム２９・３０上部をキャビン横フレーム３２によって連結させ、キャビン横フレーム３２にフックレバー３３を設け、キャビン１８のステップフレーム２７後部を横フレーム３２に上載させてフックレバー３３により係脱自在に固定させると共に、右の支持台２４と前フレーム２６の間に水平連結フレーム３４を固定させ、水平連結フレーム３４中間と横フレーム３２中間に傾斜連結フレーム３５を固定させ、連結フレーム３４・３５によってフレーム剛性を確保する。また、左の後フレーム２９にオーガ支柱３６を連結させて上側にオーガレスト３７を設け、昇降及び旋回自在に設ける排出オーガ１７をオーガレスト３７の本機収納位置に支持させる。
【００１０】
さらに、図９に示す如く、差動機構４８を介して左右走行クローラ２の各駆動輪４９を連動連結させるもので、前記差動機構４８は左右対称の１対の遊星ギヤ機構５０を有し、各遊星ギヤ機構５０は１つのサンギヤ５１と、該サンギヤ５１の外周で噛合う３つのプラネタリギヤ５２と、これらプラネタリギヤ５２に噛合うリングギヤ５３などで形成している。
【００１１】
前記プラネタリギヤ５２は、サンギヤ５１の遊転軸５４と同軸線上の車軸５５のキャリヤ５６にそれぞれ回転自在に軸支させ、左右のサンギヤ５１を挾んで左右のキャリヤ５６を対向配置させると共に、前記リングギヤ５３は各プラネタリギヤ５２に噛み合う内歯を有して車軸５５に回転自在に軸支させ、車軸５５を延設して駆動輪４９を軸支させている。
【００１２】
さらに、転がりと滑りの複合トルクを発生するトルクリミッタ６３と、直進出力用遊星ギヤ６４と、前後進切換機構６５とを備える機械式走行機構６６を設けるもので、トルクリミッタ６３のトルク制御軸６７に設けるサンギヤ６８と、サンギヤ６８に噛合させるプラネタリギヤ６９と、プラネタリギヤ６９に噛合させるリングギヤ７０とを遊星ギヤ６４に設けると共に、プラネタリギヤ６９を軸支させるキャリヤ７１をクラッチ軸７２に設け、トルク制御軸６７にリングギヤ７０を遊転軸支させ、リングギヤ７０にカウンタ軸７３を介してエンジン２１出力軸４６をギヤ７４連結させ、リングギヤ７０を正逆転させる。
【００１３】
また、前記切換機構６５の前後進クラッチ７６・７７をクラッチ軸７２上に設けると共に、ブレーキ軸５３にギヤ７８を介して連結させる逆転軸７９を設け、後進クラッチ７７を逆転軸７９に逆転用切換ギヤ８０を介して連結させ、前進クラッチ７６を介してクラッチ軸７２を逆転軸７９に正転連結させる一方、後進クラッチ７７を介してクラッチ軸７２を逆転軸７９に逆転連結させるもので、主変速レバー５９が中立のときに前後進クラッチ７６・７７の両方を入にし、前記レバー５９の前進操作によって後進クラッチ７７を切にし、かつ前記レバー５９の後進操作によって前進クラッチ７６を切にすると共に、前記レバー５９の中立によってトルクリミッタ６７の設定トルクを略零に維持し、サンギヤ６８をフリー回転の状態にし、リングギヤ７０が回転してもサンギヤ６８の無負荷回転によってクラッチ軸７２が停止維持される。なお、前記ブレーキ軸５３に駐車ブレーキ６１を設ける。
【００１４】
また、前記レバー５９の変速操作により、前後進クラッチ７６・７７の一方が入になり、前記レバー５９の操作量に比例してトルクリミッタ６３の設定トルクが大きくなり、前記レバー５９の最高速によってトルクリミッタ６３の設定トルクが最大になるもので、トルクリミッタ６３の設定トルクに比例した速度でリングギヤ７０の回転をキャリヤ７１からクラッチ軸７２に伝え、前記の各軸７９・５３・５４及びギヤ５８を介してサンギヤ５１に伝達されたクラッチ軸７２の駆動力を、左右の遊星ギヤ機構５０を介して左右キャリヤ５６に伝達させて左右の駆動輪４９にそれぞれ伝え、左右走行クローラ２を同一方向に同一速度で駆動するように構成している。
【００１５】
