JP3489971B2 - Work vehicle travel control device - Google Patents
Work vehicle travel control deviceInfo
- Publication number
- JP3489971B2 JP3489971B2 JP20761797A JP20761797A JP3489971B2 JP 3489971 B2 JP3489971 B2 JP 3489971B2 JP 20761797 A JP20761797 A JP 20761797A JP 20761797 A JP20761797 A JP 20761797A JP 3489971 B2 JP3489971 B2 JP 3489971B2
- Authority
- JP
- Japan
- Prior art keywords
- speed
- steering
- turning
- steered
- wheels
- 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.)
- Expired - Lifetime
Links
Landscapes
- Arrangement And Driving Of Transmission Devices (AREA)
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、機体の前後一端側
に位置する走行用の操向型車輪と他端側に位置する走行
用の非操向型車輪を備えるとともに、操向型車輪が設定
切れ角以上に操向操作されると、操向型車輪の駆動速度
を非操向型車輪と同一又はほぼ同一にする切り状態と操
向型車輪の駆動速度を非操向型車輪よりも高速にする入
り状態とに切り換え自在な操向輪増速装置を入り側に自
動的に切り換え操作して機体を小回り旋回させる旋回制
御手段、又は、操向型車輪が設定切れ角以上に操向操作
されると、前記操向輪増速装置と、左右一対の非操向型
車輪のうちの旋回内側の非操向型車輪に作用する機体操
向ブレーキとを入り側に自動的に切り換え操作して機体
を小回り旋回させる旋回制御手段、又は、操向型車輪が
設定切れ角以上に操向操作されると、前記操向輪増速装
置と旋回内側の非操向型車輪に作用する機体操向ブレー
キとを入り側に自動的に切り換え操作して機体を小回り
旋回させる第１旋回制御モードと、操向型車輪が設定切
れ角以上に操向操作されると、前記操向輪増速装置と機
体操向ブレーキのうちの操向輪増速装置のみを入り側に
自動的に切り換え操作して機体を小回り旋回させる第２
旋回制御モードとに切り換え自在な旋回制御手段を備え
てある作業車の走行制御装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is equipped with traveling steerable wheels located on one front and rear end sides of a vehicle body and traveling non-steerable wheels located on the other end side. When the steering operation is performed over the set turning angle, the driving speed of the steered wheels becomes the same or almost the same as that of the non-steered wheels. Turning control means for automatically turning the steering wheel speed increasing device, which can be switched to the on-state for high speed, to the entry side, or turning control means for turning the aircraft in small turns, or the steering-type wheels are operated over a set turning angle. When operated, the steering wheel speed increasing device and the body steering brake that acts on the non-steering wheel inside the turning of the pair of left and right non-steering wheels are automatically switched to the entry side. And turning control means for turning the aircraft in a small turn, or the steering type wheels are set to a set cutting angle or more. Once countercurrent operation, automatically switching operation to the first turning control for small turn pivoting the fuselage side enters the machine exercises countercurrent brake that acts on non-steering type wheel turning inner side and the steering-wheel speed increasing device Mode, and when the steerable wheels are steered beyond the set angle, only the steered wheel speed increasing device of the steering wheel speed increasing device and the body steering brake is automatically switched to the entry side. Second operation to make small turns of the aircraft
The present invention relates to a traveling control device for a work vehicle, which is provided with a turning control means that can be switched to a turning control mode.
【０００２】[0002]
【従来の技術】上記作業車は、圃場端部で機体をユータ
ーン旋回させるなど機体旋回を行う際、旋回制御手段の
作用により、操向型車輪を操向操作するだけで操作簡単
に、操向型車輪と非操向型車輪を直進時と同様に同一又
はほぼ同一の駆動速度で駆動しながら旋回するよりも小
さな旋回半径で旋回できるようにされたものである。こ
の種の作業車において、従来、例えば、特開昭６３‐１
６２３３２号公報に示されるものがあった。すなわち、
前輪と後輪の駆動速度を略等しくする標準駆動状態と、
前輪の駆動速度が後輪よりも高速になる増速駆動状態と
に油圧シリンダによって切り換え操作自在な前輪変速装
置を備えるとともに、前輪を設定角度以上に操向操作し
てリミットスイッチからの信号が制御装置に入力される
と、この制御装置から油圧シリンダに対する制御弁に操
作信号が発信されて油圧シリンダが前輪変速装置を前輪
増速状態に切り換えるうようになり、さらに、走行用の
主変速レバーの４速位置、及び副変速レバーの高速位置
にリミットスイッチを設け、主変速レバーを４速位置、
副変速レバーを高速位置に操作しての高速走行時には、
前輪の設定角度以上の操向操作にもかかわらず、制御弁
に操作信号が発せられないようになったものがあった。
すなわち、走行用変速装置を低速側に切り換えている場
合には、操向型車輪としての前輪を設定切れ角以上に操
向操作すると、旋回制御手段としての制御装置によって
前輪増速装置としての前輪変速装置が入り側に自動的に
切り換え操作され、走行用変速装置を高速側に切り換え
ている場合には、操向型車輪を設定切れ角以上に操向操
作しても前輪増速装置が入り側に切り換え操作されない
ようになっていた。つまり、低速走行する際には小回り
旋回制御が実行され、高速走行する際には小回り旋回制
御が牽制されるようになっていた。2. Description of the Related Art The above-mentioned work vehicle is easy to operate by simply operating the steering type wheels by the operation of the turning control means when turning the vehicle such as turning the vehicle at the end of the field. The type wheels and the non-steerable type wheels can be turned with a turning radius smaller than that of turning while driving at the same or substantially the same driving speed as when driving straight ahead. In this type of work vehicle, there is a conventional method, for example, Japanese Patent Laid-Open No. 63-1.
There was a thing shown by the 62323 gazette. That is,
A standard drive state that makes the drive speed of the front wheels and the rear wheels almost equal,
The front wheel transmission is equipped with a hydraulic cylinder that allows the front wheels to be driven faster than the rear wheels by increasing the speed, and the front wheels are steered over a set angle to control the signal from the limit switch. When input to the device, an operation signal is sent from this control device to the control valve for the hydraulic cylinder, and the hydraulic cylinder switches the front wheel transmission to the front wheel speed increasing state. Limit switches are installed at the 4th speed position and the high speed position of the sub speed change lever, and the main speed change lever is set to the 4th speed position.
When operating the high speed position by operating the sub speed change lever,
In some cases, no control signal could be sent to the control valve despite the steering operation over the set angle of the front wheels.
That is, when the traveling transmission is switched to the low speed side, when the front wheels as the steering type wheels are operated to steer beyond the set turning angle, the control device as the turning control means causes the front wheels as the front wheel speed increasing device to operate. When the transmission is automatically switched to the entry side and the traveling transmission is switched to the high speed side, the front wheel speed increasing device is activated even if the steering type steering wheel is operated above the set turning angle. It was supposed not to be switched to the side. That is, when the vehicle travels at a low speed, the small turning control is executed, and when the vehicle travels at a high speed, the small turning control is restrained.
【０００３】[0003]
【発明が解決しようとする課題】従来、変速レバーの複
数の操作位置それぞれに検出スイッチを設けるとか、主
変速レバーと副変速レバーのいずれにも検出スイッチを
設けるとかによって低速と高速のいずれの走行にあるか
を検出し、小回り旋回を可能にしたり、牽制したりする
ものであるから、センサー機構の面から構造が複雑にな
る問題があった。本発明の目的は、操作簡単に小回り旋
回ができるとともに高速走行しながらの小回り旋回が牽
制される作業車の走行制御装置を、旋回走行が不安定に
なることを回避しながら比較的構造簡単に得られるよう
にすることにある。Conventionally, either low speed or high speed running is achieved by providing a detection switch at each of a plurality of operating positions of a speed change lever or by providing a detection switch at both a main speed change lever and an auxiliary speed change lever. However, there is a problem in that the structure becomes complicated in terms of the sensor mechanism, because it detects whether or not there is a situation, and enables a small turn, or restrains. An object of the present invention is to provide a traveling control device for a work vehicle in which a small turn can be easily made and a small turn can be restrained while traveling at a high speed, and a relatively simple structure can be provided while avoiding unstable turning. To get it.
【０００４】[0004]
【課題を解決するための手段】請求項１による発明の構
成、作用、効果はつぎのとおりである。The constitution, action and effect of the invention according to claim 1 are as follows.
【０００５】
〔構成〕
機体の前後一端側に位置する走行用の操向型車輪の駆動
速度を他端側に位置する走行用の非操向型車輪と同一又
はほぼ同一にする切り状態と、操向型車輪の駆動速度を
非操向型車輪よりも高速にする入り状態とに切り換え自
在な操向輪増速装置を備えるとともに、操向型車輪が設
定切れ角以上に操向操作されると、操向輪増速装置を入
り側に自動的に切り換え操作して機体を小回り旋回させ
る旋回制御手段を備えてある作業車の走行制御装置にお
いて、実際の機体走行速度を検出する速度センサーを備
えるとともに、この速度センサーによる検出速度が設定
速度未満であれば、前記旋回制御手段による操向輪増速
装置の入り側への切り換え操作を可能にし、前記速度セ
ンサーによる検出速度が設定速度以上であれば、前記旋
回制御手段による操向輪増速装置の入り側への切り換え
操作を不能にする牽制手段と、操向型車輪が設定切れ角
に操向操作されると、この操向操作時における前記牽制
手段の状態を検出し、操向型車輪が設定切れ角以上に操
向操作されてから設定切れ角未満の操向状態に戻し操作
されるまでの間、速度センサーからの情報に優先して操
向輪増速装置の入り切り状態を操向型車輪が前記設定切
れ角に操向操作されたときの状態のままに維持する維持
制御手段を備えてある。[Configuration] A cutting state in which the driving speed of the traveling steering wheels located on one front and rear ends of the airframe is the same as or substantially the same as the driving speed of the traveling non-steering wheels located on the other end, The steering wheel is equipped with a steering wheel speed increasing device that can switch the driving speed of the steering wheel to an on-state that makes it faster than the non- steering wheel. In a traveling control device for a work vehicle equipped with a turning control means for automatically switching the steered wheel speed increasing device to the entry side to make a small turn of the vehicle, a speed sensor for detecting an actual vehicle traveling speed is provided. If the speed detected by the speed sensor is less than the set speed, the turning control means can switch the steering wheel speed increasing device to the entry side, and the speed detected by the speed sensor is equal to or higher than the set speed. if there is, And restraining means for disabling the switching operation to the incoming side of the steering wheel acceleration apparatus according to the serial turning control means, the steering-type wheels are steering operation to set steering angle, the check at the time of the steering operation detects the state of the unit, until steering type wheel is operated back to the steering state of less than the set out corners since the steering operation above the set steering angle, steering in preference to information from the speed sensor
When the steering wheel is turned on or off,
A maintenance control means for maintaining the state when the steering operation is performed at the corner is provided.
【０００６】 〔作用〕
操向型車輪を非操向型車輪よりも高速駆動して小回り旋
回する際に機体が揺れるなどの不具合が発生しやすい走
行速度のうちの最低速度を前記設定速度として設定す
る。そして、走行用変速装置の回転出力を前後輪に伝達
する回転軸など、車輪に連動する回転部材の回転数に基
づいて機体走行速度を検出するなどの速度センサーを採
用し、走行用変速装置の速度状態に基づいて検出するよ
うになっていた従来に比して必要数の少ないセンサー
で、低速と高速のいずれの速度で走行されているかを検
出し、走行速度を前記設定速度未満にしながら操向型車
輪を設定切れ角以上に操向操作された際には、牽制手段
が旋回制御手段による操向輪増速装置の入り側への切り
換えを可能にするため、操向輪増速装置が自動的に入り
側に切り換え操作されて操向型車輪が非操向型車輪より
も高速で駆動され、機体が小旋回半径で旋回していく。
しかし、操向型車輪を設定切れ角以上に操向操作されて
も、機体走行速度が前記設定速度以上であれば、牽制手
段が旋回制御手段による操向輪増速装置の入り側への切
り換えを不能にするため、操向輪増速装置が切り状態の
ままに操作されて操向型車輪と非操向型車輪とが同一又
はほぼ同一の速度で駆動され、機体が標準の旋回半径で
旋回していくものである。[Operation] The minimum speed of the traveling speeds is set as the set speed, in which the steering type wheel is driven at a higher speed than the non-steering type wheel to cause a problem such as shaking of the body when making a small turn. To do. A speed sensor that detects the vehicle traveling speed based on the number of revolutions of a rotating member that is interlocked with the wheels, such as a rotating shaft that transmits the rotational output of the traveling transmission to the front and rear wheels, is used to The number of required sensors is smaller than in the past, which was based on the speed condition, and it detects whether the vehicle is traveling at low speed or high speed and operates while keeping the traveling speed below the set speed. when it is steering operation countercurrent-type wheels above the set steering angle, because the restraining means to allow switching to the entrance side of the steering wheel acceleration apparatus according to the turning control means is steered wheel acceleration device The steered wheels are automatically switched to the entry side, the steered wheels are driven at a higher speed than the unsteered wheels, and the aircraft turns with a small turning radius.
However, even if the steering type steering wheel is steered over the set turning angle, if the machine traveling speed is equal to or higher than the set speed, the check means is switched to the entry side of the steering wheel speed increasing device by the turning control means. In order to disable the steering wheel speed increasing device, the steered wheel speed increasing device is operated in the off state so that the steered wheels and the non-steered wheels are driven at the same or almost the same speed, and It is something that turns.
【０００７】 操向型車輪が設定切れ角以上に操向操作
された後は設定切れ角未満の操向状態に戻し操作される
までの間、速度センサーによる検出速度が前記設定速度
未満から以上に変化したり、以上から未満に変化したり
することがあっても、操向輪増速装置は操向型車輪が設
定切れ角に操向操作された時にあった入り又は切りの状
態に維持制御手段によって維持される。すなわち、走行
速度を前記設定速度未満にしながら操向型車輪を設定切
れ角以上に操向操作され、操向輪増速装置が入り側に切
り換え操作されて機体が小回り旋回していく際には、操
向型車輪が設定切れ角未満の操向状態に戻し操作される
までの途中で走行速度が設定速度以上に上昇することが
あっても、操向輪増速装置が切り側に切り換えられて旋
回半径が小半径から標準半径に変化することがないよう
に操向輪増速装置を入り状態のままに維持しながら旋回
していける。そして、走行速度を前記設定速度以上にし
ながら操向型車輪を設定切れ角以上に操向操作され、操
向輪増速装置が切り側に操作されて機体が標準の旋回半
径で旋回していく際には、操向型車輪が設定切れ角未満
の操向状態に戻し操作されるまでの途中で走行速度が設
定速度未満に下降することがあっても、操向輪増速装置
が入り側に切り換えられて旋回半径が標準半径から小半
径に変化することがないように操向輪増速装置を切り状
態のままに維持しながら旋回していける。After the steering type wheel has been steered over the set turning angle, until the steering wheel is returned to the steering state less than the set turning angle, the speed detected by the speed sensor increases from less than the set speed to more than the set speed. Even if the steering wheel speed changer changes from the above value to the lesser value, the steering wheel speed - increasing device keeps the steering wheel in the on / off state that was present when the steering wheel was steered to the set turning angle. Maintained by means. That is steering operating the travel speed above the set steering angle of the steering type wheel with less than the set speed, is operated switched to side contains the steerable wheels acceleration device when the body is gradually adaptable turning The steering wheel speed increasing device is switched to the cutting side even if the traveling speed rises above the set speed while the steering wheel is returned to the steering state below the set turning angle. Therefore, it is possible to turn while maintaining the steering wheel speed increasing device so that the turning radius does not change from the small radius to the standard radius. Then, the steering operation of the running speed equal to or greater than the set steering angle of the steering type wheel while more than the set speed, Misao
When the directional wheel speed increasing device is operated to the turning side and the aircraft turns at the standard turning radius, the steering type wheels travel on the way until the steering wheel is returned to the steering state less than the set turning angle. even if the velocity is lowered to less than the set speed, steering wheel speed increasing device so as not to pivot been switched to the side contains the steerable wheels speed increasing device radius changes to a small radius from a standard radius You can turn while maintaining the cut state.
【０００８】
〔効果〕
前記設定速度未満の低速で走行している場合には、操向
型車輪の操向操作を行うだけで簡単に小回り旋回できて
作業装置を次の作業列に迅速に位置合わせできるのであ
り、前記設定速度以上の高速で走行している場合には、
牽制手段のために小回り旋回が牽制されて圃場の乱れと
か機体の揺れが発生しにくいように有利に機体操向がで
きる。しかも、低速と高速のいずれで走行されているか
の検出を従来より数少ないセンサーで行えるように構造
の簡略化ができ、経済面などで有利に得られる。その
上、旋回走行の途中にあっては、アクセル操作などによ
って走行速度が変化しても、維持制御手段による維持操
作のために操向輪増速装置が旋回に入った時にあった入
り又は切り状態のままになり、操向輪増速装置が入りか
ら切りに変化したり、切りから入りに変化したりして機
体が意図する方向とは異なる方向に走行して運転しにく
くなるとか、乗り心地が悪くなるとかの事態が発生しに
くくて有利に運転できる。[Effect] When the vehicle is traveling at a low speed less than the set speed, it is possible to easily make a small turn by simply performing the steering operation of the steerable wheels to quickly position the work device on the next work line. It is possible to match, if you are traveling at a high speed above the set speed,
Due to the restraint means, the small turning is restrained, and the aircraft can be advantageously steered so that the disturbance of the field and the shaking of the aircraft are less likely to occur. Moreover, the structure can be simplified so that whether the vehicle is traveling at a low speed or a high speed can be detected with a smaller number of sensors than before, which is advantageous in economic aspects. In addition, during the course of turning, even if the running speed changes due to an accelerator operation, etc., the steering wheel speed increasing device is turned on or off due to the maintenance operation by the maintenance control means. If the steering wheel speed increasing device changes from turning on to turning off, or turning from turning to turning on, the aircraft will run in a direction different from the intended direction and it will be difficult to drive. It is possible to drive in an advantageous manner because it is unlikely that you will feel uncomfortable.
【０００９】請求項２による発明の構成、作用、効果は
つぎのとおりである。The structure, operation and effect of the invention according to claim 2 are as follows.
