JP3356969B2 - Steering operation device for work equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steering operating device for a working machine such as a combine machine configured to change a traveling direction by giving a difference between driving speeds of left and right traveling devices.

[0002]

2. Description of the Related Art In a working machine of this type, even if a turning operation tool is operated to a straight-ahead position and drive speeds of right and left traveling devices are equalized, due to a left-right gradient of a road surface or a field scene, etc. In particular, in the case of a combine with a grain tank, the course is bent downward on the slope or on the tank installation side due to an increase in the amount of grain in the grain tank as the harvesting and threshing operation proceeds.

Conventionally, every time the traveling direction shifts left and right,
The straightness was maintained by manually manipulating the turning operation tool to correct the traveling direction.

[0004]

Therefore, in the case of the above-mentioned conventional technique, frequent manual operation for correcting the direction is required in straight traveling, and the operability for straight traveling is poor.

An object of the present invention is to improve operability for performing straight running.

[0006]

The features, functions and effects of the first aspect of the present invention are as follows.

[Features] In a working machine configured to change the traveling direction by giving a difference between the driving speeds of the left and right traveling devices , an artificial leftward turning of the turning operation tool within a set time is performed.
The number of corrective operations and the number of artificial corrections to the right, and the artificial correction to the left for the turning device within the set time
Accumulated time obtained by accumulating the time required for operation and the person to the right
Total time obtained by adding the time required for correction operation , turning operation
Operation that adds the artificial correction operation in the left and right direction for the tool
A turning tendency detecting means for detecting a running direction tendency based on one of the yields, and an automatic direction for automatically correcting the driving speeds of the left and right traveling devices based on the detection result of the turning tendency detecting means. Correction means is provided.

[0010] According to the first aspect of the present invention, the number of times the vehicle has been corrected to one of the left and right directions by a manual operation so that the traveling direction becomes the straight traveling direction during traveling for a set time is determined by the bending tendency detecting means. In the running over time, the running direction tendency is detected as an artificial correction frequency using the amount corrected to the right or left by an artificial operation so that the running direction becomes the straight traveling direction, and in the running over the next set time, this bending tendency detecting means is used. If the driving direction of the left and right traveling devices is corrected by the automatic direction correcting means based on the detection result of the vehicle, and the vehicle is traveling straight in this automatic direction correction, the straight traveling for the next set time will also be automatically corrected under the same conditions. If the direction is corrected by manual operation without going straight even if the automatic direction correction is performed, the direction correction of this manual operation is performed. In addition, the correction frequency is corrected in consideration of the correction frequency, and the next travel is performed while the drive speed of the left and right traveling devices is corrected by the automatic direction correction means based on the corrected correction frequency. However, every time the traveling direction deviates from the straight traveling direction, it is necessary to correct the direction by manual operation.However, in traveling for the next set time, only the deviation that could not be corrected by the automatic direction correction may be corrected manually. With this arrangement, the number and amount of manual operations for correcting the direction can be reduced.

[Effects] Therefore, according to the first aspect of the present invention, it is possible to improve the operability of correcting the direction for traveling straight.

According to the second aspect of the present invention, the features, actions,
The effects are as follows.

[Features] In the features of the first invention,
A means for providing a difference between the driving speeds of the left and right traveling devices is provided with a continuously variable transmission for traveling speed driving the left and right traveling devices, and the continuously variable transmission is provided when the turning operation tool is in the straight traveling position. A continuously variable transmission for turning is provided that operates in synchronization with the turning operation and decelerates with an increase in the amount of turning operation of the turning operation tool. The turning interlock means for cutting off the interlock with the continuously variable transmission for traveling and for interlocking the traveling device inside the turning with the continuously variable transmission for turning is provided.

[Operation] According to the second aspect of the invention, since the left and right traveling devices are driven by providing the continuously variable transmission for traveling speed change, for example, the left and right traveling devices are separated from each other by the continuously variable transmission. Compared to the case of driving by a device, the left and right traveling devices can be driven at a constant speed with a simple structure.

In addition, a continuously variable transmission for turning and a turning interlocking means are provided, and when the turning operation tool is turned, the traveling device inside the turning is interlocked with the continuously variable transmission for traveling shift. And the traveling device inside the turning is decelerated by linking the traveling device inside the turning with the continuously variable transmission for the turning to decelerate the continuously variable transmission for the turning as the turning operation amount of the turning operation tool increases. The turning speed is made smaller than the traveling speed of the traveling device on the outside of the turn, so that the vehicle can turn. The traveling device on the inside of the turn can be steplessly decelerated. can do.