さらに、１対の油圧旋回ポンプ４１及び油圧旋回モータ４２を設けて旋回用の油圧式無段変速機構を形成する旋回機構４３とを備え、前記逆転軸７９を介して連結させて前記ポンプ４１を駆動するもので、旋回機構４３は、操向ハンドル１９操作により旋回ポンプ４１の斜板角度を変更させて旋回モータ４２の正逆回転と回転数の制御を行うもので、操向出力ブレーキを設けるモータ軸８０と、前記の左右リングギヤ５３に常時噛合させる左右入力ギヤ８１・８２を設け、旋回モータ４２の出力用の前記モータ軸８０と、左入力ギヤ８１と、右入力ギヤ８２及び逆回転ギヤ８３とを介して左右のリングギヤ５３に旋回モータ４２の回転力を伝える。そして、旋回モータ４２を停止させると、左右遊星ギヤ機構５０のキャリヤ５６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と共に、左右のリングギヤ５３を旋回モータ４２によって正逆回転駆動すると、左側の遊星ギヤ機構５０が正或いは逆回転、また右側の遊星ギヤ機構５０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て進路が修正されるもので、機体の旋回半径は旋回モータ４２の出力回転数によって決定される。
【００１６】
上記のように、左右遊星ギヤ５０を備える差動機構４８を前ミッションケース２２に内設させて左右走行クローラ２を駆動すると共に、前記差動機構４８に遊星ギヤ６４及びトルクリミッタ６３を介して直進走行力を伝えて左右走行クローラ２を同一方向に同一速度で駆動させる一方、前記差動機構４８に旋回用油圧操向ポンプ４１及びモータ４２を介して旋回走行力を伝えて左右走行クローラ２を逆方向に同一速度で駆動させるもので、旋回用操向ポンプ４１及びモータ４２の出力を操向ハンドル１９によって調整し、左右走行クローラ２の速度差を連続的に変化させてスピンターン動作に移行させる。また、直進走行力伝達用走行無段変速ポンプ２６及びモータ２７を出力操作する主変速レバー５９が中立の状態下で、操向ハンドル２０操作による旋回出力をオフ維持すると共に、主変速レバー５９が中立以外に操作されたとき、主変速レバー５９のトルクリミッタ６３の設定トルク制御により、主変速レバー５９の傾倒と連動させて、遊星ギヤ６４の出力を調整して前後進出力動作させる。一方、主変速レバー５９の前後進切換によって逆転軸７９が正逆転し、逆転軸７９を介して直進側動力を旋回機構４３に伝え、操向ハンドル１９の左右旋回操作方向と機体の旋回方向を前後進のいずれも一致させ、前後進の切換によってハンドル１９の操作方向と機体の旋回方向が逆になる逆ハンドルを防止している。
【００１７】
上記から明らかなように、左右の走行クローラ２を駆動して移動する作業車において、直進用の走行クローラ２駆動力を出力させるトルク制御走行機構６６と、走行機構６６の出力側から入力して左右の走行クローラ２を差動させる油圧変速旋回機構４３とを設け、従来のクラッチ方式に比べて走行機構６６の変速ショックを低減させると共に、直進動力の下流から旋回動力を得ることによって逆ハンドルを防止し、走行機構６６を油圧変速で行うのに比べて走行クローラ２の駆動効率の向上などを行うと共に、図１０のように、旋回機構４３をコントロールする操向ハンドル１９の切り荷重に偏曲点を設け、例えば緩旋回またはブレーキターンまたはスピンターンの各ハンドル１９操作に荷重の偏曲点を設けることにより、機体の挙動を作業者が適正に認識し、運転操作性の向上などを図るもので、作用長さ（バネ定数）が異なる３条のバネ９０・９１・９２をハンドル１９の旋回操作系９３に設け、緩旋回で１本のバネ９０を作用させ、ブレーキターンで２本のバネ９０・９１を作用させ、スピンターンで３本のバネ９０・９１・９２を作用させ、ハンドル１９の操作力を多段的に変化させる。
【００１８】
さらに、図１１に示す如く、走行機構６６のトルクリミッタ６３をコントロールする主変速レバー５９の操作荷重に３条のバネ９０・９１・９２によって偏曲点を設け、例えば前進の低速または中速または高速の各レバー５９操作に荷重の偏曲点を設けることにより、機体の挙動を作業者が適正に認識し、運転操作性の向上などを図るもので、作用長さ（バネ定数）が異なる３条のバネ９０・９１・９２を主変速レバー５９の変速操作系９４に設け、低速で１本のバネ９０を作用させ、中速で２本のバネ９０・９１を作用させ、高速で３本のバネ９０・９１・９２を作用させ、主変速レバー５９の操作力を多段的に変化させる。
【００１９】
さらに、走行機構６６のトルクリミッタ６３をコントロールする主変速レバー５９を前後に倒し始めたときに前後進出力用のクラッチ７６・７７を切換え、走行機構６６の動力伝達を絶つのではなく、前後進回転方向を切換えることにより、方向転換時、走行クローラ２の動力が絶たれず、湿田走破性を向上させるもので、図１２に示すように、主変速レバー５９のストロークを荷重に変換するのに、関数で表わされる式を満足するようにストロークと荷重を関係させ、旋回時の走行反力が大きくなっても、滑らかな変速を可能にしている。