【００１０】
〔構成〕
機体の前後一端側に位置する走行用の操向型車輪の駆動
速度を他端側に位置する走行用の非操向型車輪と同一又
はほぼ同一にする切り状態と、操向型車輪の駆動速度を
非操向型車輪よりも高速にする入り状態とに切り換え自
在な操向輪増速装置と、左右一対の前記非操向型車輪に
各別に作用する一対の機体操向ブレーキとを備えるとと
もに、操向型車輪が設定切れ角以上に操向操作される
と、操向輪増速装置と旋回内側の非操向型車輪に作用す
る機体操向ブレーキとを入り側に自動的に切り換え操作
して機体を小回り旋回させる旋回制御手段を備えてある
作業車の走行制御装置において、実際の機体走行速度を
検出する速度センサーを備えるとともに、この速度セン
サーによる検出速度が設定速度未満であれば、前記旋回
制御手段による操向輪増速装置と機体操向ブレーキの入
り側への切り換え操作を可能にし、前記速度センサーに
よる検出速度が設定速度以上であれば、前記旋回制御手
段による操向輪増速装置と機体操向ブレーキの入り側へ
の切り換え操作を不能にする牽制手段と、操向型車輪が
設定切れ角に操向操作されると、この操向操作時におけ
る前記牽制手段の状態を検出し、操向型車輪が設定切れ
角以上に操向操作されてから設定切れ角未満の操向状態
に戻し操作されるまでの間、速度センサーからの情報に
優先して操向輪増速装置および機体操向ブレーキの入り
切り状態を操向型車輪が前記設定切れ角に操向操作され
たときの状態のままに維持する維持制御手段を備えてあ
る。[Configuration] A cutting state in which the driving speed of the steerable wheels for traveling located on one front and rear end side of the machine body is the same or substantially the same as that of the non-steering wheel for traveling located on the other end side, a steering wheel acceleration device freely switched between engaged state that the driving speed of the steering type wheel faster than HimisaoMuko type wheels, a pair of machine acting on each other in the left-right pair of the non-steering type wheels In addition to being equipped with a body steering brake, when the steering type steering wheel is operated to exceed the set turning angle, the steering wheel speed increasing device and the body steering brake that acts on the non-steering type wheel on the inside of the turn are turned on. In a traveling control device for a work vehicle, which is provided with a turning control means for automatically turning the vehicle to make a small turn, a speed sensor for detecting an actual vehicle traveling speed is provided, and the speed detected by the speed sensor is If it is less than the set speed, Enabling the switching operation to the steering wheel acceleration device and machine gymnastics countercurrent brake inlet side by rotating the control means, if the detected speed by the speed sensor is set speed or a steering wheel acceleration by the swing control means When the steering wheel is steered to a preset turning angle, the state of the restraint means during the steering operation is detected when the steering wheel is steered at a set turning angle. However, from the time the steering wheel is steered above the set turning angle until it is returned to the steering state where it is less than the set turning angle, the steering wheel speed increasing device has priority over the information from the speed sensor. and enters of the machine gymnastics direction brake
When the steering wheel is turned, the steering wheel is steered to the set turning angle.
It is provided with a maintenance control means for maintaining the remains when the.
【００１１】 〔作用〕
操向型車輪を非操向型車輪よりも高速駆動するとともに
旋回内側の非操向型車輪に操向ブレーキを掛けて小回り
旋回する際に機体が揺れるなどの不具合が発生しやすい
走行速度のうちの最低速度を前記設定速度として設定す
る。そして、走行用変速装置の回転出力を前後輪に伝達
する回転軸など車輪に連動する回転部材の回転数に基づ
いて機体走行速度を検出するなどの速度センサーを採用
し、走行用変速装置の速度状態に基づいて検出するよう
になっていた従来に比して必要数の少ないセンサーで、
低速と高速のいずれの速度で走行されているかを検出
し、走行速度を前記設定速度未満にしながら操向型車輪
を設定切れ角以上に操向操作された際には、牽制手段が
旋回制御手段による操向輪増速装置および機体操向ブレ
ーキの入り側への切り換えを可能にするため、操向輪増
速装置および機体操向ブレーキが自動的に入り側に切り
換え操作されて操向型車輪が非操向型車輪よりも高速で
駆動されるとともに旋回内側の非操向型車輪にブレーキ
が掛けられて機体が小旋回半径で旋回していく。しか
し、操向型車輪を設定切れ角以上に操向操作されても、
機体走行速度が前記設定速度以上であれば、牽制手段が
旋回制御手段による操向輪増速装置および機体操向ブレ
ーキの入り側への切り換えを不能にするため、操向輪増
速装置および機体操向ブレーキが切りのままに操作され
て操向型車輪と非操向型車輪とが同一又はほぼ同一の速
度で駆動されるとともに非操向型車輪にブレーキが掛け
られず、機体が標準の旋回半径で旋回していくものであ
る。[Operation] When the steerable wheels are driven at a higher speed than the non-steerable wheels and a steering brake is applied to the non-steerable wheels on the inside of the turn, a problem occurs such that the vehicle body sways when making a small turn. The minimum speed of the traveling speeds that is easy to achieve is set as the set speed. A speed sensor is used to detect the vehicle traveling speed based on the number of revolutions of a rotating member that is interlocked with the wheels, such as the rotating shaft that transmits the rotational output of the traveling transmission to the front and rear wheels. It is a sensor that requires less number of sensors than the conventional one that was supposed to detect based on the state,
Whether the vehicle is traveling at a low speed or a high speed is detected, and when the steering wheel is steered at a setting cut angle or more while the traveling speed is set to be less than the set speed, the check means is the turning control means. The steering wheel speed increasing device and the machine body steering brake are automatically switched to the entrance side so that the steering wheel speed increasing device and the machine body steering brake can be switched to the entry side. Is driven at a higher speed than the non-steering wheels, and the non-steering wheels on the inside of the turn are braked, so that the aircraft turns with a small turning radius. However, even if the steering wheel is steered beyond the set angle,
If the aircraft speed is the setting speed or more, because the restraining means to disable switching to the steering wheel acceleration device and machine gymnastics inlet side of the countercurrent brake by turning control means, steering wheel speed increasing device and machine The body steering brake is operated with the brakes turned off, the steered wheels and the non-steered wheels are driven at the same or almost the same speed, and the non-steered wheels are not braked. It turns with a turning radius.
【００１２】 操向型車輪が設定切れ角以上に操向操作
された後は設定切れ角未満の操向状態に戻し操作される
までの間、速度センサーによる検出速度が前記設定速度
未満から以上に変化したり、以上から未満に変化したり
することがあっても、操向輪増速装置および機体操向ブ
レーキは操向型車輪が設定切れ角に操向操作された時に
あった入り又は切りの状態に維持制御手段によって維持
される。すなわち、走行速度を前記設定速度未満にしな
がら操向型車輪を設定切れ角以上に操向操作され、操向
輪増速装置および機体操向ブレーキが入り側に切り換え
操作されて機体が小回り旋回していく際には、操向型車
輪が設定切れ角未満の操向状態に戻し操作されるまでの
途中で走行速度が設定速度以上に上昇することがあって
も、操向輪増速装置および機体操向ブレーキが切り側に
切り換えられて旋回半径が小半径から標準半径に変化す
ることがないように操向輪増速装置および機体操向ブレ
ーキを入り状態のままに維持しながら旋回していける。
そして、走行速度を前記設定速度以上にしながら操向型
車輪を設定切れ角以上に操向操作され、操向輪増速装置
および機体操向ブレーキが切り側に操作されて機体が標
準の旋回半径で旋回していく際には、操向型車輪が設定
切れ角未満の操向状態に戻し操作されるまでの途中で走
行速度が設定速度未満に下降することがあっても、操向
輪増速装置および機体操向ブレーキが入り側に切り換え
られて旋回半径が標準半径から小半径に変化することが
ないように操向輪増速装置および機体操向ブレーキを切
り状態のままに維持しながら旋回していける。After the steering type wheel has been steered over the set turning angle, until the steering wheel is returned to the steering state less than the set turning angle, the speed detected by the speed sensor increases from less than the set speed to more than the set speed. The steering wheel speed - increasing device and airframe steering brake, even if they change from the above value to the lesser value, will be turned on or off when the steering type wheel was operated at the set turning angle. Is maintained by the maintenance control means. That is steering operating the travel speed above the set steering angle of the steering type wheel with less than the set speed, steering
When the wheel speed increasing device and the aircraft steering brake are switched to the entry side and the aircraft makes a small turning turn, the steering type wheels may be returned to the steering state below the set turning angle during the operation. Procedure as traveling speed even if the rises above the set speed, never steering wheel acceleration device and machine gymnastics direction brake cut side switched by turning radius is changed to the standard radius from minor radius It is possible to turn while maintaining the steering wheel speed increasing device and the airframe steering brake in the ON state.
Then, the steering wheel is steered to a set turning angle or more while the traveling speed is set to be equal to or higher than the set speed, and the steering wheel speed increasing device and the airframe steering brake are operated to the turning side so that the airframe has a standard turning radius. in the case continue to turning, even if the middle speed up steering type wheel is operated back to the steering state of less than the set cutting angle is lowered below the set speed, steering
Maintaining the remains off increase steering wheel speed devices and machine gymnastics countercurrent brake so as not to wheel acceleration device and machine gymnastics direction brake enters switched to side turning radius is changed to a small radius from a standard radius You can turn while doing this.
【００１３】
〔効果〕
前記設定速度未満の低速で走行している場合には、操向
型車輪の操向操作を行うだけで簡単に小回り旋回できて
作業装置を次の作業列に迅速に位置合わせできるのであ
り、前記設定速度以上の高速で走行している場合には、
牽制手段のために小回り旋回が牽制されて圃場の乱れと
か機体の揺れが発生しにくいように有利に機体操向がで
きる。しかも、低速と高速のいずれで走行されているか
の検出を従来より数少ないセンサーで行えるように構造
の簡略化ができ、経済面などで有利に得られる。その
上、旋回走行の途中にあっては、アクセル操作などによ
って走行速度が変化しても、維持制御手段による維持操
作のために操向輪増速装置および機体操向ブレーキが旋
回に入った時にあった入りまたは切りのままになり、操
向輪増速装置および機体操向ブレーキが入りから切りに
変化したり、切りから入りに変化したりして機体が意図
する方向とは異なる方向に走行して運転しにくくなると
か、乗り心地が悪くなるとかの事態が発生しにくくて有
利に運転できる。[Effect] When the vehicle is traveling at a low speed less than the set speed, it is possible to easily make a small turn by performing a steering operation of the steering type wheels and quickly position the work device in the next work line. It is possible to match, if you are traveling at a high speed above the set speed,
Due to the restraint means, the small turning is restrained, and the aircraft can be advantageously steered so that the disturbance of the field and the shaking of the aircraft are less likely to occur. Moreover, the structure can be simplified so that whether the vehicle is traveling at a low speed or a high speed can be detected with a smaller number of sensors than before, which is advantageous in economic aspects. In addition, during turning, even if the running speed changes due to accelerator operation, etc., when the steering wheel speed increasing device and the aircraft steering brake enter into turning due to the maintenance operation by the maintenance control means. It will be turned on or off as it was and operated
The direction-wheel speed - increasing device and airframe steering brake change from on to off, or from on to off, which makes it difficult to drive by traveling in a direction different from the intended direction, and It is possible to drive in an advantageous manner because the situation such as getting worse does not occur easily.
【００１４】請求項３による発明の構成、作用、効果は
つぎのとおりである。The structure, operation, and effect of the invention according to claim 3 are as follows.
【００１５】
〔構成〕
機体の前後一端側に位置する走行用の操向型車輪の駆動
速度を他端側に位置する走行用の非操向型車輪と同一又
はほぼ同一にする切り状態と、操向型車輪の駆動速度を
非操向型車輪よりも高速にする入り状態とに切り換え自
在な操向輪増速装置と、左右一対の前記非操向型車輪に
各別に作用する一対の機体操向ブレーキとを備えるとと
もに、操向型車輪が設定切れ角以上に操向操作される
と、操向輪増速装置と旋回内側の非操向型車輪に作用す
る機体操向ブレーキとを入り側に自動的に切り換え操作
して機体を小回り旋回させる第１旋回制御モードと、操
向型車輪が設定切れ角以上に操向操作されると、操向輪
増速装置と機体操向ブレーキとのうちの操向輪増速装置
のみを入り側に自動的に切り換え操作して機体を小回り
旋回させる第２旋回制御モードとに切り換え操作自在な
旋回制御手段を備えてある作業車の走行制御装置におい
て、実際の機体走行速度を検出する速度センサーと、前
記旋回制御手段が第１旋回制御モードと第２旋回制御モ
ードのいずれの旋回制御モードにある場合でも、速度セ
ンサーによる検出速度が設定速度未満であれば、前記旋
回制御手段による操向輪増速装置および機体操向ブレー
キの入り側への切り換え操作を可能にし、速度センサー
による検出速度が設定速度以上であれば、前記旋回制御
手段による操向輪増速装置および機体操向ブレーキの入
り側への切り換え操作を不能にする牽制手段と、操向型
車輪が設定切れ角に操向操作されると、この操向操作時
における前記牽制手段の状態を検出し、操向型車輪が設
定切れ角以上に操向操作されてから設定切れ角未満の操
向状態に戻し操作されるまでの間、速度センサーからの
情報に優先して操向輪増速装置および機体操向ブレーキ
の入り切り状態を操向型車輪が前記設定切れ角に操向操
作されたときの状態のままに維持する維持制御手段とを
備えてある。[Configuration] A cut state in which the driving speed of the traveling steering wheels located on one front and rear ends of the machine body is the same or substantially the same as that of the traveling non-steering wheels located on the other end side, a steering wheel acceleration device freely switched between engaged state that the driving speed of the steering type wheel faster than HimisaoMuko type wheels, a pair of machine acting on each other in the left-right pair of the non-steering type wheels In addition to being equipped with a body steering brake, when the steering type steering wheel is operated to exceed the set turning angle, the steering wheel speed increasing device and the body steering brake that acts on the non-steering type wheel on the inside of the turn are turned on. The first turning control mode in which the vehicle is automatically turned to the small side to make a small turn, and when the steerable wheels are steered to exceed a set turning angle, the steered wheel speed increasing device and the machine are provided. Only the steering wheel speed increasing device out of the gymnastic brake is automatically switched to the entry side to operate the aircraft. In a traveling control device for a work vehicle, which is provided with a turning control means that can be switched to a second turning control mode for turning in a small turn, a speed sensor for detecting an actual traveling speed of the machine body, and the turning control means makes a first turning control. In either of the turning control modes, the second turning control mode and the second turning control mode, if the speed detected by the speed sensor is less than the set speed, the steering wheel speed increasing device by the turning control means and the entry side of the body steering brake Check means for enabling the switching operation to the entry side of the steering wheel speed increasing device and the body steering brake by the turning control means when the speed detected by the speed sensor is equal to or higher than the set speed. When the steering type steering wheel is steered to a set turning angle, the state of the restraint means at the time of the steering operation is detected, and the steering type wheel is set to a set turning angle or more. Steering manipulated back to the steering state of less than the set out corner from until it is operated, the steering wheel acceleration in preference to information from the speed sensor device and machine gymnastics countercurrent brake
When the steering wheel is turned on and off,
Are a maintenance control means for maintaining the remains when it is created.
【００１６】 〔作用〕
小回り旋回する際に機体が揺れるなどの不具合が発生し
やすい走行速度のうちの最低速度を前記設定速度として
設定する。そして、走行用変速装置の回転出力を前後輪
に伝達する回転軸など車輪に連動する回転部材の回転数
に基づいて機体走行速度を検出するなどの速度センサー
を採用し、走行用変速装置の速度状態に基づいて検出す
るようになっていた従来に比して必要数の少ないセンサ
ーで、低速と高速のいずれの速度で走行されているかを
検出する。そして、旋回制御手段が第１旋回制御モード
に切り換えられている場合において、走行速度を前記設
定速度未満にしながら操向型車輪を設定切れ角以上に操
向操作された際には、牽制手段が旋回制御手段による操
向輪増速装置および機体操向ブレーキの入り側への切り
換えを可能にするため、操向輪増速装置および機体操向
ブレーキが自動的に入り側に切り換え操作されて操向型
車輪が非操向型車輪よりも高速で駆動されるとともに旋
回内側の非操向型車輪にブレーキが掛けられて機体が小
旋回半径で旋回していく。しかし、操向型車輪を設定切
れ角以上に操向操作されても、機体走行速度が前記設定
速度以上であれば、牽制手段が旋回制御手段による操向
輪増速装置および機体操向ブレーキの入り側への切り換
えを不能にするため、操向輪増速装置および機体操向ブ
レーキが切り状態のままに操作されて操向型車輪と非操
向型車輪とが同一又はほぼ同一の速度で駆動されるとと
もに非操向型車輪にブレーキが掛けられず、機体が標準
の旋回半径で旋回していくものである。そして、旋回制
御手段が第２旋回制御モードに切り換えられている場合
において、走行速度を前記設定速度未満にしながら操向
型車輪を設定切れ角以上に操向操作された際には、牽制
手段が旋回制御手段による操向輪増速装置の入り側への
切り換えを可能にするため、操向輪増速装置が自動的に
入り側に切り換え操作されて操向型車輪が非操向型車輪
よりも高速で駆動されて機体が小旋回半径で旋回してい
く。しかし、操向型車輪を設定切れ角以上に操向操作さ
れても、機体走行速度が前記設定速度以上であれば、牽
制手段が旋回制御手段による操向輪増速装置の入り側へ
の切り換えを不能にするため、操向輪増速装置が切り状
態のままに操作されて操向型車輪と非操向型車輪とが同
一又はほぼ同一の速度で駆動され、機体が標準の旋回半
径で旋回していくものである。[Operation] The minimum speed of the traveling speeds in which a problem such as shaking of the machine body is likely to occur when making a small turn is set as the set speed. A speed sensor is used to detect the vehicle traveling speed based on the number of revolutions of a rotating member that is interlocked with the wheels, such as the rotating shaft that transmits the rotational output of the traveling transmission to the front and rear wheels. The number of required sensors is smaller than that of a conventional sensor that is based on the state, and detects whether the vehicle is traveling at a low speed or a high speed. In the case where the turning control means is switched to the first turning control mode, when the steering wheel is steered over the set turning angle while the traveling speed is less than the set speed, the check means is Procedure according to the turning control means
In order to enable switching of the steering wheel speed increasing device and airframe steering brake to the entry side, the steering wheel speed increasing device and airframe steering brake are automatically switched to the entry side and the steering type wheels are The aircraft is driven at a higher speed than the steerable wheels, and brakes are applied to the non-steerable wheels on the inside of the turn, so that the aircraft turns with a small turning radius. However, even if the steering type steering wheel is operated to exceed the set turning angle, if the machine traveling speed is equal to or higher than the set speed, the restraint means controls the steering by the turning control means.
In order to disable switching of the wheel speed increasing device and airframe steering brake to the entry side, the steering wheel speed increasing device and airframe steering brake are operated with the steering wheel in the off state, and steering wheels and non-steering wheels are operated. The wheels are driven at the same or almost the same speed, and the non-steerable wheels are not braked, and the aircraft turns at a standard turning radius. In the case where the turning control means is switched to the second turning control mode, when the steering type steering wheel is steered over the set turning angle while the traveling speed is lower than the set speed, the check control means to enable switching to the entrance side of the steering wheel acceleration apparatus according to the turning control means, steering wheel speed increasing device is operated switched automatically enters side steering type wheel than the non-steered type wheels Is driven at high speed and the aircraft turns with a small turning radius. However, even if the steering type steering wheel is steered over the set turning angle, if the machine traveling speed is equal to or higher than the set speed, the check means is switched to the entry side of the steering wheel speed increasing device by the turning control means. In order to disable the steering wheel speed increasing device, the steered wheel speed increasing device is operated in the off state so that the steered wheels and the non-steered wheels are driven at the same or almost the same speed, and It is something that turns.
【００１７】 旋回制御手段を第１旋回制御モードと第
２旋回制御モードのいずれに切り換えられている場合に
おいても、操向型車輪が設定切れ角以上に操向操作され
た後は設定切れ角未満の操向状態に戻し操作されるまで
の間、速度センサーによる検出速度が前記設定速度未満
から以上に変化したり、以上から未満に変化したりする
ことがあっても、操向輪増速装置や機体操向ブレーキは
操向型車輪が設定切れ角に操向操作された時にあった入
り又は切りの状態に維持制御手段によって維持される。
すなわち、走行速度を前記設定速度未満にしながら操向
型車輪を設定切れ角以上に操向操作され、操向輪増速装
置や機体操向ブレーキが入り側に切り換え操作されて機
体が小回り旋回していく際には、操向型車輪が設定切れ
角未満の操向状態に戻し操作されるまでの途中で走行速
度が設定速度以上に上昇することがあっても、操向輪増
速装置や機体操向ブレーキが切り側に切り換えられて旋
回半径が小半径から標準半径に変化することがないよう
に操向輪増速装置や機体操向ブレーキを入り状態のまま
に維持しながら旋回していける。そして、走行速度を前
記設定速度以上にしながら操向型車輪を設定切れ角以上
に操向操作され、操向輪増速装置や機体操向ブレーキが
切り側に操作されて機体が標準の旋回半径で旋回してい
く際には、操向型車輪が設定切れ角未満の操向状態に戻
し操作されるまでの途中で走行速度が設定速度未満に下
降することがあっても、操向輪増速装置や機体操向ブレ
ーキが入り側に切り換えられて旋回半径が標準半径から
小半径に変化することがないように操向輪増速装置や機
体操向ブレーキを切り状態のままに維持しながら旋回し
ていける。Regardless of whether the turning control means is switched to the first turning control mode or the second turning control mode, it is less than the set turning angle after the steering type wheel has been steered more than the set turning angle. Even if the speed detected by the speed sensor changes from less than the set speed to more than or more than or less than the set speed until the steering wheel is returned to the steering state, the steered wheel speed increasing device. The vehicle body steering brake is maintained by the maintenance control means in the on / off state that was present when the steering wheels were operated to steer to the set turning angle.
That is, while the traveling speed is set below the set speed, the steerable wheels are steered to exceed the set turning angle, and the steered wheel speed increasing device and the fuselage steering brake are switched to the entry side to turn the aircraft in a small turn. When moving, the steering wheel speed increasing device or the steering wheel speed increasing device may be used even if the traveling speed may increase above the set speed in the process of returning to the steering state where the steering wheel is less than the set turning angle. To prevent the steering radius from changing from the small radius to the standard radius when the aircraft steering brake is switched to the cut side, turn while maintaining the steering wheel speed increasing device and the aircraft steering brake in the ON state. I can go. Then, the steering type wheels are steered over the set turning angle while the traveling speed is set higher than the set speed, and the steering wheel speed increasing device and the body steering brake are operated on the turning side so that the body has a standard turning radius. in the case continue to turning, even if the middle speed up steering type wheel is operated back to the steering state of less than the set cutting angle is lowered below the set speed, steering wheel up While maintaining the steering wheel speed increasing device and airframe steering brake in the off state so that the speed control device and airframe steering brake do not switch to the entry side and the turning radius changes from the standard radius to the small radius. You can turn.
【００１８】
〔効果〕
旋回制御手段を第１旋回制御モードと第２旋回制御モー
ドのいずれに切り換えた場合においても、前記設定速度
未満の低速で走行している場合には、操向型車輪の操向
操作を行うだけで簡単に小回り旋回できて作業装置を次
の作業列に迅速に位置合わせできるのであり、前記設定
速度以上の高速で走行している場合には、牽制手段のた
めに小回り旋回が牽制されて圃場の乱れとか機体の揺れ
が発生しにくいように有利に機体操向ができる。しか
も、低速と高速のいずれで走行されているかの検出を従
来より数少ないセンサーで行えるように構造の簡略化が
でき、経済面などで有利に得られる。その上、旋回走行
の途中にあっては、アクセル操作などによって走行速度
が変化しても、維持制御手段による維持操作のために操
向輪増速装置や機体操向ブレーキが旋回に入った時にあ
った入りまたは切り状態のままになり、操向輪増速装置
や機体操向ブレーキが入りから切りに変化したり、切り
から入りに変化したりして機体が意図する方向とは異な
る方向に走行して運転しにくくなるとか、乗り心地が悪
くなるとかの事態が発生しにくくて有利に運転できる。[Effect] Regardless of whether the turning control means is switched to the first turning control mode or the second turning control mode, when the vehicle is traveling at a low speed less than the set speed, the steering type wheel It is possible to easily make a small turning turn by performing steering operation and quickly align the work device to the next work line.When traveling at a high speed above the set speed, a small turn is required for the restraint means. Aircraft can be steered advantageously so that the turning is restrained and the disturbance of the field and the shaking of the aircraft are less likely to occur. Moreover, the structure can be simplified so that whether the vehicle is traveling at a low speed or a high speed can be detected with a smaller number of sensors than before, which is advantageous in economic aspects. Moreover, in the course of turning, even running speed by an accelerator operation is changed, Misao for maintenance operation by maintaining control means
The steering wheel speed increasing device and the fuselage steering brake remain in the on / off state that they were in when turning, and the steering wheel speed increasing device and the aircraft steering brake change from on to off or enter from the off state. It is possible to drive in an advantageous manner because it is difficult to drive by traveling in a direction different from the intended direction of the aircraft due to the change to, or a situation in which the riding comfort is deteriorated.
【００１９】請求項４による発明の構成、作用、効果は
つぎのとおりである。The constitution, action and effect of the invention according to claim 4 are as follows.
【００２０】〔構成〕請求項３による本発明の構成にお
いて、前記旋回制御手段が前記第１旋回制御モードにあ
る場合に前記牽制手段による牽制作用を実行させるため
の前記速度センサーによる検出速度の最低値を、前記旋
回制御手段が前記第２旋回制御モードにある場合に前記
牽制手段による牽制作用を実行させるための前記速度セ
ンサーによる検出速度の最低値よりも小に設定してあ
る。[Structure] In the structure of the present invention according to claim 3, when the turning control means is in the first turning control mode, the minimum speed detected by the speed sensor for executing the draft production by the check means. The value is set to be smaller than the minimum value of the speed detected by the speed sensor for executing the draft production by the restraint means when the swing control means is in the second swing control mode.
【００２１】〔作用〕小回り旋回で旋回される場合、機
体走行速度が高速になるほど、そして、第２旋回制御モ
ードの場合よりも第１旋回制御モードの場合の方が旋回
時における圃場の乱れや機体の揺れ動きが発生しやすく
なる。これにより、第１旋回制御モードで小回り旋回す
る場合も、第２旋回制御モードで小回り旋回する場合も
圃場乱れを機体揺れを発生しにくくできるように、第１
旋回制御モードに切り換えた場合に小回り旋回できる走
行速度を、第２旋回制御モードに切り換えた場合に小回
り旋回できなる走行速度よりも低速に設定したものであ
る。[Operation] When the vehicle makes a small turn, the higher the traveling speed of the machine is, and the more the first turning control mode is operated, the more disturbed the field becomes when the turning is performed than the second turning control mode. The swaying motion of the aircraft is likely to occur. As a result, it is possible to prevent field turbulence from causing body sway even when making a small turn in the first turning control mode and making a small turn in the second turning control mode.
The traveling speed at which a small turn can be made when switching to the turning control mode is set to be lower than the traveling speed at which a small turn can be made when switching to the second turning control mode.
【００２２】〔効果〕第１旋回制御モードと第２旋回制
御モードのいずれに切り換えて機体旋回する場合にも、
圃場の乱れや機体の揺れ動きが極力発生しにくくて有利
に旋回できる。[Effect] Even when the vehicle body is turned by switching to either the first turning control mode or the second turning control mode,
Turbulence in the fields and swaying movements of the aircraft are less likely to occur, and it is possible to turn advantageously.
【００２３】[0023]
【発明の実施の形態】図１に示すように、操向及び駆動
自在な左右一対の前車輪１，１と操向不能で駆動自在な
左右一対の後車輪２，２とによって自走するとともに前
車輪１を操向操作するためのステアリングホイール３、
運転座席４などを有する走行機体の後部に、ロータリ耕
耘装置などの各種作業装置を昇降操作自在に連結するリ
フトアーム５、連結した作業装置に動力伝達する動力取
出し軸６を備えさせて、農用トラクターを構成してあ
る。BEST MODE FOR CARRYING OUT THE INVENTION As shown in FIG. 1, a pair of left and right front wheels 1 and 1 that are steerable and drivable and a pair of left and right rear wheels 2 and 2 that are unsteerable and drivable are self-propelled. A steering wheel 3 for steering the front wheel 1,
An agricultural tractor is provided with a lift arm 5 for connecting various working devices such as a rotary tiller and a power take-off shaft 6 for transmitting power to the connected working devices at the rear part of the traveling machine body having a driver's seat 4 and the like. Is configured.
【００２４】走行機体の前部に位置する原動部にエンジ
ンＥを設け、前記走行機体の後部を形成するミッション
ケース８のケース内後部に後輪用差動機構１１を設け、
前輪１を両端側に揺動操向自在に支持する前輪伝動ケー
ス３８の左右中間部内に前輪用差動機構１３を設け、図
２に示す伝動構造によってエンジンＥから後輪用差動機
構１１及び前輪用差動機構１３に動力伝達するように構
成してある。すなわち、エンジンＥから主クラッチ７を
介して取り出す回動力を、前記ミッションケース８に入
力して走行用変速装置９に伝達し、この走行用変速装置
９の出力軸１０の回動力を後輪用差動機構１１と前輪増
速装置２０とに分岐させて伝達し、この前輪増速装置２
０の出力軸２１の回動力を回転軸１２を介して前輪用差
動機構１３に伝達するように構成してある。前記走行用
変速装置９には、エンジンＥからの回動力をシフトギヤ
の掛け換えによって複数段に変速する主変速装置（図示
せず）、この主変速装置からの回動力をシフトギヤの掛
け換えによって前進駆動力と後進駆動力とに切り換える
前後進切換え装置（図示せず）、この前後進切換え装置
からの前進駆動力や後進駆動力をシフトギヤの掛け換え
によって高速側と低速側とに切り換えて前記出力軸１０
に伝達する副変速装置（図示せず）を備えてある。An engine E is provided at a driving portion located at the front of the traveling machine body, and a rear wheel differential mechanism 11 is provided at a rear portion inside a case of a mission case 8 forming a rear portion of the traveling machine body.
A front wheel differential mechanism 13 is provided in the left-right intermediate portion of a front wheel transmission case 38 that supports the front wheel 1 on both ends in a swingable manner, and the transmission mechanism shown in FIG. Power is transmitted to the front wheel differential mechanism 13. That is, the rotational power extracted from the engine E via the main clutch 7 is input to the transmission case 8 and transmitted to the traveling transmission device 9, and the rotational power of the output shaft 10 of the traveling transmission device 9 is used for the rear wheels. The differential mechanism 11 and the front wheel speed increasing device 20 are branched and transmitted to the front wheel speed increasing device 2.
The rotational force of the output shaft 21 of 0 is transmitted to the front wheel differential mechanism 13 via the rotary shaft 12. The traveling transmission 9 has a main transmission (not shown) that shifts the rotational power from the engine E into a plurality of gears by shifting the shift gears. The rotational power from the main transmission is forwarded by shifting the shift gears. A forward / reverse switching device (not shown) for switching between the driving force and the reverse driving force, and the forward driving force and the backward driving force from the forward / reverse switching device are switched between the high speed side and the low speed side by changing the shift gear to output the output. Axis 10
A sub-transmission device (not shown) is provided for transmission to the.
【００２５】図３に示すように、前記ミッションケース
８のケース内底部において、前記前輪増速装置２０の入
力ギヤ２２を、走行用変速装置９の前記出力軸１０が一
体回転自在に備える出力ギヤ１４に中間ギヤ１５を介し
て連動させ、前記入力ギヤ２２が一端側に一体回転自在
に連結する入力軸２３の他端側に伝動ギヤ２４を一体回
転自在に備えさせるとともに、この伝動ギヤ２４に噛み
合う増速伝動ギヤ２５を前記出力軸２１の一端側に、前
記入力ギヤ２２に噛み合う標準伝動ギヤ２６を前記出力
軸２１の他端側にそれぞれ相対回転自在に支持させ、前
記増速伝動ギヤ２５と出力軸２１との間に摩擦クラッチ
機構２７を設け、前記標準伝動ギヤ２６と、出力軸２１
がスプライン係合によって一体回転及び摺動自在に備え
る切換え体２８との間に噛合いクラッチ機構２９を設け
て、前記前輪増速装置２０を構成してある。前記摩擦ク
ラッチ機構２７は、増速伝動ギヤ２５が一体回転自在に
備えるクラッチボディ２７ａと、出力軸２１がスプライ
ン係合によって一体回転自在に備える受動体２７ｂと、
この受動体２７ｂとクラッチボディ２７ａとの間に位置
する多板式摩擦クラッチ機構本体２７ｃとで成り、前記
切換え体２８に一端側が相対回転のみ自在に係合するシ
フター３０の他端側にピストン３１ａが連結している油
圧シリンダ３１によって入り切り操作できるとともに、
この入り切り操作によって増速伝動ギヤ２５を出力軸２
１に一体回転するように連結したり、この連結を解除し
たりするように構成してある。前記噛合いクラッチ機構
２９は、標準伝動ギヤ２６が一側面がわに一体回転自在
に備える内歯式ギヤと、切換え体２８が一側面がわに一
体回転自在に備えるギヤとで成り、油圧シリンダ３１に
よって入り切り操作できるとともに、この入り切り操作
によって標準伝動ギヤ２６を出力軸２１に一体回転する
ように連結したり、この連結を解除したりするように構
成してある。すなわち、油圧シリンダ３１を伸長側に操
作し、この油圧シリンダ３１がシフター３０を介して切
換え体２８をクラッチボディ２７ａの方に摺動させて多
板式摩擦クラッチ機構本体２７ｂに圧接操作すると、多
板式摩擦クラッチ機構本体２７ｂの摩擦板どうしが圧接
状態になるため、摩擦クラッチ機構２７が入りになり、
増速伝動ギヤ２５と出力軸２１とが一体回転するように
両者２５，２１を摩擦によって連結する。このとき、切
換え体２８の前記ギヤが標準伝動ギヤ２６の前記内歯式
ギヤから外れるため、噛合いクラッチ機構２９は切りに
なり、標準伝動ギヤ２６と出力軸２１とが相対回転する
ように両者２６，２１の連結を解除する。これに対し、
油圧シリンダ３１を短縮側に操作し、油圧シリンダ３１
がシフター３０を介して切換え体２８を標準伝動ギヤ２
６の方に摺動させて切換え体２８の前記ギヤを標準伝動
ギヤ２６の前記内歯式ギヤに噛み合わせると、このギヤ
噛み合いのため、噛合いクラッチ機構２９が入りにな
り、標準伝動ギヤ２６と出力軸２１とが一体回転するよ
うに両者２６，２１を切換え体２８を介して連結する。
このとき、多板式摩擦クラッチ機構本体２７ｃの摩擦板
どうしの圧接が解除されるため、摩擦クラッチ機構２７
は切りになり、増速伝動ギヤ２５と出力軸２１とが相対
回転するように両者２５，２１の連結を解除する。As shown in FIG. 3, at the inner bottom of the transmission case 8, the input gear 22 of the front wheel speed increasing device 20 and the output gear 10 of the traveling transmission 9 are integrally rotatable. 14 is interlocked with an intermediate gear 15, and a transmission gear 24 is integrally rotatably provided on the other end side of an input shaft 23 to which the input gear 22 is integrally rotatably connected to one end side. The speed-increasing transmission gear 25 is supported on one end side of the output shaft 21 and the standard speed-transmitting gear 26 meshing with the input gear 22 is supported on the other end side of the output shaft 21 so as to be relatively rotatable. The friction clutch mechanism 27 is provided between the output shaft 21 and the output shaft 21, and the standard transmission gear 26 and the output shaft 21
The front wheel speed-increasing device 20 is configured by providing a dog clutch mechanism 29 with a switching body 28 that is integrally and rotationally and slidably provided by spline engagement. The friction clutch mechanism 27 includes a clutch body 27a that the speed increasing transmission gear 25 integrally rotates, and a passive body 27b that integrally rotates the output shaft 21 by spline engagement.