【００２０】
【発明の効果】
以上実施例から明らかなように本発明は、請求項１の如く、左右の走行クローラ２を駆動して移動する作業車において、直進用の走行クローラ２駆動を出力させるトルク制御走行機構６６と、走行機構６６の出力側から入力して左右の走行クローラ２を差動させる油圧変速旋回機構４３とを設けるもので、従来のクラッチ方式に比べて走行機構６６の変速ショックを低減できると共に、直進動力の下流から旋回動力を得ることによって逆ハンドルを防止でき、走行機構６６を油圧変速で行うのに比べて走行クローラ２の駆動効率の向上などを行うことができるものである。
【００２１】
また、請求項２の如く、旋回機構４３をコントロールする操向ハンドル１９の切り荷重に偏曲点を設けるもので、例えば緩旋回またはブレーキターンまたはスピンターンの各ハンドル１９操作に荷重の偏曲点を設けることにより、機体の挙動を作業者が適正に認識でき、運転操作性の向上などを図ることができるものである。
【図面の簡単な説明】
【図１】コンバインの斜視図。
【図２】同側面図。
【図３】同平面説明図。
【図４】前部機体の側面説明図。
【図５】同正面説明図。
【図６】駆動部の側面説明図。
【図７】同正面説明図。
【図８】同平面説明図。
【図９】同ミッションケースの駆動系統図。
【図１０】操向ハンドル部の説明図。
【図１１】主変速レバー部の説明図。
【図１２】トルクリミッタのトルク変化を表わす線図。
【符号の説明】
２走行クローラ
１９操向ハンドル
４３旋回機構
６６走行機構[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a working vehicle such as a combine or tractor or a construction vehicle that moves with a pair of left and right traveling crawlers mounted thereon.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, there is a technology in which a hydraulic shift traveling mechanism and a hydraulic shift turning mechanism are provided to drive left and right traveling crawlers to perform straight traveling, a brake turn, and a spin turn. (For example, see Patent Document 1)
[0003]
[Patent Document 1] JP-A-2001-138943
[0004]
[Problems to be solved by the invention]
In the prior art, both the straight-running power and the turning power are transmitted by a hydraulic shift, and the power is transmitted from the engine to each of the traveling and turning mechanisms. Therefore, it is necessary to increase the engine output according to the transmission loss due to the hydraulic pressure. In addition, there is a problem that a mechanism for preventing a reverse handle in which the left-right turning operation of the steering handle is reversed between forward and reverse is required.
[0005]
[Means for Solving the Problems]
Therefore, according to the present invention, in a work vehicle that moves by driving left and right traveling crawlers, a torque control traveling mechanism that outputs a traveling crawler driving force for straight traveling, and an input from an output side of the traveling mechanism. And a hydraulic shift turning mechanism that differentially moves the left and right traveling crawlers.The shift shock of the traveling mechanism can be reduced as compared with the conventional clutch system, and the turning handle is obtained by obtaining the turning power from the downstream of the straight traveling power. Thus, the driving efficiency of the traveling crawler can be improved as compared with the case where the traveling mechanism is operated by hydraulic shifting.
[0006]
In addition, an inflection point is provided in the turning load of the steering handle for controlling the turning mechanism as in claim 2, and for example, an inflection point of the load is provided in the operation of each handle such as gentle turning or brake turn or spin turn. Accordingly, the operator can appropriately recognize the behavior of the aircraft, and can improve driving operability.
[0007]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. 1 is an overall perspective view of the combine, FIG. 2 is a right side view thereof, and FIG. 3 is an explanatory plan view. In FIG. 1, reference numeral 1 denotes a pair of left and right track frames on which a pair of left and right traveling crawlers 2 are mounted. And 4 is a threshing unit which is a threshing machine which stretches a feed chain 5 on the left side and has a built-in handling cylinder 6 and a processing cylinder. Reference numeral 7 denotes a raising mechanism 8 and a cutting blade 9. A mowing unit including a grain culm transport mechanism 10 and the like, 11 is a hydraulic lifting cylinder that raises and lowers the mowing unit 7 via a mowing frame 12, 13 is a straw processing unit that faces the end of a straw chain 14, and 15 is a threshing unit 4. A grain tank for carrying the grains of the tank 15 through a fryer, 16 and 17 a discharge auger for carrying the grains of the tank 15 out of the machine, 18 a driving cabin provided with a driving handle 19 and a driving seat 20, 21 Is installed below the driving cabin 18. That an engine is configured to threshing continuously harvests culms.
[0008]
Further, as shown in FIGS. 4 to 8, a transmission case 22 is disposed between the left and right traveling crawlers 2 in front of the machine base 3, and the transmission case 22 and the engine 21 are provided in front and back substantially in series. In addition to transmitting the driving force of the engine 21 to the traveling crawler 2 via the thruster 4, the left and right support stands 23 and 24 are erected on the upper surface of the machine 3 in front of the threshing unit 4, and the support stands 23 and 24 are cut via the cutting frame 12. The part 7 is provided so as to be able to move up and down and to move laterally. A counter case 25 is provided on the upper surface of the machine base 3 on the rear side of the support bases 23 and 24, and the driving force of the engine 21 is transmitted to the threshing unit 4 and the cutting unit 7 via the counter case 25.
[0009]
Further, the cabin front frame 26 is erected on the machine base 3 on the side of the transmission case 22, and the front portion of the step frame 27 of the cabin 18 is provided above the front frame 26 via the rotation fulcrum shaft 28. The cabin 18 is rotatably supported in the front, and the left support frame 29 is erected on the right support stand 24, and the gantry 3 between the right cabin frame 30 is erected on the machine 3. The engine 21 is provided on the upper surface, and the engine 21 is covered with the engine room cover 31. Further, the upper portions of the left and right rear frames 29 and 30 are connected to each other above the cover 31 by a cabin horizontal frame 32, a hook lever 33 is provided on the cabin horizontal frame 32, and the rear portion of the step frame 27 of the cabin 18 is mounted on the horizontal frame 32. And fixed by a hook lever 33 so as to be freely detachable, a horizontal connection frame 34 is fixed between the right support base 24 and the front frame 26, and an inclined connection frame 35 is fixed between the horizontal connection frame 34 and the horizontal frame 32. Then, the frame rigidity is secured by the connection frames 34 and 35. Further, an auger support 36 is connected to the left rear frame 29, and an auger rest 37 is provided on the upper side, and the discharge auger 17 provided to be able to move up and down and pivot is supported at the main body storage position of the auger rest 37.