The multi-plate friction clutch mechanism main body 27c is located between the passive body 27b and the clutch body 27a, and the piston 31a is provided at the other end of the shifter 30 whose one end engages with the switching body 28 only for relative rotation. With the hydraulic cylinder 31 connected, it can be turned on and off,
By this on / off operation, the speed increasing transmission gear 25 is moved to the output shaft 2
It is configured so as to be connected to 1 so as to rotate integrally therewith, or to release this connection. The dog clutch mechanism 29 includes an internal gear having a standard transmission gear 26 integrally rotatable on one side and a gear having a switching body 28 integrally rotatable on one side. It is configured such that the connecting / disconnecting operation can be performed by 31 and the standard transmission gear 26 can be connected to the output shaft 21 so as to rotate integrally with the output shaft 21, or the connection can be released by the connecting / disconnecting operation. That is, when the hydraulic cylinder 31 is operated to the extension side, and the hydraulic cylinder 31 slides the switching body 28 toward the clutch body 27a through the shifter 30 to press-contact the multi-plate friction clutch mechanism main body 27b, the multi-plate type is operated. Since the friction plates of the friction clutch mechanism main body 27b are in a pressure contact state, the friction clutch mechanism 27 is turned on,
The speed-increasing transmission gear 25 and the output shaft 21 are frictionally coupled to each other so that they rotate integrally. At this time, since the gear of the switching body 28 is disengaged from the internal gear of the standard transmission gear 26, the dog clutch mechanism 29 is disengaged so that the standard transmission gear 26 and the output shaft 21 rotate relative to each other. Release the connection of 26 and 21. In contrast,
Operate the hydraulic cylinder 31 to the shortening side to
Shifts the switching body 28 through the shifter 30 to the standard transmission gear 2
When the gear of the switching body 28 is engaged with the internal gear of the standard transmission gear 26 by sliding it toward 6, the meshing clutch mechanism 29 is engaged due to this gear engagement, and the standard transmission gear 26 The output shaft 21 and the output shaft 21 are connected together via a switching body 28 so that the output shaft 21 and the output shaft 21 rotate integrally.
At this time, since the pressure contact between the friction plates of the multi-plate friction clutch mechanism body 27c is released, the friction clutch mechanism 27 is released.
Then, the speed increasing transmission gear 25 and the output shaft 21 are disconnected from each other so that the speed increasing transmission gear 25 and the output shaft 21 rotate relative to each other.
【００２６】これにより、油圧シリンダ３１を伸縮操作
して摩擦クラッチ機構２７と噛合いクラッチ機構２９の
うちの噛合いクラッチ機構２９の方を入りに操作する
と、前輪増速装置２０は切り状態になり、走行用変速装
置９の出力軸１０から入力ギヤ２２に入力する回動力を
標準伝動ギヤ２６、噛合いクラッチ機構２９、切換え体
２８を介して出力軸２１に伝達し、出力軸２１の回動力
を前輪駆動力として回転軸１２に出力するとともに、入
力ギヤ２２と標準伝動ギヤ２６とによる伝動比のため
に、前輪１の駆動速度を後輪２の駆動速度と同一又はほ
ぼ同一にする。すなわち、左右前輪１，１の平均周速度
が左右後輪２，２の平均周速度に等しく又はほぼ等しく
なるように左右前輪１，１に前進駆動力または後進駆動
力を伝達する。これに対し、摩擦クラッチ機構２７と噛
合いクラッチ機構２９のうちの摩擦クラッチ機構２７の
方を入りに操作すると、前輪増速装置２０は入り状態に
なり、走行用変速装置９の出力軸１０から入力ギヤ２２
に入力する回動力を入力軸２３、伝動ギヤ２４、増速伝
動ギヤ２５、摩擦クラッチ機構２７を介して出力軸２１
に伝達し、出力軸２１の回動力を前輪駆動力として回転
軸１２に出力するとともに、伝動ギヤ２２と増速伝動ギ
ヤ２５による伝動比のために、前輪１の駆動速度を後輪
２の駆動速度より高速にする。すなわち、左右前輪１，
１の平均周速度が左右後輪２，２の平均周速度の約１．
９倍になるように左右前輪１，１に前進駆動力又は後進
駆動力を伝達する。As a result, when the hydraulic cylinder 31 is expanded / contracted to operate the friction clutch mechanism 27 and the dog clutch mechanism 29 out of the dog clutch mechanism 29, the front wheel speed increasing device 20 is turned off. The rotational power input from the output shaft 10 of the traveling transmission 9 to the input gear 22 is transmitted to the output shaft 21 via the standard transmission gear 26, the dog clutch mechanism 29, and the switching body 28, and the rotational power of the output shaft 21 is transmitted. Is output to the rotary shaft 12 as the front wheel drive force, and the drive speed of the front wheel 1 is made the same or substantially the same as the drive speed of the rear wheel 2 because of the transmission ratio of the input gear 22 and the standard transmission gear 26. That is, the forward drive force or the reverse drive force is transmitted to the left and right front wheels 1 and 1 so that the average peripheral speed of the left and right front wheels 1 and 1 is equal to or substantially equal to the average peripheral speed of the left and right rear wheels 2 and 2. On the other hand, if the friction clutch mechanism 27 of the friction clutch mechanism 27 and the dog clutch mechanism 29 is operated in the on state, the front wheel speed increasing device 20 is in the on state, and the output shaft 10 of the traveling transmission device 9 is disengaged. Input gear 22
The rotational power input to the output shaft 21 is transmitted through the input shaft 23, the transmission gear 24, the speed increasing transmission gear 25, and the friction clutch mechanism 27.
Is transmitted to the rotary shaft 12 as the front wheel drive force, and the drive speed of the front wheel 1 is driven by the rear wheel 2 due to the transmission ratio of the transmission gear 22 and the speed increasing transmission gear 25. Be faster than speed. That is, the left and right front wheels 1,
The average peripheral speed of 1 is about 1.
The forward drive force or the reverse drive force is transmitted to the left and right front wheels 1 and 1 so as to be 9 times.
【００２７】図２に示すように、前記後輪用差動機構１
１の左右一対の出力軸それぞれに機体操向ブレーキ３２
ａ，３２ｂを備えさせるとともに、各機体操向ブレーキ
３２ａ，３２ｂは、油圧式のブレーキシリンダ３３ａ，
３３ｂによって入り切り操作するように構成し、そし
て、入り操作された際には、後輪用差動機構１１の出力
軸に摩擦制動力を付与することによってこの出力軸が伝
動する左側又は右側の後車輪２に摩擦制動力を付与し、
この後車輪２を旋回内側にして機体を旋回させるべく操
向操作するように構成してある。As shown in FIG. 2, the differential mechanism 1 for the rear wheels.
Airframe steering brake 32 for each of the left and right pair of output shafts 1
a, 32b, each of the machine body steering brakes 32a, 32b includes a hydraulic brake cylinder 33a,
It is configured to be turned on and off by 33b, and when the turning operation is performed, by applying a friction braking force to the output shaft of the rear wheel differential mechanism 11, the left or right rear side to which this output shaft is transmitted. Apply friction braking force to the wheel 2,
After that, the steering operation is performed so that the wheel 2 is turned inside and the vehicle is turned.
【００２８】図４に示すように、左右前輪１，１の操向
方向及び切れ角を検出する切れ角センサー３４と、機体
の実際の走行速度を検出する速度センサー３５とに連係
させるとともに切換えスイッチ３６を備えさせた旋回制
御機構３７を、前記油圧シリンダ３１の電磁バルブ機構
（図示せず）に操作信号を出力して油圧シリンダ３１を
操作するように構成することによって前記前輪増速装置
２０にこれの切り換え操作を行うように連係させるとと
もに、前記一対のブレーキシリンダ３３ａ，３３ｂそれ
ぞれの電磁バルブ（図示せず）に操作信号を出力して両
ブレーキシリンダ３３ａ，３３ｂを操作するように構成
することによって前記一対の機体操向ブレーキ３２ａ，
３２ｂにこれらの切り換え操作を行うように連係させて
ある。As shown in FIG. 4, a changeover switch is connected to a turning angle sensor 34 for detecting the steering direction and turning angle of the left and right front wheels 1, 1 and a speed sensor 35 for detecting the actual traveling speed of the aircraft. In the front wheel speed increasing device 20, the turning control mechanism 37 provided with 36 is configured to operate the hydraulic cylinder 31 by outputting an operation signal to an electromagnetic valve mechanism (not shown) of the hydraulic cylinder 31. The brake cylinders 33a, 33b are configured to be operated so as to perform the switching operation, and to output an operation signal to each electromagnetic valve (not shown) of the pair of brake cylinders 33a, 33b to operate both brake cylinders 33a, 33b. The pair of airframe steering brakes 32a,
32b is linked to perform these switching operations.
【００２９】前記切れ角センサー３４は、前車輪１を両
端側に回転及び操向自在に支持するとともに中間部に前
記前輪用差動機構１３を内装する前輪伝動ケース３８の
中間部に支持される検出スイッチで成り、左右前輪１，
１それぞれのナックルアーム３９をロッド４０を介して
揺動操作するピットマンアーム４１が備えるスイッチ操
作部材４２を検出対象体とし、前車輪１が小回り旋回制
御を実行させるためのものとして設定した設定切れ角Ａ
以上に操向された否かを検出するとともに、設定切れ角
Ａ以上に操向操作された場合の操向方向が右向きと左向
きのいずれであるかを検出し、各検出結果を電気信号と
して旋回制御機構３７に出力する。すなわち、前記ステ
アリングハンドル３が回転操作されてピットマンアーム
４１が左右前輪１，１を操向操作する際、左右前輪１，
１を直進向きから左向きに操向操作する場合と右向きに
操向操作する場合のいずれにおいても、旋回内側に位置
する前輪１の直進向きからの操向角が３５度未満であれ
ば、スイッチ操作部材４２が検出スイッチの操作アーム
３４ａに当接しなくてこの操作アーム３４ａを左側にも
右側にも押圧操作しない。すると、切れ角センサー３４
は、前車輪１の切れ角が前記設定切れ角Ａに達していな
いと検出する。左右前輪１，１を左向きに操向する場
合、旋回内側に位置する左前輪１の直進向きからの操向
角が３５度になるに伴ってスイッチ操作部材４２が操作
アーム３４ａに当接してこの操作アーム３４ａを左側に
押圧操作し始め、左前輪１の操向角が３５度から操向限
界までにある間は、スイッチ操作部材４２が操作アーム
３４ａを左側に押圧したままになる。すると、切れ角セ
ンサー３４は、前車輪１が左向きに前記設定切れ角Ａ以
上に操向操作されていると検出する。左右前輪１，１を
右向きに操向する場合、旋回内側に位置する右前輪１の
直進向きからの操向角が３５度になるに伴ってスイッチ
操作部材４２が操作アーム３４ａに当接してこの操作ア
ーム３４ａを右側に押圧操作し始め、右前輪１の操向角
が３５度から操向限界までにある間は、スイッチ操作部
材４２が操作アーム３４ａを右側に押圧したままにな
る。すると、切れ角センサー３４は、前車輪１が右向き
に前記設定切れ角Ａ以上に操向操作されていると検出す
る。The turning angle sensor 34 rotatably and steerably supports the front wheel 1 at both ends, and is also supported by an intermediate portion of a front wheel transmission case 38 in which the front wheel differential mechanism 13 is housed in an intermediate portion. It consists of a detection switch, the left and right front wheels 1,
1. A set cut angle set as a switch operating member 42 included in a pitman arm 41 that swings each knuckle arm 39 via a rod 40 as a detection target, and for the front wheel 1 to execute a small turning control. A
In addition to detecting whether or not the vehicle has been steered as described above, it also detects whether the steering direction is rightward or leftward when the steering operation is performed at a set cutting angle A or more, and the respective detection results are used as electric signals for turning. Output to the control mechanism 37. That is, when the steering handle 3 is rotated and the pitman arm 41 steers the left and right front wheels 1, 1,
In both cases of steering the steering wheel 1 from straight ahead to the left and steering it to the right, if the steering angle of the front wheel 1 located inside the turning from the straight ahead is less than 35 degrees, the switch operation is performed. The member 42 does not contact the operation arm 34a of the detection switch, and the operation arm 34a is not pushed to the left or right. Then, the corner angle sensor 34
Detects that the cutting angle of the front wheels 1 has not reached the set cutting angle A. When the left and right front wheels 1, 1 are steered to the left, the switch operating member 42 comes into contact with the operating arm 34a as the steering angle of the left front wheel 1 located inside the turning from the straight traveling direction becomes 35 degrees. The switch operating member 42 keeps pressing the operating arm 34a to the left while the operating arm 34a starts to be pressed to the left and the steering angle of the left front wheel 1 is between 35 degrees and the steering limit. Then, the turning angle sensor 34 detects that the front wheel 1 is being steered leftward over the set turning angle A or more. When the left and right front wheels 1, 1 are steered to the right, the switch operating member 42 comes into contact with the operation arm 34a as the steering angle of the right front wheel 1 located inside the turning from the straight traveling direction becomes 35 degrees. While the operation arm 34a starts to be pushed to the right and the steering angle of the right front wheel 1 is between 35 degrees and the steering limit, the switch operating member 42 keeps pushing the operation arm 34a to the right. Then, the turning angle sensor 34 detects that the front wheel 1 is being steered rightward over the set turning angle A or more.
【００３０】図４に示すように、前記速度センサー３５
は、ギヤパルスセンサーで成り、前記出力軸１０が一体
回転自在に備える前記出力ギヤ１４を検出対象体として
機体の走行速度を検出するとともにこの検出結果を旋回
制御機構３７に出力する。すなわち、出力ギヤ１４の歯
部が速度センサーの検出範囲を通過すると、その都度パ
ルスを旋回制御機構３７に発信し、設定時間内における
パルス発信回数に基づいて出力軸１０の回転数を検出さ
せ、この検出回転数に基づいて機体の実際の走行速度を
検出させる。As shown in FIG. 4, the speed sensor 35
Is a gear pulse sensor, detects the traveling speed of the machine body with the output gear 14 provided integrally with the output shaft 10 as a detection target, and outputs the detection result to the turning control mechanism 37. That is, each time the tooth portion of the output gear 14 passes the detection range of the speed sensor, a pulse is transmitted to the turning control mechanism 37 each time, and the rotation speed of the output shaft 10 is detected based on the number of pulse transmissions within the set time. The actual traveling speed of the machine body is detected based on the detected rotation speed.
【００３１】図４に示すように、前記切換えスイッチ３
６は、走行機体の運転部に位置する操作パネル４３が備
える押しボタン式スイッチで成り、押し操作されると、
切りモードと第１旋回制御モードと第２旋回制御モード
との３種の指令から一つの指令を旋回制御機構３７に出
力するように、かつ、押し操作される毎に、出力する指
令を前記の３種の指令の間で順次に切り換えるように構
成してある。尚、図４に示す如く切換えスイッチ３６の
近くに位置する表示ランプ３６ａを操作パネル３４に備
えてある。この表示ランプ３６ａは、切換えスイッチ３
６が第１旋回制御モードの指令を出力する際に点灯して
表示するものである。As shown in FIG. 4, the changeover switch 3
6 is a push button type switch provided in the operation panel 43 located in the driving section of the traveling body, and when pushed,
One of the three commands of the cutting mode, the first turning control mode, and the second turning control mode is output to the turning control mechanism 37, and the command to be output is output each time the push operation is performed. It is configured to switch sequentially among the three types of commands. As shown in FIG. 4, a display lamp 36a located near the changeover switch 36 is provided on the operation panel 34. The display lamp 36a is provided with the changeover switch 3
6 is lit and displayed when a command for the first turning control mode is output.
【００３２】前記旋回制御機構３７はマイクロコンピュ
ータで成り、切換えスイッチ３６が切りモードの指令を
出力する場合には、制御作動を行わない切り状態になっ
て前輪増速装置２０と機体操向ブレーキ３２ａ，３２ａ
との操作を行わず、切換えスイッチ３６が第１旋回制御
モード又は第２旋回制御モードの指令を出力する場合に
は、制御作動を行う入り状態になって切れ角センサー３
４と速度センサー３５と切換えスイッチ３６とからの情
報と、図５及び図６に示す制御フローとに基づいて前輪
増速装置２０と一対の機体操向ブレーキ３２ａ，３２ａ
とを自動的に操作するように構成してある。The turning control mechanism 37 is composed of a microcomputer, and when the changeover switch 36 outputs a command for a cutting mode, it is in a cutting state in which no control operation is performed and the front wheel speed increasing device 20 and the machine body steering brake 32a are operated. , 32a
When the changeover switch 36 outputs the command of the first turning control mode or the second turning control mode without performing the operation of the cutting angle sensor 3
4 and the speed sensor 35 and the changeover switch 36, and the control flow shown in FIGS. 5 and 6, the front wheel speed increasing device 20 and the pair of machine body steering brakes 32a, 32a.
It is configured to operate and automatically.