[0010]
Further, as shown in FIG. 9, the respective drive wheels 49 of the left and right traveling crawlers 2 are linked and connected via a differential mechanism 48, and the differential mechanism 48 has a pair of left and right symmetric planetary gear mechanisms 50. Each planetary gear mechanism 50 is formed of one sun gear 51, three planetary gears 52 meshing on the outer periphery of the sun gear 51, a ring gear 53 meshing with these planetary gears 52, and the like.
[0011]
The planetary gear 52 is rotatably supported by a free shaft 54 of a sun gear 51 and a carrier 56 of an axle 55 on the same axis as the carrier, so that the left and right carriers 56 are opposed to each other with the left and right sun gears 51 interposed therebetween. Has internal teeth meshing with each planetary gear 52 and is rotatably supported on an axle 55. The axle 55 is extended and the drive wheel 49 is axially supported.
[0012]
Further, a mechanical traveling mechanism 66 including a torque limiter 63 that generates a combined torque of rolling and sliding, a planetary gear 64 for linear output, and a forward / reverse switching mechanism 65 is provided. The torque control shaft 67 of the torque limiter 63 is provided. , A planetary gear 69 meshed with the sun gear 68, and a ring gear 70 meshed with the planetary gear 69 are provided on the planetary gear 64, and a carrier 71 for supporting the planetary gear 69 is provided on the clutch shaft 72, and the torque control shaft 67. The ring gear 70 is rotatably supported, the output shaft 46 of the engine 21 is connected to the ring gear 70 via a counter shaft 73 by a gear 74, and the ring gear 70 is rotated forward and reverse.
[0013]
Further, a forward / reverse clutch 76, 77 of the switching mechanism 65 is provided on the clutch shaft 72, and a reverse rotation shaft 79 is provided to be connected to the brake shaft 53 via a gear 78, and the reverse clutch 77 is switched to the reverse rotation shaft 79 for reverse rotation. The clutch is connected via a gear 80 and the clutch shaft 72 is forwardly connected to a reverse rotation shaft 79 via a forward clutch 76, while the clutch shaft 72 is reversely connected to the reverse rotation shaft 79 via a reverse clutch 77. When the lever 59 is neutral, both the forward and backward clutches 76 and 77 are turned on, the forward clutch 77 is turned off by the forward operation of the lever 59, and the forward clutch 76 is turned off by the reverse operation of the lever 59, The set torque of the torque limiter 67 is maintained at substantially zero by the neutralization of the lever 59, the sun gear 68 is brought into a free rotation state, and Gear 70 the clutch shaft 72 is stopped maintained by the no-load rotation of the sun gear 68 also rotates. A parking brake 61 is provided on the brake shaft 53.
[0014]
Further, one of the forward and backward clutches 76 and 77 is engaged by the shift operation of the lever 59, and the set torque of the torque limiter 63 increases in proportion to the operation amount of the lever 59. The set torque of the torque limiter 63 is maximized. The rotation of the ring gear 70 is transmitted from the carrier 71 to the clutch shaft 72 at a speed proportional to the set torque of the torque limiter 63, and the shafts 79, 53, 54 and the gear 58 are transmitted. The driving force of the clutch shaft 72 transmitted to the sun gear 51 via the left and right planetary gear mechanisms 50 is transmitted to the left and right carriers 56 and transmitted to the left and right driving wheels 49, respectively, so that the left and right traveling crawlers 2 move in the same direction. It is configured to drive at the same speed.
[0015]
Furthermore, a swing mechanism 43 that forms a pair of hydraulic swing pumps 41 and a hydraulic swing motor 42 to form a hydraulic stepless transmission mechanism for swing is provided, and the pump 41 is connected via the reverse rotation shaft 79. The slewing mechanism 43 drives the swash plate of the slewing pump 41 by operating the steering handle 19 to control the forward / reverse rotation of the slewing motor 42 and the number of rotations, and provides a steering output brake. A motor shaft 80 is provided with left and right input gears 81 and 82 which are always engaged with the left and right ring gears 53. The motor shaft 80 for outputting the turning motor 42, a left input gear 81, a right input gear 82 and a reverse rotation gear The rotational force of the turning motor 42 is transmitted to the left and right ring gears 53 through 83. Then, when the turning motor 42 is stopped, the left and right traveling crawlers 2 are driven at the same rotational speed in the same rotational direction in the left and right directions via the carrier 56 of the left and right planetary gear mechanism 50, and the vehicle body travels straight in the front-rear direction. When the left and right ring gears 53 are driven to rotate forward and reverse by the turning motor 42, the left planetary gear mechanism 50 rotates forward or reverse, and the right planetary gear mechanism 50 rotates reverse or forward, driving the left and right traveling crawlers 2 in the reverse direction. The course is corrected by turning the body left or right, and the turning radius of the body is determined by the output rotation speed of the turning motor 42.
[0016]
As described above, the differential mechanism 48 including the left and right planetary gears 50 is provided in the front transmission case 22 to drive the left and right traveling crawlers 2, and the differential mechanism 48 is connected to the differential mechanism 48 via the planetary gear 64 and the torque limiter 63. The right and left traveling crawlers 2 are driven in the same direction at the same speed by transmitting the straight traveling force, and the right and left traveling crawlers 2 are transmitted to the differential mechanism 48 via the turning hydraulic steering pump 41 and the motor 42. Are driven in the opposite direction at the same speed, the output of the turning steering pump 41 and the output of the motor 42 are adjusted by the steering handle 19, and the speed difference between the left and right traveling crawlers 2 is continuously changed to achieve a spin-turn operation. Transition. In addition, while the main transmission lever 59 for operating the continuously variable transmission pump 26 and the motor 27 for transmitting the straight traveling force is in a neutral state, the turning output by operating the steering handle 20 is kept off, and the main transmission lever 59 is turned off. When an operation other than the neutral operation is performed, the output of the planetary gear 64 is adjusted by the set torque control of the torque limiter 63 of the main shift lever 59 in conjunction with the tilting of the main shift lever 59 to perform a forward / reverse output operation. On the other hand, the reverse rotation shaft 79 rotates forward and reverse by the forward / reverse switching of the main speed change lever 59, and transmits the straight-running-side power to the turning mechanism 43 via the reverse rotation shaft 79 to change the left-right turning operation direction of the steering handle 19 and the turning direction of the body. Both forward and backward movements are matched to prevent a reverse handle in which the operation direction of the handle 19 and the turning direction of the body are reversed by switching between forward and backward movement.
[0017]
As is apparent from the above description, in the work vehicle that moves by driving the left and right traveling crawlers 2, a torque control traveling mechanism 66 that outputs the driving force of the traveling crawler 2 for straight traveling, and an input from the output side of the traveling mechanism 66 A hydraulic speed change turning mechanism 43 for differentially moving the left and right running crawlers 2 is provided to reduce the speed change shock of the running mechanism 66 as compared with the conventional clutch system, and to obtain the turning handle from the downstream of the straight running power to thereby operate the reverse handle. 10, the driving efficiency of the traveling crawler 2 is improved as compared with the case where the traveling mechanism 66 is operated by hydraulic shifting, and the turning load of the steering handle 19 for controlling the turning mechanism 43 is deflected as shown in FIG. By providing points, for example, by providing an inflection point of the load on the operation of each handle 19 for gentle turning or brake turn or spin turn, the behavior of the aircraft is made. In order to improve the driving operability by the user, the three springs 90, 91 and 92 having different working lengths (spring constants) are provided in the turning operation system 93 of the handle 19, and the gently turning operation is performed. One spring 90 is actuated, two springs 90, 91 are actuated in a brake turn, and three springs 90, 91, 92 are actuated in a spin turn, and the operating force of the handle 19 is changed in multiple stages. .