【００３３】すなわち、切換えスイッチ３６が第１旋回
制御モード又は第２旋回制御モードの指令を出力する
と、フラグを０にし（ステップ＃１）、さらに、前輪増
速装置２０を切りに操作する（ステップ＃２）とともに
左後輪１の機体操向ブレーキ３２ａも右後輪１の機体操
向ブレーキ３２ｂも切りに操作し（ステップ＃３、ステ
ップ＃４）、そして、切れ角センサー３４による検出切
れ角Ｓが前記設定切れ角Ａ以上であるか否かを判断する
（ステップ＃５）。検出切れ角Ｓが設定切れ角Ａ以上で
はないと判断した場合には、ステップ＃２に戻り、検出
切れ角Ｓが設定切れ角Ａ以上であると判断した場合に
は、ステップ＃６に移り、切換えスイッチ３６による指
令が第１旋回制御モードであるか否かを判断する。切換
えスイッチ３６による指令が第１旋回制御モードである
と判断した場合には、ステップ＃７に移り、速度センサ
ー３５による検出速度Ｖが第１設定速度Ｎ１より低速で
あるか否かを判断する。検出速度Ｖが第１設定速度Ｎ１
より低速であると判断した場合には、ステップ＃８に移
り、フラグが１であるか否かを判断する。フラグが１で
はないと判断した場合には、前輪増速装置２０を入り側
に切り換え操作する（ステップ＃９）とともにステップ
＃１０に移り、切れ角センサー３４による検出操向方向
が左向きであるか否かを判断する。左向きであると判断
した場合には、左後輪１の機体操向ブレーキ３２ａを入
りに操作する（ステップ＃１１）とともに切れ角センサ
ー３４による検出切れ角Ｓが設定切れ角Ａより小である
か否かを判断する（ステップ＃１２）。検出切れ角Ｓが
設定切れ角Ａより小ではないと判断した場合には、ステ
ップ＃９に戻り、検出切れ角Ｓが設定切れ角Ａより小で
あると判断した場合には、ステップ＃１に戻る。ステッ
プ＃６において、切換えスイッチ３６による指令が第１
旋回制御モードではないと判断した場合（これは、切換
えスイッチ３６による指令が第２旋回制御モードである
場合に該当する。）には、ステップ＃１３に移り、速度
センサー３５による検出速度Ｖが前記第１設定速度Ｎ１
よりも高速の第２設定速度Ｎ２よりも低速であるか否か
を判断する。検出速度Ｖが第２設定速度Ｎ２よりも低速
であると判断した場合には、ステップ＃１４に移り、フ
ラグが１であるか否かを判断する。フラグが１ではない
と判断した場合には、前輪増速装置２０を入り側に操作
する（ステップ＃１５）とともに切れ角センサー３４に
よる検出切れ角Ｓが設定切れ角Ａより小であるか否を判
断する（ステップ＃１６）。検出切れ角Ｓが設定切れ角
Ａより小でないと判断した場合にはステップ＃１５に戻
り、検出切れ角Ｓが設定切れ角Ａより小であると判断し
た場合には、ステップ＃１に戻る。ステップ＃７で速度
センサー３５による検出速度Ｖが第１設定速度Ｎ１より
も低速ではないと判断した場合、及び、ステップ＃１３
で検出速度Ｖが第２設定速度Ｎ２より低速ではないと判
断した場合には、フラグを１にする（ステップ＃１７）
とともに切れ角センサー３４による検出切れ角Ｓが設定
切れ角Ａより小であるか否かを判断する（ステップ＃１
８）。検出切れ角Ｓが設定切れ角Ａより小でないと判断
した場合には、ステップ＃２に戻り、検出切れ角Ｓが設
定切れ角Ａより小であると判断した場合にはステップ＃
１に戻る。ステップ＃８でフラグが１であると判断した
場合、及び、ステップ＃１４でフラグが１であると判断
した場合には、ステップ＃１８に移る。ステップ＃１０
で切れ角センサー３４による検出操向方向が左向きでは
ないと判断した場合には、右後輪１の機体操向ブレーキ
３２ｂを入りに操作する（ステップ＃１９）とともにス
テップ＃１２に移る。尚、この実施形態では、前記第１
設定速度Ｎ１としては約３．６ｋｍ／ｈを設定し、前記
第２設定速度Ｎ２としては約５ｋｍ／ｈを設定してあ
る。That is, when the changeover switch 36 outputs a command for the first turning control mode or the second turning control mode, the flag is set to 0 (step # 1), and the front wheel speed increasing device 20 is turned off (step). Along with # 2), both the body steering brake 32a for the left rear wheel 1 and the body steering brake 32b for the right rear wheel 1 are turned off (steps # 3, # 4), and the cut angle detected by the cut angle sensor 34. It is determined whether S is equal to or more than the set cut angle A (step # 5). When it is determined that the detected cutting angle S is not equal to or greater than the set cutting angle A, the process returns to step # 2, and when it is determined that the detected cutting angle S is equal to or greater than the set cutting angle A, the process proceeds to step # 6. It is determined whether or not the command from the changeover switch 36 is the first turning control mode. When it is determined that the command from the changeover switch 36 is in the first turning control mode, the process proceeds to step # 7, and it is determined whether the speed V detected by the speed sensor 35 is lower than the first set speed N1. The detected speed V is the first set speed N1.
If it is determined that the speed is lower, the process proceeds to step # 8 and it is determined whether the flag is 1. If it is determined that the flag is not 1, the front wheel speed increasing device 20 is switched to the entry side (step # 9) and the process proceeds to step # 10. Is the steering direction detected by the turning angle sensor 34 leftward? Determine whether or not. If it is determined that the vehicle is in the leftward direction, whether the steering angle S detected by the steering angle sensor 34 is smaller than the set steering angle A while operating the airframe steering brake 32a of the left rear wheel 1 (step # 11). It is determined whether or not (step # 12). If it is determined that the detected cutting angle S is not smaller than the set cutting angle A, the process returns to step # 9, and if it is determined that the detected cutting angle S is smaller than the set cutting angle A, the process proceeds to step # 1. Return. In step # 6, the command from the changeover switch 36 is the first command.
When it is determined that the turning control mode is not set (this corresponds to the case where the command from the changeover switch 36 is the second turning control mode), the process proceeds to step # 13, and the detected speed V by the speed sensor 35 is the above-mentioned. First set speed N1
It is determined whether the speed is lower than the second set speed N2 which is higher than the higher speed. When it is determined that the detected speed V is lower than the second set speed N2, the process proceeds to step # 14, and it is determined whether the flag is 1. When it is determined that the flag is not 1, the front wheel speed increasing device 20 is operated to the entry side (step # 15), and it is determined whether the cutting angle S detected by the cutting angle sensor 34 is smaller than the set cutting angle A. It is determined (step # 16). When it is determined that the detected cutting angle S is not smaller than the set cutting angle A, the process returns to step # 15, and when it is determined that the detected cutting angle S is smaller than the set cutting angle A, the process returns to step # 1. When it is determined in step # 7 that the speed V detected by the speed sensor 35 is not lower than the first set speed N1, and step # 13
If it is determined that the detected speed V is not lower than the second set speed N2, the flag is set to 1 (step # 17).
At the same time, it is determined whether the cutting angle S detected by the cutting angle sensor 34 is smaller than the set cutting angle A (step # 1).
8). If it is determined that the detected cutting angle S is not smaller than the set cutting angle A, the process returns to step # 2, and if it is determined that the detected cutting angle S is smaller than the set cutting angle A, step # 2.
Return to 1. If it is determined in step # 8 that the flag is 1, and if it is determined in step # 14 that the flag is 1, the process proceeds to step # 18. Step # 10
If it is determined that the steering direction detected by the turning angle sensor 34 is not leftward, the airframe steering brake 32b of the right rear wheel 1 is operated by turning it on (step # 19) and proceeds to step # 12. In this embodiment, the first
The set speed N1 is set to about 3.6 km / h, and the second set speed N2 is set to about 5 km / h.
【００３４】これにより、旋回制御機構３７が旋回制御
手段４４と牽制手段４５と維持制御手段４６とを構成す
るとともに、各手段４４，４５，４６は次の如く作動す
る。すなわち、旋回制御手段４４は、切換えスイッチ３
６が出力する指令に基づいて旋回制御切りの状態と、第
１旋回制御モードの状態と、第２旋回制御モードの状態
とに切り換わる。第１旋回制御モードと第２旋回制御モ
ードとのいずれの状態にある場合でも、前輪１が直進向
きの操向状態や前記設定切れ角Ａより小さい切れ角の操
向状態にあれば、切れ角センサー３４からの情報に基づ
いて前輪増速装置２０も一対の機体操向ブレーキ３２
ａ，３２ｂも切り状態に操作する。そして、第１旋回制
御モードの状態にある場合には、前輪１が前記設定切れ
角Ａ以上に操向操作されると、切れ角センサー３４から
の情報に基づいて前輪増速装置２０と、一対の機体操向
ブレーキ３２ａ，３２ｂのうちの旋回内側に位置する後
車輪２に作用する方の機体操向ブレーキ３２ａ又は３２
ｂとを入り側に操作し、前車輪１の駆動速度を後車輪２
の駆動速度よりも高速にするとともに旋回内側の後車輪
２にブレーキを掛けて機体を小回り旋回させる。第２旋
回制御モードの状態にある場合には、前輪１が前記設定
切れ角Ａ以上に操向操作されると、切れ角センサー３４
からの情報に基づいて前輪増速装置２０と機体操向ブレ
ーキ３２ａ，３２ｂのうちの前輪増速装置２０のみを入
り側に切り換え操作し、前車輪１の駆動速度を後車輪２
の駆動速度よりも高速にして機体を小回り旋回させる。Thus, the turning control mechanism 37 constitutes the turning control means 44, the restraint means 45, and the maintenance control means 46, and the respective means 44, 45, 46 operate as follows. That is, the turning control means 44 uses the changeover switch 3
Based on the command output from the control unit 6, the state of turning control is switched to the state of the first turning control mode, and the state of the second turning control mode. In either of the first turning control mode and the second turning control mode, if the front wheel 1 is in a steering state in a straight ahead direction or in a steering state with a turning angle smaller than the set turning angle A, the turning angle is Based on the information from the sensor 34, the front wheel speed increasing device 20 also includes the pair of airframe steering brakes 32.
The a and 32b are also operated in the cut state. Then, when the front wheels 1 are steered by the set turning angle A or more in the state of the first turning control mode, the front wheel speed increasing device 20 and the pair of front wheel speed increasing devices 20 are paired based on the information from the turning angle sensor 34. One of the machine body steering brakes 32a, 32b, which operates on the rear wheel 2 located inside the turning, of the machine body steering brakes 32a, 32b.
b and the inward side to adjust the driving speed of the front wheel 1 to the rear wheel 2
The driving speed is higher than the driving speed and the rear wheel 2 on the inside of the turn is braked to make a small turn of the machine body. In the second turning control mode, when the front wheel 1 is steered by the set turning angle A or more, the turning angle sensor 34
Only the front wheel speed increasing device 20 and the front wheel speed increasing device 20 of the machine body steering brakes 32a and 32b are switched to the entry side based on the information from the rear wheel 2 and the driving speed of the front wheel 1 is changed.
Rotate the aircraft in a small turn at a speed higher than the driving speed of.
【００３５】旋回制御手段４４が前記第１旋回制御モー
ドの状態にある場合には機体走行速度が前記第１設定速
度Ｎ１より低速であれば、旋回制御手段４４が前記第２
旋回制御モードの状態にある場合には機体走行速度が前
記第１設定速度Ｎ１よりも高速の前記第２設定速度Ｎ２
よりも低速であればそれぞれ、牽制手段４５が速度セン
サー３５からの情報に基づいて旋回制御手段４４に対す
る牽制作用を解除し、旋回制御手段４４が切れ角センサ
ー３４からの情報に基づいて前輪増速装置２０や機体操
向ブレーキ３２ａ，３２ｂを入り側に切り換え操作する
ことを可能にする。しかし、旋回制御手段４４が前記第
１旋回制御モードの状態にある場合には機体走行速度が
前記第１設定速度Ｎ１以上であれば、旋回制御手段４４
が前記第２旋回制御モードの状態にある場合には機体走
行速度が前記第２設定速度Ｎ２以上であればそれぞれ、
牽制手段４５が速度センサー３５からの情報に基づいて
旋回制御手段４４に対する牽制作用を実行し、旋回制御
手段４４が切れ角センサー３４からの情報に基づいて前
輪増速装置２０や機体操向ブレーキ３２ａ，３２ｂを入
り側に切り換え操作することを不能にする。When the turning control means 44 is in the state of the first turning control mode and the vehicle traveling speed is lower than the first set speed N1, the turning control means 44 causes the second turning control means 44 to move to the second turning speed.
When the vehicle is in the turning control mode, the vehicle body traveling speed is higher than the first setting speed N1 and the second setting speed N2 is higher.
If the speed is lower than the above, the restraint means 45 releases the draft production for the turning control means 44 based on the information from the speed sensor 35, and the turning control means 44 accelerates the front wheels based on the information from the turning angle sensor 34. The device 20 and the machine body steering brakes 32a and 32b can be operated by switching to the entry side. However, when the turning control means 44 is in the state of the first turning control mode, and the vehicle traveling speed is equal to or higher than the first set speed N1, the turning control means 44.
Is in the state of the second turning control mode, if the machine traveling speed is equal to or higher than the second set speed N2,
The restraint means 45 executes drafting production for the turning control means 44 based on the information from the speed sensor 35, and the turning control means 44 based on the information from the turning angle sensor 34, the front wheel speed increasing device 20 and the machine body steering brake 32a. , 32b cannot be operated by switching to the entry side.
【００３６】前車輪１が操向操作されるに伴ってその切
れ角が前記設定切れ角Ａになった時に牽制手段４５が牽
制状態にあれば、維持制御手段４６が牽制手段４５から
の情報によって牽制手段４５が牽制状態にあると検出す
るとともにその検出結果を記憶し、前車輪１が設定切れ
角Ａに操向操作されてから次に設定切れ角未満の操向状
態に戻し操作されるまでの間、速度センサー３５による
検出速度が如何なる値に変化してもその変化にかかわら
ず、牽制手段４５を牽制状態に維持する。また、前車輪
１が操向操作されるに伴ってその切れ角が前記設定切れ
角Ａになった時に牽制手段４５が牽制解除状態にあれ
ば、維持制御手段４６が牽制手段４５からの情報によっ
て牽制手段４５が牽制解除状態にあると検出するととも
にその検出結果を記憶し、前車輪１が設定切れ角Ａに操
向操作されてから次に設定切れ角未満の操向状態に戻し
操作されるまでの間、速度センサー３５による検出速度
が如何なる値に変化してもその変化にかかわらず、牽制
手段４５を牽制解除状態に維持する。つまり、維持制御
手段４６は、旋回制御手段４４が前記第１旋回制御モー
ドと前記第２旋回制御モードとのいずれにある場合で
も、前車輪１の切れ角が前記設定切り角Ａになった時に
おける牽制手段４５の状態を検出するとともに記憶し、
次に前車輪１が前記設定切れ角未満の操向状態に戻され
るまでの間、速度センサー３５からの情報に優先して牽
制手段４５を先に記憶した状態に維持することにより、
速度センサー３５からの情報に優先して前輪増速装置２
０および機体操向ブレーキ３２ａ，３２ｂを前輪１が設
定切れ角Ａに操向操作された時にあった切り又は入り状
態に維持する。すなわち、前車輪１を設定切れ角Ａ以上
に操向操作して走行している間は、機体走行速度が前記
第１設定速度Ｎ１や前記第２設定速度Ｎ２以下の速度
と、第１設定速度Ｎ１や前記第２設定速度Ｎ２より高速
との一方から他方に変化しても、その速度変化のために
牽制手段４５が牽制状態から牽制解除状態に切り換わっ
て前輪増速装置２０や機体操向ブレーキ３２ａ，３２ｂ
が切りから入りに切り換え操作されるとか、牽制手段４
５が牽制解除状態から牽制状態に切り換わって前輪増速
装置２０や機体操向ブレーキ３２ａ，３２ｂが入りから
切りに切り換え操作されることがないようにする。If the restraint means 45 is in the restraining state when the steering angle of the front wheels 1 reaches the preset steering angle A, the maintenance control means 46 uses the information from the restraint means 45. The restraint means 45 detects that the restraint means is in the restraint state, stores the detection result, and until the front wheel 1 is steered to the set steering angle A and then returned to the steering state below the set steering angle. During this period, the restraint means 45 is maintained in the restrained state regardless of any change in the detected speed by the speed sensor 35. If the restraint means 45 is in the restraint release state when the steering angle of the front wheel 1 reaches the preset steering angle A, the maintenance control means 46 uses the information from the restraint means 45. The restraint means 45 detects that the restraint is in the released state and stores the detection result, and the front wheel 1 is steered to the set steering angle A and then returned to the steering state below the set steering angle. Until then, no matter what value the speed detected by the speed sensor 35 changes, the restraint means 45 is maintained in the restraint release state regardless of the change. That is, when the turning control means 44 is in either the first turning control mode or the second turning control mode, the maintenance control means 46 controls the turning angle of the front wheel 1 to reach the set turning angle A. Detects and stores the state of the restraint means 45 in
Next, until the front wheel 1 is returned to the steering state of less than the set turning angle, the restraint means 45 is maintained in the previously stored state in preference to the information from the speed sensor 35.
The front wheel speed increasing device 2 is prioritized over the information from the speed sensor 35.
0 and the machine body steering brakes 32a and 32b are maintained in the open or closed state that was present when the front wheel 1 was operated to steer to the set turning angle A. That is, while the front wheel 1 is being steered over the set turning angle A and traveling, the vehicle traveling speed is equal to or lower than the first set speed N1 and the second set speed N2, and the first set speed. Even if the speed is changed from one of N1 and the speed higher than the second set speed N2 to the other, due to the speed change, the restraint means 45 switches from the restraint state to the restraint release state and the front wheel speed increasing device 20 and the aircraft steering Brake 32a, 32b
Is operated to switch from off to on, check means 4
5 is prevented from switching from the restraint release state to the restraint state and the front wheel speed increasing device 20 and the machine body steering brakes 32a and 32b are prevented from being switched from ON to OFF.
【００３７】つまり、作業列の終端に達した機体を次の
作業列に旋回走行させるに当たり、作業列と作業列の中
心間隔が比較的広い場合には、切換えスイッチ３６によ
って旋回制御手段４４を第２旋回制御モードに切り換え
ておいて走行速度を第２設定速度Ｎ２未満にしながら、
作業列と作業列の中心間隔が比較的狭い場合には、切換
えスイッチ３６によって旋回制御手段４４を第１旋回制
御モードに切り換えておいて走行速度を第１設定速度Ｎ
１未満にしながら、それぞれ前車輪１を設定切れ角Ａ以
上に操向操作する。すると、第２旋回制御モードの場合
には、旋回制御手段４４が前輪増速装置２０を切り状態
から入り状態に切り換え操作して前車輪１が後車輪２よ
りも高速で駆動されることにより、機体を小旋回半径で
旋回させて次の作業列に迅速に位置合わせできる。第１
旋回制御モードの場合には、旋回制御手段４４が前輪増
速装置２０を切り状態から入り状態に切り換え操作する
とともに旋回内側に位置する後車輪２に作用する機体操
向ブレーキ３２ａ又は３２ｂを切りから入りに切り換え
操作して前車輪１が後車輪２よりも高速で駆動されると
ともに旋回内側の後車輪２にブレーキが掛かることによ
り、機体をより小さな旋回半径で旋回させて次の作業列
に迅速に位置合わせできる。That is, when the machine body which has reached the end of the work row is turned to the next work row and the center interval between the work rows is relatively wide, the changeover switch 36 causes the turning control means 44 to move to the first position. While switching to the two-turn control mode and making the traveling speed less than the second set speed N2,
When the center interval between the work rows is relatively small, the turning control means 44 is switched to the first turning control mode by the changeover switch 36 and the traveling speed is set to the first set speed N.
While setting the value to be less than 1, each of the front wheels 1 is steered to a set cutting angle A or more. Then, in the second turning control mode, the turning control means 44 operates to switch the front wheel speed increasing device 20 from the off state to the on state and the front wheels 1 are driven at a higher speed than the rear wheels 2. The aircraft can be swung with a small turning radius to quickly align with the next work line. First
In the case of the turning control mode, the turning control means 44 operates to switch the front wheel speed increasing device 20 from the disengaged state to the disengaged state and also to discontinue the machine body steering brake 32a or 32b which acts on the rear wheel 2 located inside the turning. The front wheel 1 is driven at a higher speed than the rear wheel 2 by turning on and off, and the rear wheel 2 on the inside of the turn is braked, so that the machine body turns with a smaller turning radius and quickly moves to the next work line. Can be aligned with.
【００３８】作業時など、旋回制御手段４４を第１旋回
制御モード又は第２旋回制御モードにしたままで走行
し、前車輪１を設定切れ角Ａ以上に操向操作して機体操
向させることがあっても、旋回制御手段４４が第１旋回
制御モードになっている場合には機体が前記第１設定速
度Ｎ１以上で走行していると、旋回制御手段４４が第２
旋回制御モードになっている場合には機体が前記第２設
定速度Ｎ２以上で走行していると、牽制手段４５による
牽制作用のために前輪増速装置２０及び機体操向ブレー
キ３２ａ，３２ｂが入り側に切り換え操作されず、機体
を小回りしないように安定よく操向操作できる。その割
りには、圃場端などでの旋回走行の途中でアクセルアッ
プ操作を行うなどにより、第１旋回制御モードの場合に
は走行速度が第１設定速度Ｎ１以上に上昇変化したり、
第１設定速度Ｎ１未満に戻ったりしても、第２旋回制御
モードの場合には走行速度が第２設定速度Ｎ２以上に上
昇変化したり、第２設定速度Ｎ２未満に戻ったりして
も、その速度変化にかかわらず維持制御手段４６が牽制
手段４５をそれまでの牽制解除状態に維持し、前輪増速
装置２０や機体操向ブレーキ３２ａ，３２ｂａを入り状
態から切り状態に切り換えたり、入り状態に戻したりす
る制御が行われなくて安定よく旋回走行していける。For example, at the time of work, traveling is performed with the turning control means 44 kept in the first turning control mode or the second turning control mode, and the front wheels 1 are operated to steer the vehicle by steering the set turning angle A or more. Even if the turning control means 44 is in the first turning control mode, if the machine body is traveling at the first set speed N1 or more, the turning control means 44 causes the second turning control means 44 to move to the second turning speed.
When the vehicle is traveling at the second set speed N2 or more in the turning control mode, the front wheel speed increasing device 20 and the vehicle body steering brakes 32a and 32b are turned on for the drafting production by the checking means 45. It is possible to perform stable steering operation without switching to the side and making a small turn of the aircraft. On the other hand, in the case of the first turning control mode, the running speed increases or changes to the first set speed N1 or more, for example, by performing an accelerator up operation in the middle of turning running at the field edge or the like.
Even if the traveling speed is increased below the second set speed N2 in the case of the second turning control mode, or returned below the second set speed N2, even if it returns to less than the first set speed N1. Regardless of the speed change, the maintenance control means 46 maintains the restraint means 45 in the restraint release state until then, and switches the front wheel speed increasing device 20 and the machine body steering brakes 32a, 32ba from the on state to the off state, or the on state. There is no control to return to, and it is possible to turn stably.
【００３９】〔別実施形態〕図７は、別実施形態を備え
る走行制御装置を示す。すなわち、左右前輪１，１の操
向方向及び切れ角を検出する切れ角センサー３４と、機
体の走行速度を検出する速度センサー３５とに連係させ
るとともに入切りスイッチ３６を備える旋回制御機構３
７を、図３に示す前輪増速装置２０と同様に構成した前
輪増速装置２０の油圧シリンダ３１の電磁バルブ機構
（図示せず）に操作信号を出力して油圧シリンダ３１を
操作するように構成することによってこの前輪増速装置
２０にこれの切り換え操作を行うように連係させてあ
る。切れ角センサー３４は、図４に示す切れ角センサー
３４と同様に構成し、速度センサー３５は、図４に示す
速度センサー３５と同様に構成してある。[Another Embodiment] FIG. 7 shows a travel control device including another embodiment. That is, the turning control mechanism 3 including the turn-on / off switch 36 in association with the turning angle sensor 34 that detects the steering direction and the turning angle of the left and right front wheels 1, 1 and the speed sensor 35 that detects the traveling speed of the machine body.
7 outputs an operation signal to an electromagnetic valve mechanism (not shown) of the hydraulic cylinder 31 of the front wheel speed increasing device 20 configured similarly to the front wheel speed increasing device 20 shown in FIG. 3 to operate the hydraulic cylinder 31. Due to the configuration, the front wheel speed increasing device 20 is linked to perform the switching operation. The cutting angle sensor 34 has the same structure as the cutting angle sensor 34 shown in FIG. 4, and the speed sensor 35 has the same structure as the speed sensor 35 shown in FIG.
【００４０】旋回制御機構３７は、マイクロコンピュー
タで成り、入切りスイッチ３６が制御切りの指令を出力
する場合には、制御作動を行わない切り状態になって前
輪増速装置２０の操作を行わず、入切りスイッチ３６が
制御入りの指令を出力する場合には、制御作動を行う入
り状態になって切れ角センサー３４と速度センサー３５
とからの情報と、図８に示す制御フローとに基づいて前
輪増速装置２０を自動的に操作するように構成してあ
る。The turning control mechanism 37 is composed of a microcomputer, and when the on / off switch 36 outputs a control off command, the control operation is not performed and the front wheel speed increasing device 20 is not operated. When the ON / OFF switch 36 outputs a command to enter the control, the ON / OFF switch 34 is in the ON state for performing the control operation and the cutting angle sensor 34 and the speed sensor 35 are in the ON state.
The front wheel speed increasing device 20 is automatically operated based on the information from the above and the control flow shown in FIG.
【００４１】すなわち、入切りスイッチ３６が制御入り
の指令を出力すると、フラグを０にする（ステップ＃１
０１）とともに前輪増速装置２０を切りに操作し（ステ
ップ＃１０２）、そして、切れ角センサー３４による検
出切れ角Ｓが前記設定切れ角Ａ以上であるか否かを判断
する（ステップ＃１０３）。検出切れ角Ｓが設定切れ角
Ａ以上ではないと判断した場合には、ステップ＃１０２
に戻り、検出切れ角Ｓが設定切れ角Ａ以上であると判断
した場合には、ステップ＃１０４に移り、速度センサー
３５による検出速度Ｖが設定速度Ｎより低速であるか否
かを判断する。検出速度Ｖが設定速度Ｎより低速である
と判断した場合には、ステップ＃１０５に移り、フラグ
が１であるか否かを判断する。フラグが１ではないと判
断した場合には、前輪増速装置２０を入り側に切り換え
操作する（ステップ＃１０６）とともにステップ＃１０
７に移り、切れ角センサー３４による検出切れ角Ｓが設
定切れ角Ａより小であるか否かを判断する（ステップ＃
１０７）。検出切れ角Ｓが設定切れ角Ａより小ではない
と判断した場合には、ステップ＃１０６に戻り、検出切
れ角Ｓが設定切れ角Ａより小であると判断した場合に
は、ステップ＃１０１に戻る。ステップ＃１０４におい
て、検出速度Ｖが前記設定速度Ｎより低速ではないと判
断した場合には、フラグを１にする（ステップ＃１０
８）とともにステップ＃１０９に移り、切れ角センサー
３４による検出切れ角Ｓが前記設定切れ角Ａより小であ
るか否かを判断する。検出切れ角Ｓが設定切れ角Ａより
小であると判断した場合には、ステップ＃１０１に戻
り、検出切れ角Ｓが設定切れ角Ａより小ではないと判断
した場合には、ステップ＃１０２に戻る。ステップ＃１
０５において、フラグが１であると判断した場合には、
ステップ＃１０９に移る。尚、この実施形態では、前記
設定速度Ｎとしては約５ｋｍ／ｈを設定してある。That is, when the on / off switch 36 outputs a command to enter control, the flag is set to 0 (step # 1).
01) and the front wheel speed increasing device 20 is turned off (step # 102), and it is determined whether the cutting angle S detected by the cutting angle sensor 34 is the set cutting angle A or more (step # 103). . If it is determined that the detected cutting angle S is not greater than the set cutting angle A, step # 102.
When it is determined that the detected cutting angle S is equal to or greater than the set cutting angle A, the process proceeds to step # 104, and it is determined whether the detected speed V by the speed sensor 35 is lower than the set speed N. When it is determined that the detected speed V is lower than the set speed N, the process proceeds to step # 105, and it is determined whether the flag is 1. If it is determined that the flag is not 1, the front wheel speed increasing device 20 is switched to the entry side (step # 106) and step # 10 is performed.
7, it is determined whether the cutting angle S detected by the cutting angle sensor 34 is smaller than the set cutting angle A (step #
107). When it is determined that the detected cutting angle S is not smaller than the set cutting angle A, the process returns to step # 106, and when it is determined that the detected cutting angle S is smaller than the set cutting angle A, the process proceeds to step # 101. Return. If it is determined in step # 104 that the detected speed V is not lower than the set speed N, the flag is set to 1 (step # 10).
8) together with 8), it is determined whether the cutting angle S detected by the cutting angle sensor 34 is smaller than the set cutting angle A. If it is determined that the detected cutting angle S is smaller than the set cutting angle A, the process returns to step # 101, and if it is determined that the detected cutting angle S is not smaller than the set cutting angle A, the process proceeds to step # 102. Return. Step # 1
In 05, when it is determined that the flag is 1,
Move to step # 109. In this embodiment, the set speed N is set to about 5 km / h.
【００４２】これにより、旋回制御機構３７が旋回制御
手段４４と牽制手段４５と維持制御手段４６とを構成す
るとともに、各手段４４，４５，４６は次の如く作動す
る。すなわち、旋回制御手段４４は、入切りスイッチ３
６が出力する指令に基づいて制御切りの状態と、制御入
りの状態とに切り換わる。制御入りの状態にある場合、
前輪１が直進向きの操向状態や前記設定切れ角Ａより小
さい切れ角の操向状態にあれば、切れ角センサー３４か
らの情報に基づいて前輪増速装置２０を切り状態に操作
する。そして、前輪１が前記設定切れ角Ａ以上に操向操
作されると、切れ角センサー３４からの情報に基づいて
前輪増速装置２０を入り側に切り換え操作し、前車輪１
の駆動速度を後車輪２の駆動速度よりも高速にして機体
を小回り旋回させる。As a result, the turning control mechanism 37 constitutes the turning control means 44, the restraint means 45, and the maintenance control means 46, and the respective means 44, 45, 46 operate as follows. That is, the turning control means 44 uses the on / off switch 3
Based on the command output from the control unit 6, the control switching state is switched to the control switching state. If you are in control,
If the front wheels 1 are in a straight steering direction or in a steering angle smaller than the preset turning angle A, the front wheel speed increasing device 20 is operated in the turning state based on the information from the turning angle sensor 34. Then, when the front wheel 1 is steered over the set turning angle A or more, the front wheel speed increasing device 20 is switched to the entry side based on the information from the turning angle sensor 34, and the front wheel 1
The drive speed of the vehicle is made higher than the drive speed of the rear wheels 2 to make a small turn of the machine body.
【００４３】機体走行速度が前記設定速度Ｎより低速で
あれば、牽制手段４５が速度センサー３５からの情報に
基づいて旋回制御手段４４に対する牽制作用を解除し、
旋回制御手段４４が切れ角センサー３４からの情報に基
づいて前輪増速装置２０を入り側に切り換え操作するこ
とを可能にする。しかし、機体走行速度が前記設定速度
Ｎ以上であれば、牽制手段４５が速度センサー３５から
の情報に基づいて旋回制御手段４４に対する牽制作用を
実行し、旋回制御手段４４が切れ角センサー３４からの
情報に基づいて前輪増速装置２０を入り側に切り換え操
作することを不能にする。If the machine traveling speed is lower than the set speed N, the restraint means 45 releases the draft production for the turning control means 44 based on the information from the speed sensor 35,
The turning control means 44 enables the front wheel speed increasing device 20 to be switched to the entry side based on the information from the turning angle sensor 34. However, if the machine body traveling speed is equal to or higher than the set speed N, the restraint means 45 executes drafting production for the turning control means 44 based on the information from the speed sensor 35, and the turning control means 44 outputs the turning angle sensor 34. It is impossible to switch the front wheel speed increasing device 20 to the entry side based on the information.
【００４４】前車輪１が操向操作されるに伴ってその切
れ角が前記設定切れ角Ａになった時に牽制手段４５が牽
制状態にあれば、維持制御手段４６が牽制手段４５から
の情報によって牽制手段４５が牽制状態にあると検出す
るとともにその検出結果を記憶し、前車輪１が設定切れ
角Ａに操向操作されてから次に設定切れ角未満の操向状
態に戻し操作されるまでの間、速度センサー３５による
検出速度が如何なる値に変化してもその変化にかかわら
ず、牽制手段４５を牽制状態に維持する。また、前車輪
１が操向操作されるに伴ってその切れ角が前記設定切れ
角Ａになった時に牽制手段４５が牽制解除状態にあれ
ば、維持制御手段４６が牽制手段４５からの情報によっ
て牽制手段４５が牽制解除状態にあると検出するととも
にその検出結果を記憶し、前車輪１が設定切れ角Ａに操
向操作されてから次に設定切れ角未満の操向状態に戻し
操作されるまでの間、速度センサー３５による検出速度
が如何なる値に変化してもその変化にかかわらず、牽制
手段４５を牽制解除状態に維持する。つまり、維持制御
手段４６は、前車輪１の切れ角が前記設定切り角Ａにな
った時における牽制手段４５の状態を検出するとともに
記憶し、次に前車輪１が前記設定切れ角未満の操向状態
に戻されるまでの間、速度センサー３５からの情報に優
先して牽制手段４５を先に記憶した状態に維持すること
により、速度センサー３５からの情報に優先して前輪増
速装置２０を前輪１が設定切れ角Ａに操向操作された時
にあった入りまたは切り状態に維持する。すなわち、前
車輪１を設定切れ角Ａ以上に操向操作して走行している
間は、機体走行速度が前記設定速度Ｎ未満の速度と、設
定速度Ｎ以上との一方から他方に変化しても、その速度
変化のために牽制手段４５が牽制状態から牽制解除状態
に切り換わって前輪増速装置２０が切りから入りに切り
換え操作されるとか、牽制手段４５が牽制解除状態から
牽制状態に切り換わって前輪増速装置２０が入りから切
りに切り換え操作されることがないようにする。If the restraining means 45 is in the restraining state when the steering angle of the front wheels 1 reaches the preset steering angle A, if the restraining means 45 is in the restraining state, the maintenance control means 46 uses the information from the restraining means 45. The restraint means 45 detects that the restraint means is in the restraint state, stores the detection result, and until the front wheel 1 is steered to the set steering angle A and then returned to the steering state below the set steering angle. During this period, the restraint means 45 is maintained in the restrained state regardless of any change in the detected speed by the speed sensor 35. If the restraint means 45 is in the restraint release state when the steering angle of the front wheel 1 reaches the preset steering angle A, the maintenance control means 46 uses the information from the restraint means 45. The restraint means 45 detects that the restraint is in the released state and stores the detection result, and the front wheel 1 is steered to the set steering angle A and then returned to the steering state below the set steering angle. Until then, no matter what value the speed detected by the speed sensor 35 changes, the restraint means 45 is maintained in the restraint release state regardless of the change. That is, the maintenance control means 46 detects and stores the state of the restraining means 45 when the turning angle of the front wheels 1 reaches the set turning angle A, and then the front wheel 1 operates under the set turning angle. By keeping the restraint means 45 in the previously stored state by prioritizing the information from the speed sensor 35, the front wheel speed increasing device 20 is prioritized by the information from the speed sensor 35 until it is returned to the directional state. The front wheel 1 is maintained in the engaged or disengaged state that existed when the steering angle was set to the set cutting angle A. That is, while the front wheel 1 is being steered to the set cutting angle A or more and traveling, the vehicle traveling speed changes from one of the speed less than the set speed N and the set speed N or more to the other. Also, due to the speed change, the restraint means 45 switches from the restraint state to the restraint release state and the front wheel speed increasing device 20 is switched from off to on, or the restraint means 45 switches from the restraint release state to the restraint state. Instead, the front wheel speed increasing device 20 is prevented from being switched from ON to OFF.
【００４５】つまり、作業列の終端に達した機体を次の
作業列に旋回走行させるに当たり、入切りスイッチ３６
によって旋回制御手段４４を入りしておいて走行速度を
設定速度Ｎ未満にしながら、前車輪１を設定切れ角Ａ以
上に操向操作する。すると、旋回制御手段４４が前輪増
速装置２０を切りから入りに切り換え操作して前車輪１
が後車輪２よりも高速で駆動されることにより、機体を
小旋回半径で旋回させて次の作業列に迅速に位置合わせ
できる。That is, when the machine body which has reached the end of the work line is turned to the next work line, the on / off switch 36 is used.
By turning on the turning control means 44, the front wheel 1 is steered to the set cutting angle A or more while the traveling speed is set to be less than the set speed N. Then, the turning control means 44 switches the front wheel speed increasing device 20 from off to on to operate the front wheel 1
Is driven at a higher speed than the rear wheels 2, the machine body can be swung with a small turning radius and quickly aligned with the next work line.