[0018]
Further, as shown in FIG. 11, an inflection point is provided by the three springs 90, 91, 92 on the operation load of the main transmission lever 59 for controlling the torque limiter 63 of the traveling mechanism 66. By providing an inflection point of the load for each operation of the high-speed lever 59, the operator can appropriately recognize the behavior of the body and improve the driving operability, and the operation length (spring constant) is different. Strip springs 90, 91, 92 are provided in the shift operation system 94 of the main shift lever 59, and one spring 90 is operated at low speed, two springs 90, 91 are operated at medium speed, and three springs are operated at high speed. By operating the springs 90, 91 and 92, the operating force of the main shift lever 59 is changed in multiple steps.
[0019]
Further, when the main shift lever 59 for controlling the torque limiter 63 of the traveling mechanism 66 starts to be tilted forward and backward, the clutches 76 and 77 for forward / reverse output are switched, so that the power transmission of the traveling mechanism 66 is not interrupted, but forward / backward. By switching the rotation direction, the power of the traveling crawler 2 is not interrupted at the time of the direction change, and the wet field traveling performance is improved. As shown in FIG. 12, when the stroke of the main transmission lever 59 is converted into a load, The stroke and the load are related so as to satisfy the expression represented by the function, so that a smooth shift can be achieved even when the running reaction force during turning becomes large.
[0020]
【The invention's effect】
As is clear from the above embodiment, the present invention provides a work vehicle moving by driving the left and right traveling crawlers 2 according to claim 1, a torque control traveling mechanism 66 for outputting the traveling crawler 2 drive for straight traveling, A hydraulic speed change turning mechanism 43 for inputting from the output side of the traveling mechanism 66 to differentially drive the left and right traveling crawlers 2 is provided, so that the speed change shock of the traveling mechanism 66 can be reduced as compared with the conventional clutch system, and the straight running power can be reduced. The reverse steering can be prevented by obtaining the turning power from the downstream side, and the driving efficiency of the traveling crawler 2 can be improved as compared with the case where the traveling mechanism 66 is operated by hydraulic shifting.
[0021]
In addition, an inflection point is provided in the turning load of the steering handle 19 for controlling the turning mechanism 43, for example, the inflection point of the load in gentle turning or operation of each handle 19 in a brake turn or a spin turn. Is provided, the worker can appropriately recognize the behavior of the aircraft, and the driving operability can be improved.
[Brief description of the drawings]
FIG. 1 is a perspective view of a combine.
FIG. 2 is a side view of the same.
FIG. 3 is an explanatory plan view of the same.
FIG. 4 is an explanatory side view of the front body.
FIG. 5 is an explanatory front view of the same.
FIG. 6 is an explanatory side view of a driving unit.
FIG. 7 is an explanatory front view of the same.
FIG. 8 is an explanatory plan view of the same.
FIG. 9 is a drive system diagram of the transmission case.
FIG. 10 is an explanatory view of a steering handle.
FIG. 11 is an explanatory diagram of a main speed change lever.
FIG. 12 is a diagram showing a torque change of a torque limiter.
[Explanation of symbols]
2 Traveling crawler 19 Steering handle 43 Turning mechanism 66 Traveling mechanism

Claims

左右の走行クローラを駆動して移動する作業車において、直進用の走行クローラ駆動力を出力させるトルク制御走行機構と、走行機構の出力側から入力して左右の走行クローラを差動させる油圧変速旋回機構とを設けることを特徴とするコンバイン。In a work vehicle that moves by driving the left and right traveling crawlers, a torque control traveling mechanism that outputs the traveling crawler driving force for straight traveling, and a hydraulic shift turning that inputs from the output side of the traveling mechanism and makes the left and right traveling crawlers differential A combine having a mechanism.

旋回機構をコントロールする操向ハンドルの切り荷重に偏曲点を設けることを特徴とする請求項１に記載のコンバイン。The combine according to claim 1, wherein an inflection point is provided in a turning load of the steering handle for controlling the turning mechanism.