【００４６】作業時など、旋回制御手段４４を入りの状
態にしたままで走行し、前車輪１を設定切れ角Ａ以上に
操向操作して機体操向させることがあっても、機体が前
記設定速度Ｎ以上で走行している場合には、牽制手段４
５による牽制作用のために前輪増速装置２０が入り側に
切り換え操作されず、機体を小回りしないように安定よ
く操向操作できる。その割りには、圃場端などでの旋回
走行の途中でアクセルアップ操作を行うなどにより、走
行速度が設定速度Ｎ以上に上昇変化したり、設定速度Ｎ
未満に戻ったりしても、その速度変化にかかわらず維持
制御手段４６が牽制手段４５をそれまでの牽制解除状態
に維持し、前輪増速装置２０を入り側から切り側に切り
換えたり、入り側に戻したりする制御が行われなくて安
定よく旋回走行していける。Even when the vehicle is traveling with the turning control means 44 kept in the on state and the front wheels 1 are steered by operating the front wheel 1 at a set cutting angle A or more, the vehicle will still operate when the vehicle is operated. If the vehicle is traveling at the set speed N or higher, the restraint means 4
Since the front wheel speed-increasing device 20 is not switched to the entry side for the draft production by No. 5, the steering operation can be stably performed so as not to make a small turning of the machine body. For that reason, the traveling speed may be increased or set higher than the set speed N by performing the accelerator up operation during the turning traveling at the field edge or the like.
Even if the speed returns to below, the maintenance control means 46 maintains the restraint means 45 in the restraint release state until then, regardless of the speed change, and switches the front wheel speed increasing device 20 from the entry side to the cut side or enters the entry side. There is no control to return to, and it is possible to turn stably.
【００４７】〔別実施形態〕図９は、さらに別実施形態
を備える走行制御装置を示す。すなわち、左右前輪１，
１の操向方向及び切れ角を検出する切れ角センサー３４
と、機体の走行速度を検出する速度センサー３５とに連
係させるとともに入切りスイッチ３６を備える旋回制御
機構３７を、図３に示す前輪増速装置２０と同様に構成
した前輪増速装置２０の油圧シリンダ３１の電磁バルブ
機構（図示せず）に操作信号を出力して油圧シリンダ３
１を操作するように構成することによってこの前輪増速
装置２０にこれの切り換え操作を行うように連係させる
とともに、図４に示す一対の機体操向ブレーキ３２ａ，
３２ｂと同様に構成した一対の機体操向ブレーキ３２
ａ，３２ｂそれぞれのブレーキシリンダ３３ａ，３３ｂ
の電磁バルブ（図示せず）に操作信号を出力して両ブレ
ーキシリンダ３３ａ，３３ｂを操作するように構成する
ことによって前記一対の機体操向ブレーキ３２ａ，３２
ｂにこれらの切り換え操作を行うように連係させてあ
る。切れ角センサー３４は、図４に示す切れ角センサー
３４と同様に構成し、速度センサー３５は、図４に示す
速度センサー３５と同様に構成してある。[Another Embodiment] FIG. 9 shows a travel control device including another embodiment. That is, the left and right front wheels 1,
A steering angle sensor 34 for detecting the steering direction and the steering angle of 1
And a speed sensor 35 that detects the traveling speed of the machine body, and a turning control mechanism 37 that includes an on / off switch 36 is configured in the same manner as the front wheel speed increasing device 20 shown in FIG. The hydraulic cylinder 3 outputs an operation signal to an electromagnetic valve mechanism (not shown) of the cylinder 31.
1, the front wheel speed increasing device 20 is linked to perform the switching operation, and the pair of machine body steering brakes 32a shown in FIG.
A pair of airframe steering brakes 32 configured similarly to 32b
a and 32b brake cylinders 33a and 33b respectively
Of the pair of machine body steering brakes 32a, 32 by outputting an operation signal to an electromagnetic valve (not shown) to operate both brake cylinders 33a, 33b.
b is linked to perform these switching operations. The cutting angle sensor 34 has the same structure as the cutting angle sensor 34 shown in FIG. 4, and the speed sensor 35 has the same structure as the speed sensor 35 shown in FIG.
【００４８】旋回制御機構３７は、マイクロコンピュー
タで成り、入切りスイッチ３６が制御切りの指令を出力
する場合には、制御作動を行わない切り状態になって前
輪増速装置２０と機体操向ブレーキ３２ａ，３２ｂとの
操作を行わず、入切りスイッチ３６が制御入りの指令を
出力する場合には、制御作動を行う入り状態になって切
れ角センサー３４と速度センサー３５とからの情報と、
図１０に示す制御フローとに基づいて前輪増速装置２０
と機体操向ブレーキ３２ａ，３２ｂとを自動的に操作す
るように構成してある。The turning control mechanism 37 is composed of a microcomputer, and when the on / off switch 36 outputs a control off command, the turning operation is not performed and the front wheel speed increasing device 20 and the body steering brake are operated. When the on / off switch 36 outputs a command to enter control without performing operations with 32a and 32b, it is in an on state for performing a control operation, and information from the cutting angle sensor 34 and the speed sensor 35,
Based on the control flow shown in FIG. 10, the front wheel speed increasing device 20
And the machine body steering brakes 32a and 32b are automatically operated.
【００４９】すなわち、入切りスイッチ３６が制御入り
の指令を出力すると、フラグを０にし（ステップ＃２０
１）、さらに、前輪増速装置２０を切り側に操作する
（ステップ＃２０２）とともに左後輪１の機体操向ブレ
ーキ３２ａも右後輪１の機体操向ブレーキ３２ｂも切り
に操作し（ステップ＃２０３，ステップ＃２０４）、そ
して、切れ角センサー３４による検出切れ角Ｓが前記設
定切れ角Ａ以上であるか否かを判断する（ステップ＃２
０５）。検出切れ角Ｓが設定切れ角Ａ以上ではないと判
断した場合には、ステップ＃２０２に戻り、検出切れ角
Ｓが設定切れ角Ａ以上であると判断した場合には、ステ
ップ＃２０６に移り、速度センサー３５による検出速度
Ｖが設定速度Ｎ未満であるか否かを判断する。検出速度
Ｖが設定速度Ｎ未満であると判断した場合には、ステッ
プ＃２０７に移り、フラグが１であるか否かを判断す
る。フラグが１ではないと判断した場合には、前輪増速
装置２０を入りに切り換え操作する（ステップ＃２０
８）とともにステップ＃２０９に移り、切れ角センサー
３４による検出操向方向が左向きであるか否かを判断す
る。左向きであると判断した場合には、左後輪１の機体
操向ブレーキ３２ａを入りに操作する（ステップ＃２１
０）とともにステップ＃２１１に移り、切れ角センサー
３４による検出切れ角Ｓが設定切れ角Ａより小であるか
否かを判断する。検出切れ角Ｓが設定切れ角Ａより小で
はないと判断した場合には、ステップ＃２０８に戻り、
検出切れ角Ｓが設定切れ角Ａより小であると判断した場
合には、ステップ＃２０１に戻る。ステップ＃２０６に
おいて、速度センサー３５による検出速度Ｖが前記設定
速度Ｎ未満ではないと判断した場合には、フラグを１に
する（ステップ＃２１２）とともにステップ＃２１３に
移り、切れ角センサー３４による検出切れ角Ｓが設定角
Ａより小であるか否を判断する。検出切れ角Ｓが設定切
れ角Ａより小でないと判断した場合にはステップ＃２０
２に戻り、検出切れ角Ｓが設定切れ角Ａより小であると
判断した場合には、ステップ＃２０１に戻る。ステップ
＃２０７においてフラグが１であると判断した場合に
は、ステップ＃２１３に移る。ステップ＃２０９におい
て切れ角センサー３４による検出操向方向が左向きでな
いと判断した場合（前輪１の操向方向が右向きである場
合に相当する。）には、右後輪１の機体操向ブレーキ３
２ｂを入りに操作し（ステップ＃２１４）、この後ステ
ップ＃２１１に移る。尚、この実施形態では、前記設定
速度Ｎとしては約３．６ｋｍ／ｈを設定してある。That is, when the on / off switch 36 outputs a command to enter control, the flag is set to 0 (step # 20).
1) Further, the front wheel speed increasing device 20 is operated to the cut side (step # 202), and the body steering brake 32a of the left rear wheel 1 and the body steering brake 32b of the right rear wheel 1 are also operated to the off side (step # 202). # 203, step # 204), and it is determined whether the cutting angle S detected by the cutting angle sensor 34 is greater than or equal to the set cutting angle A (step # 2).
05). When it is determined that the detected cutting angle S is not equal to or greater than the set cutting angle A, the process returns to step # 202, and when it is determined that the detected cutting angle S is equal to or greater than the set cutting angle A, the process proceeds to step # 206. It is determined whether the speed V detected by the speed sensor 35 is less than the set speed N. When it is determined that the detected speed V is less than the set speed N, the process proceeds to step # 207 and it is determined whether the flag is 1. If it is determined that the flag is not 1, the front wheel speed increasing device 20 is switched to ON (step # 20).
With 8), the process proceeds to step # 209, and it is determined whether the steering direction detected by the turning angle sensor 34 is leftward. When it is determined that the vehicle is facing left, the airframe steering brake 32a of the left rear wheel 1 is turned on (step # 21).
0), the process proceeds to step # 211, and it is determined whether the cutting angle S detected by the cutting angle sensor 34 is smaller than the set cutting angle A. When it is determined that the detected cutting angle S is not smaller than the set cutting angle A, the process returns to step # 208,
When it is determined that the detected cutting angle S is smaller than the set cutting angle A, the process returns to step # 201. When it is determined in step # 206 that the speed V detected by the speed sensor 35 is not less than the set speed N, the flag is set to 1 (step # 212), the process proceeds to step # 213, and the detection by the cutting angle sensor 34 is performed. It is determined whether the cutting angle S is smaller than the set angle A. If it is determined that the detected cutting angle S is not smaller than the set cutting angle A, step # 20.
Returning to step 2, when it is determined that the detected cutting angle S is smaller than the set cutting angle A, the process returns to step # 201. If it is determined in step # 207 that the flag is 1, the process proceeds to step # 213. When it is determined in step # 209 that the steering direction detected by the turning angle sensor 34 is not leftward (corresponding to the case where the steering direction of the front wheel 1 is rightward), the vehicle body steering brake 3 of the right rear wheel 1 is detected.
2b is operated in turn (step # 214), and then the process proceeds to step # 211. In this embodiment, the set speed N is set to about 3.6 km / h.
【００５０】これにより、旋回制御機構３７が旋回制御
手段４４と牽制手段４５と維持制御手段４６とを構成す
るとともに、各手段４４，４５，４６は次の如く作動す
る。すなわち、旋回制御手段４４は、切換えスイッチ３
６が出力する指令に基づいて制御切りの状態と、制御入
りの状態とに切り換わる。制御入りの状態にある場合、
前輪１が直進向きの操向状態や前記設定切れ角Ａより小
さい切れ角の操向状態にあれば、切れ角センサー３４か
らの情報に基づいて前輪増速装置２０も一対の機体操向
ブレーキ３２ａ，３２ｂも切り状態に操作する。そし
て、前輪１が前記設定切れ角Ａ以上に操向操作される
と、切れ角センサー３４からの情報に基づいて前輪増速
装置２０と、一対の機体操向ブレーキ３２ａ，３２ｂの
うちの旋回内側に位置する後車輪２に作用する方の機体
操向ブレーキ３２ａ又は３２ｂとを入り側に切り換え操
作し、前車輪１の駆動速度を後車輪２の駆動速度よりも
高速にするとともに旋回内側の後車輪２にブレーキを掛
けて機体を小回り旋回させる。As a result, the turning control mechanism 37 constitutes the turning control means 44, the restraint means 45, and the maintenance control means 46, and the respective means 44, 45, 46 operate as follows. That is, the turning control means 44 uses the changeover switch 3
Based on the command output from the control unit 6, the control switching state is switched to the control switching state. If you are in control,
If the front wheels 1 are in a straight steering direction or a steering angle smaller than the set steering angle A, the front wheel speed increasing device 20 and the pair of machine body steering brakes 32a are based on the information from the steering angle sensor 34. , 32b are also operated in the cut state. Then, when the front wheel 1 is steered over the set turning angle A or more, the front wheel speed increasing device 20 and the turning inner side of the pair of machine body steering brakes 32a, 32b based on the information from the turning angle sensor 34. The vehicle body steering brake 32a or 32b, which acts on the rear wheel 2 located at, is switched to the entry side to make the drive speed of the front wheel 1 faster than the drive speed of the rear wheel 2 and the rear inside of the turn. The wheel 2 is braked to make a small turn of the aircraft.
【００５１】機体走行速度が前記設定速度Ｎ未満であれ
ば、牽制手段４５が速度センサー３５からの情報に基づ
いて旋回制御手段４４に対する牽制作用を解除し、旋回
制御手段４４が切れ角センサー３４からの情報に基づい
て前輪増速装置２０と機体操向ブレーキ３２ａ，３２ｂ
とを入り側に切り換え操作することを可能にする。しか
し、機体走行速度が前記設定速度Ｎ以上であれば、牽制
手段４５が速度センサー３５からの情報に基づいて旋回
制御手段４４に対する牽制作用を実行し、旋回制御手段
４４が切れ角センサー３４からの情報に基づいて前輪増
速装置２０と機体操向ブレーキ３２ａ，３２ｂとを入り
側に切り換え操作することを不能にする。If the machine traveling speed is less than the set speed N, the restraint means 45 releases the draft production for the turning control means 44 based on the information from the speed sensor 35, and the turning control means 44 causes the turning angle sensor 34 to operate. Based on the information of the front wheel speed increasing device 20 and the airframe steering brakes 32a, 32b
It is possible to switch and between and. However, if the machine body traveling speed is equal to or higher than the set speed N, the restraint means 45 executes drafting production for the turning control means 44 based on the information from the speed sensor 35, and the turning control means 44 outputs the turning angle sensor 34. Based on the information, the front wheel speed increasing device 20 and the machine body steering brakes 32a and 32b are disabled from being switched to the entry side.
【００５２】前車輪１が操向操作されるに伴ってその切
れ角が前記設定切れ角Ａになった時に牽制手段４５が牽
制状態にあれば、維持制御手段４６が牽制手段４５から
の情報によって牽制手段４５が牽制状態にあると検出す
るとともにその検出結果を記憶し、前車輪１が設定切れ
角Ａに操向操作されてから次に設定切れ角未満の操向状
態に戻し操作されるまでの間、速度センサー３５による
検出速度が如何なる値に変化してもその変化にかかわら
ず、牽制手段４５を牽制状態に維持する。また、前車輪
１が操向操作されるに伴ってその切れ角が前記設定切れ
角Ａになった時に牽制手段４５が牽制解除状態にあれ
ば、維持制御手段４６が牽制手段４５からの情報によっ
て牽制手段４５が牽制解除状態にあると検出するととも
にその検出結果を記憶し、前車輪１が設定切れ角Ａに操
向操作されてから次に設定切れ角未満の操向状態に戻し
操作されるまでの間、速度センサー３５による検出速度
が如何なる値に変化してもその変化にかかわらず、牽制
手段４５を牽制解除状態に維持する。つまり、維持制御
手段４６は、前車輪１の切れ角が前記設定切り角Ａにな
った時における牽制手段４５の状態を検出するとともに
記憶し、次に前車輪１が前記設定切れ角未満の操向状態
に戻されるまでの間、速度センサー３５からの情報に優
先して牽制手段４５を先に記憶した状態に維持すること
により、速度センサー３５からの情報に優先して前輪増
速装置２０および機体操向ブレーキ３２ａ，３２ｂを前
輪１が設定切れ角Ａに操向操作されて時にあった入りま
たは切り状態に維持する。すなわち、前車輪１を設定切
れ角Ａ以上に操向操作して走行している間は、機体走行
速度が前記設定速度Ｎ未満の速度と、設定速度Ｎ以上と
の一方から他方に変化しても、その速度変化のために牽
制手段４５が牽制状態から牽制解除状態に切り換わって
前輪増速装置２０や機体操向ブレーキ３２ａ，３２ｂが
切りから入りに切り換え操作されるとか、牽制手段４５
が牽制解除状態から牽制状態に切り換わって前輪増速装
置２０や機体操向ブレーキ３２ａ，３２ｂが入りから切
りに切り換え操作されることがないようにする。If the restraining means 45 is in the restraining state when the steering angle of the front wheels 1 reaches the preset steering angle A, the maintenance control means 46 uses the information from the restraining means 45. The restraint means 45 detects that the restraint means is in the restraint state, stores the detection result, and until the front wheel 1 is steered to the set steering angle A and then returned to the steering state below the set steering angle. During this period, the restraint means 45 is maintained in the restrained state regardless of any change in the detected speed by the speed sensor 35. If the restraint means 45 is in the restraint release state when the steering angle of the front wheel 1 reaches the preset steering angle A, the maintenance control means 46 uses the information from the restraint means 45. The restraint means 45 detects that the restraint is in the released state and stores the detection result, and the front wheel 1 is steered to the set steering angle A and then returned to the steering state below the set steering angle. Until then, no matter what value the speed detected by the speed sensor 35 changes, the restraint means 45 is maintained in the restraint release state regardless of the change. That is, the maintenance control means 46 detects and stores the state of the restraining means 45 when the turning angle of the front wheels 1 reaches the set turning angle A, and then the front wheel 1 operates under the set turning angle. By keeping the restraint means 45 in the previously stored state prior to the information from the speed sensor 35, the front wheel speed increasing device 20 is given priority over the information from the speed sensor 35 until it is returned to the normal state. The vehicle body steering brakes 32a and 32b are maintained in the engaged or disengaged state that was present when the front wheels 1 were steered to the set turning angle A. That is, while the front wheel 1 is being steered to the set cutting angle A or more and traveling, the vehicle traveling speed changes from one of the speed less than the set speed N and the set speed N or more to the other. Also, due to the speed change, the restraint means 45 is switched from the restraint state to the restraint release state, and the front wheel speed increasing device 20 and the machine body steering brakes 32a and 32b are switched from on to off.
Does not switch from the restraint release state to the restraint state and the front wheel speed increasing device 20 and the machine body steering brakes 32a and 32b are prevented from being switched from ON to OFF.
【００５３】つまり、作業列の終端に達した機体を次の
作業列に旋回走行させるに当たり、入切りスイッチ３６
によって旋回制御手段４４を入りにしておいて走行速度
を設定速度Ｎ未満にしながら、前車輪１を設定切れ角Ａ
以上に操向操作する。すると、旋回制御手段４４が前輪
増速装置２０を切り状態から入り状態に切り換え操作す
るとともに旋回内側に位置する後車輪２に作用する機体
操向ブレーキ３２ａ又は３２ｂを切りから入りに切り換
え操作して前車輪１が後車輪２よりも高速で駆動される
とともに旋回内側の後車輪２にブレーキが掛かることに
より、機体を小旋回半径で旋回させて次の作業列に迅速
に位置合わせできる。That is, when the machine body which has reached the end of the work line is turned to the next work line, the on / off switch 36 is used.
With the turning control means 44 turned on, the front wheel 1 is set to the set cutting angle A while the traveling speed is set to be less than the set speed N.
The steering operation is performed as described above. Then, the turning control means 44 operates to switch the front wheel speed increasing device 20 from the off state to the on state, and also to operate the machine body steering brake 32a or 32b acting on the rear wheel 2 located inside the turning from the off state to the on state. Since the front wheels 1 are driven at a higher speed than the rear wheels 2 and the rear wheels 2 on the inside of the turn are braked, the vehicle body can be swung with a small turning radius and quickly aligned with the next work line.
【００５４】作業時など、旋回制御手段４４を入りにし
たままで走行し、前車輪１を設定切れ角Ａ以上に操向操
作して機体操向させることがあっても、機体が前記設定
速度Ｎ以上で走行している場合には、牽制手段４５によ
る牽制作用のために前輪増速装置２０及び機体操向ブレ
ーキ３２ａ，３２ｂが入り側に切り換え操作されず、機
体を小回りしないように安定よく操向操作できる。その
割りには、圃場端などでの旋回走行の途中でアクセルア
ップ操作を行うなどにより、走行速度が設定速度Ｎ以上
に上昇変化したり、設定速度Ｎ未満に戻ったりしても、
その速度変化にかかわらず維持制御手段４６が牽制手段
４５をそれまでの牽制解除状態に維持し、前輪増速装置
２０や機体操向ブレーキ３２ａ，３２ｂａを入りから切
りに切り換えたり、入りに戻したりする制御が行われな
くて安定よく旋回走行していける。Even when the vehicle is traveling with the turning control means 44 turned on and the front wheel 1 is steered by operating the front wheel 1 at a set cutting angle A or more to operate the machine, the machine will operate at the set speed. When the vehicle is traveling at N or higher, the front wheel speed increasing device 20 and the machine body steering brakes 32a and 32b are not switched to the entry side for the draft production by the restraint means 45, and the machine body is stably rotated so as not to make a small turn. Steering operation is possible. For that reason, even if the traveling speed increases or changes above the set speed N or returns to less than the set speed N by performing an accelerator up operation in the middle of turning traveling at the field edge or the like,
Regardless of the speed change, the maintenance control means 46 maintains the restraint means 45 in the restraint release state until then, and switches the front wheel speed increasing device 20 and the machine body steering brakes 32a, 32ba from on to off, and back to on. It is possible to drive in a stable turn without the control to turn on.
【００５５】本発明は農用トラクターの他に田植機や芝
刈り機にも適用できるのであり、これらの車両を総称し
て作業車と呼称する。The present invention can be applied not only to agricultural tractors but also to rice transplanters and lawn mowers, and these vehicles are generically called work vehicles.
【図１】農用トラクター全体の側面図[Figure 1] Side view of the entire agricultural tractor
【図２】走行用伝動系統図[Fig. 2] Drive transmission system diagram
【図３】前輪増速装置の断面図FIG. 3 is a sectional view of a front wheel speed increasing device.
【図４】制御系のブロック図FIG. 4 is a block diagram of a control system
【図５】旋回制御のフロー図[Fig. 5] Flow chart of turning control
【図６】旋回制御のフロー図FIG. 6 is a flowchart of turning control.
【図７】別実施形態の制御系のブロック図FIG. 7 is a block diagram of a control system according to another embodiment.
【図８】別実施形態の旋回制御のフロー図FIG. 8 is a flowchart of turning control according to another embodiment.
【図９】別実施形態の制御系のブロック図FIG. 9 is a block diagram of a control system according to another embodiment.
【図１０】別実施形態の旋回制御のフロー図FIG. 10 is a flowchart of turning control according to another embodiment.
１ 操向型車輪 ２ 非操向型車輪 ２０ 前輪増速装置 ３２ａ，３２ｂ 機体操向ブレーキ ３５ 速度センサー ４４ 旋回制御手段 ４５ 牽制手段 ４６ 維持制御手段 Ｎ，Ｎ１，Ｎ２ 設定速度 Ｖ 検出速度 Ａ 設定切れ角 1 Steering wheel 2 Non-steering wheels 20 front wheel speed increasing device 32a, 32b Airframe steering brake 35 speed sensor 44 Turning control means 45 Control measures 46 Maintenance control means N, N1, N2 set speed V detection speed A Set cutting angle
フロントページの続き (58)調査した分野(Int.Cl.7，ＤＢ名) B60K 17/34 - 17/35 B60K 23/08 B60K 41/00 - 41/28 F16H 59/00 - 61/12 F16H 61/16 - 61/24 F16H 63/40 - 63/48 Front page continued (58) Fields surveyed (Int.Cl. 7 , DB name) B60K 17/34-17/35 B60K 23/08 B60K 41/00-41/28 F16H 59/00-61/12 F16H 61 / 16-61/24 F16H 63/40-63/48
Claims (4)
向型車輪の駆動速度を他端側に位置する走行用の非操向
型車輪と同一又はほぼ同一にする切り状態と、操向型車
輪の駆動速度を非操向型車輪よりも高速にする入り状態
とに切り換え自在な操向輪増速装置を備えるとともに、
操向型車輪が設定切れ角以上に操向操作されると、操向
輪増速装置を入り側に自動的に切り換え操作して機体を
小回り旋回させる旋回制御手段を備えてある作業車の走
行制御装置であって、 実際の機体走行速度を検出する速度センサーを備えると
ともに、この速度センサーによる検出速度が設定速度未
満であれば、前記旋回制御手段による操向輪増速装置の
入り側への切り換え操作を可能にし、前記速度センサー
による検出速度が設定速度以上であれば、前記旋回制御
手段による操向輪増速装置の入り側への切り換え操作を
不能にする牽制手段と、操向型車輪が設定切れ角に操向
操作されると、この操向操作時における前記牽制手段の
状態を検出し、操向型車輪が設定切れ角以上に操向操作
されてから設定切れ角未満の操向状態に戻し操作される
までの間、速度センサーからの情報に優先して操向輪増
速装置の入り切り状態を操向型車輪が前記設定切れ角に
操向操作されたときの状態のままに維持する維持制御手
段を備えてある作業車の走行制御装置。1. A cutting state in which the driving speed of the steerable wheels for traveling located on one side of the front and rear of the airframe is the same as or substantially the same as that of the non-steering wheel for traveling located on the other side. In addition to the steering wheel speed increasing device that can be switched to the on-state that makes the driving speed of the steering wheel faster than the non- steering wheel ,
When the steerable wheels are steered beyond the set turning angle, steering
A travel control device for a work vehicle, which is provided with a turning control means for automatically switching the wheel speed increasing device to the entry side to make a small turn of the machine body, and a speed sensor for detecting an actual machine body traveling speed. If the speed detected by the speed sensor is less than the set speed, the turning control means enables the switching operation to the entry side of the steering wheel speed increasing device, and if the speed detected by the speed sensor is the set speed or more. When the steering control means disables the switching operation of the steering wheel speed increasing device to the entry side, and the steering type wheels are operated to a set turning angle, Detecting the state of the restraint means and prioritizing the information from the speed sensor from the time when the steering type wheel is steered above the set turning angle until it is returned to the steering state where it is less than the set turning angle. Steering When the steering wheel is set to the above set turning angle,
A travel control device for a work vehicle, comprising: a maintenance control means for maintaining a state when a steering operation is performed.
向型車輪の駆動速度を他端側に位置する走行用の非操向
型車輪と同一又はほぼ同一にする切り状態と、操向型車
輪の駆動速度を非操向型車輪よりも高速にする入り状態
とに切り換え自在な操向輪増速装置と、左右一対の前記
非操向型車輪に各別に作用する一対の機体操向ブレーキ
とを備えるとともに、操向型車輪が設定切れ角以上に操
向操作されると、操向輪増速装置と旋回内側の非操向型
車輪に作用する機体操向ブレーキとを入り側に自動的に
切り換え操作して機体を小回り旋回させる旋回制御手段
を備えてある作業車の走行制御装置であって、実際の 機体走行速度を検出する速度センサーを備えると
ともに、この速度センサーによる検出速度が設定速度未
満であれば、前記旋回制御手段による操向輪増速装置と
機体操向ブレーキの入り側への切り換え操作を可能に
し、前記速度センサーによる検出速度が設定速度以上で
あれば、前記旋回制御手段による操向輪増速装置と機体
操向ブレーキの入り側への切り換え操作を不能にする牽
制手段と、操向型車輪が設定切れ角に操向操作される
と、この操向操作時における前記牽制手段の状態を検出
し、操向型車輪が設定切れ角以上に操向操作されてから
設定切れ角未満の操向状態に戻し操作されるまでの間、
速度センサーからの情報に優先して操向輪増速装置およ
び機体操向ブレーキの入り切り状態を操向型車輪が前記
設定切れ角に操向操作されたときの状態のままに維持す
る維持制御手段を備えてある作業車の走行制御装置。2. A cutting state in which the driving speed of the steerable wheels for traveling located on the front and rear ends of the airframe is the same as or substantially the same as that of the non-steering wheels for traveling located on the other end. a steering wheel acceleration device freely switched between incoming state faster than HimisaoMuko type wheel driving speed countercurrent type wheels, a pair of machine exercises acting on each other in the left-right pair of the non-steering type wheels When the steered wheels are steered beyond the set turning angle, the steered wheel speed increasing device and the body-steered brakes that act on the non-steerable wheels on the inside of the turning are provided on the entry side. A traveling control device for a work vehicle, which is provided with a turning control means for automatically switching the vehicle to make a small turn, and a speed sensor for detecting an actual traveling speed of the vehicle and a speed detected by the speed sensor. Is less than the set speed, the turning control Stage allows the switching operation to the steering wheel acceleration device and machine gymnastics inlet side of the direction the brake by, if the detected speed by the speed sensor is set speed or higher, the steering wheel acceleration apparatus according to the turning control means A restraint means for disabling the switching operation to the entry side of the aircraft steering brake, and when the steering type steering wheel is steered to a set turning angle, the state of the restraint means during this steering operation is detected, From the time the steering wheel is steered above the set turning angle until the steering wheel is returned to the steering state below the set turning angle,
The steering-type wheels indicate the on / off state of the steering wheel speed - increasing device and the aircraft steering brake in preference to the information from the speed sensor.
A travel control device for a work vehicle, comprising: a maintenance control means for maintaining a state when a steering operation is performed at a set turning angle .
向型車輪の駆動速度を他端側に位置する走行用の非操向
型車輪と同一又はほぼ同一にする切り状態と、操向型車
輪の駆動速度を非操向型車輪よりも高速にする入り状態
とに切り換え自在な操向輪増速装置と、左右一対の前記
非操向型車輪に各別に作用する一対の機体操向ブレーキ
とを備えるとともに、操向型車輪が設定切れ角以上に操
向操作されると、操向輪増速装置と旋回内側の非操向型
車輪に作用する機体操向ブレーキとを入り側に自動的に
切り換え操作して機体を小回り旋回させる第１旋回制御
モードと、操向型車輪が設定切れ角以上に操向操作され
ると、操向輪増速装置と機体操向ブレーキとのうちの操
向輪増速装置のみを入り側に自動的に切り換え操作して
機体を小回り旋回させる第２旋回制御モードとに切り換
え操作自在な旋回制御手段を備えてある作業車の走行制
御装置であって、実際の 機体走行速度を検出する速度センサーと、前記旋
回制御手段が第１旋回制御モードと第２旋回制御モード
のいずれの旋回制御モードにある場合でも、速度センサ
ーによる検出速度が設定速度未満であれば、前記旋回制
御手段による操向輪増速装置および機体操向ブレーキの
入り側への切り換え操作を可能にし、速度センサーによ
る検出速度が設定速度以上であれば、前記旋回制御手段
による操向輪増速装置および機体操向ブレーキの入り側
への切り換え操作を不能にする牽制手段と、操向型車輪
が設定切れ角に操向操作されると、この操向操作時にお
ける前記牽制手段の状態を検出し、操向型車輪が設定切
れ角以上に操向操作されてから設定切れ角未満の操向状
態に戻し操作されるまでの間、速度センサーからの情報
に優先して操向輪増速装置および機体操向ブレーキの入
り切り状態を操向型車輪が前記設定切れ角に操向操作さ
れたときの状態のままに維持する維持制御手段とを備え
てある作業車の走行制御装置。3. A cutting state in which the driving speed of the steerable wheels for traveling located on the front and rear ends of the airframe is the same as or substantially the same as that of the non-steering wheels for traveling located on the other end. A steered wheel speed increasing device that is capable of switching the driving speed of the steered wheels to an on-state in which the steered wheels are driven faster than the unsteered wheels, and a pair of body manipulators that individually act on the pair of left and right unsteered wheels. When the steered wheels are steered beyond the set turning angle, the steered wheel speed increasing device and the body-steered brakes that act on the non-steerable wheels on the inside of the turning are provided on the entry side. The first turning control mode in which the aircraft is turned in a small turn by automatically switching the steering wheel to a small turn, and when the steered wheels are steered over a set turning angle, the steering wheel speed increasing device and the aircraft steering brake are operated. My operation
A traveling control device for a working vehicle, comprising: a turning control means that can be freely switched to a second turning control mode in which only the direction wheel speed increasing device is automatically switched to the entry side to make a small turn of the machine body. Whether the speed sensor for detecting the actual vehicle traveling speed or the turning control means is in either the first turning control mode or the second turning control mode, the speed detected by the speed sensor must be less than the set speed. For example, the steering wheel speed increasing device and the aircraft steering brake can be switched to the entry side by the turning control means, and if the speed detected by the speed sensor is equal to or higher than the set speed, the steering wheel by the turning control means is provided. If the speed increasing device and the steering control mechanism that disables the switching operation of the aircraft steering brake to the entry side, and the steerable wheels are steered to the set turning angle, the Detects the state of the restraint means, and prioritizes the information from the speed sensor from the time when the steering wheel is steered above the set turning angle until it is returned to the steering state below the set turning angle. Then, turn on the steering wheel speed increasing device and the aircraft steering brake .
If the steering wheel is steered to the preset turning angle,
A running control device for a work vehicle, comprising: a maintenance control means for maintaining the state as when the vehicle was struck.
ードにある場合に前記牽制手段による牽制作用を実行さ
せるための前記速度センサーによる検出速度の最低値
を、前記旋回制御手段が前記第２旋回制御モードにある
場合に前記牽制手段による牽制作用を実行させるための
前記速度センサーによる検出速度の最低値よりも小に設
定してある請求項３記載の作業車の走行制御装置。4. The turning control means sets the minimum value of the speed detected by the speed sensor for executing the drafting production by the checking means when the turning control means is in the first turning control mode. The traveling control device for a work vehicle according to claim 3, wherein the travel control device is set to be smaller than a minimum value of the speed detected by the speed sensor for executing the draft production by the restraint means when in the turning control mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20761797A JP3489971B2 (en) | 1997-08-01 | 1997-08-01 | Work vehicle travel control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20761797A JP3489971B2 (en) | 1997-08-01 | 1997-08-01 | Work vehicle travel control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH1148809A JPH1148809A (en) | 1999-02-23 |
| JP3489971B2 true JP3489971B2 (en) | 2004-01-26 |
Family
ID=16542766
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP20761797A Expired - Lifetime JP3489971B2 (en) | 1997-08-01 | 1997-08-01 | Work vehicle travel control device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3489971B2 (en) |
-
1997
- 1997-08-01 JP JP20761797A patent/JP3489971B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH1148809A (en) | 1999-02-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6869808B2 (en) | Work machine control device, work machine control method and work machine | |
| JPS59176121A (en) | Front wheel drive control unit for 4-wheel-drive car | |
| JPS63159135A (en) | Drive operation structure for agricultural tractor | |
| JP3489971B2 (en) | Work vehicle travel control device | |
| JP3575959B2 (en) | Work vehicle travel control device | |
| JP3389069B2 (en) | Farm work vehicle | |
| JPH0223449Y2 (en) | ||
| JP7388515B2 (en) | work vehicle | |
| JP2507944B2 (en) | Front-wheel drive control device for four-wheel drive type power vehicle | |
| JP7234827B2 (en) | work vehicle | |
| JPH0739700Y2 (en) | Turning control device for four-wheel drive vehicle | |
| JP2622107B2 (en) | Front wheel drive control device for four-wheel drive agricultural tractor | |
| JP3903551B2 (en) | Steering control device for work vehicle | |
| JP2504658Y2 (en) | Safety device in front wheel speed increasing device of tractor | |
| JPH01240350A (en) | Car brake device | |
| JPH0733940Y2 (en) | Safety equipment for agricultural tractors | |
| JP3413993B2 (en) | Tractor steering system | |
| JPH1148808A (en) | Running control device for work vehicle | |
| JPS63195023A (en) | Four-wheel-drive type working vehicle | |
| JP3365408B2 (en) | Tractor turning control | |
| JPH10129292A (en) | Automatic transmission control device of working vehicle | |
| JP3999082B2 (en) | Tractor | |
| JP2024005666A (en) | work vehicle | |
| JPH068087B2 (en) | Four-wheel drive work vehicle | |
| JPH0637142B2 (en) | Front-wheel drive device for four-wheel drive vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20081107 Year of fee payment: 5 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20091107 Year of fee payment: 6 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20091107 Year of fee payment: 6 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20101107 Year of fee payment: 7 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20111107 Year of fee payment: 8 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20121107 Year of fee payment: 9 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20131107 Year of fee payment: 10 |
|
| EXPY | Cancellation because of completion of term |