In addition, when the turning operation tool is in the straight traveling position and is traveling straight, the continuously variable transmission for turning is synchronized with the continuously variable transmission for traveling shift, so that the turning operation tool is turned. In this case, the continuously variable transmission for turning is in the same operating state as the continuously variable transmission for traveling shift, and as a result, the traveling opponent of the traveling device inside the turning is operated by turning the turning operation tool. Change from a continuously variable transmission for shifting to a continuously variable transmission for turning to shift from straight running to turning, and return the turning operating tool to the straight running position to change the interlocking partner of the traveling device inside the turning for turning. The transition from turning to straight traveling by changing from the continuously variable transmission to the continuously variable transmission for traveling speed change can be performed smoothly.

[Effects] Therefore, according to the second aspect of the present invention, it is possible to provide a working machine excellent in straightness and turning performance.

According to the third aspect of the present invention, the features, actions,
The effects are as follows.

[Features] In the features of the second invention,
As the automatic direction correcting means, the second traveling device drive by the continuously variable transmission for turning is higher than the rotation speed of the first traveling device drive unit by the continuously variable transmission for traveling when the turning operation tool is at the straight traveling position. The present invention is characterized in that means for setting the number of rotations of the unit to a number of rotations smaller than the set value and providing control means for operating the turning interlocking means based on the detection result of the bending tendency detecting means is provided.

[Operation] According to the third aspect of the present invention, the rotational speed of the second traveling device drive unit is set smaller than the rotational speed of the first travel device drive unit when the turning operation tool is at the straight-ahead position. The turning interlocking means is operated by the control means based on the detection result of the bending tendency detecting means, and the turning interlocking means is operated, and the traveling device inside the turning is continuously variable transmission for turning. Only by interlocking with the traveling speed of the traveling device inside the turning is made smaller than the traveling speed of the traveling device outside the turning, so that the vehicle turns.
It is not necessary to operate the turning operation tool in automatic direction correction, and as a result, an actuator for operating the turning operation tool is not required.

[Effect] Therefore, according to the third aspect of the present invention, the automatic direction correction based on the detection result of the bending tendency detecting means can be performed with a simple structure and simple control.

[0020]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS As shown in FIG. 1, a combine includes a self-propelled body equipped with a pair of left and right crawler-type traveling units 1, a threshing unit 2, a control unit 3, and a threshing kernel storage tank T. The mowing unit 4 is connected to the front of the self-propelled body so as to be able to move up and down freely. The cutting unit 4 includes a raising device 5 for raising the planted grain culm, a clipper-type cutting device 6 for cutting the root of the raised planted grain culm, and a cut chain culm to the feed chain 2A of the threshing device 2. The apparatus is provided with a supply device 7 for conveying and supplying.

As shown in FIG. 2, the transmission system from the engine 8 mounted on the self-propelled body to the left and right traveling devices 1 is driven by a variable displacement hydraulic pump 9P and pressure oil generated thereby. A hydrostatic continuously variable transmission 9 for traveling speed changeable between forward and backward, comprising a hydraulic motor 9M, a variable displacement hydraulic pump 10P, and a hydraulic motor 10M driven by pressure oil generated thereby. A hydrostatic continuously variable transmission 10 for turning, which is switchable between forward and backward, provided in a state where both hydraulic pumps 9P, 10P are driven by an engine 8 via a belt transmission 11; In a transmission case 12 that supports one axle 1A, a gear-type auxiliary transmission 13 that can be switched between high and low in two stages that is interlocked with a hydraulic motor 9M for traveling speed change, and is always interlocked with the auxiliary transmission 13. A center gear 14, the hydraulic motor 10M to the relay gear 15L for the swing, a pair of right and left interlocking constantly via respective 15R side gears 16L, 1
6R and a pair of left and right shift members 17L and 17R that are always gear-coupled to each of the left and right axles 1A. The shift members 17L and 17R are shifted to the center position on the side of the center gear 14 by shifting the shift members 17L and 17R.
The shift members 17L, 17R are shifted to the corresponding side gears 16L, 16R side by shifting the shift members 17L, 17R to the corresponding side gears 16L, 16R by shifting the shift members 17L, 17R to the corresponding side gears 16L, 16R. And a pair of left and right friction clutches 19L and 19R that are interlocked with each other. And, the center gear 14 is a first traveling device drive unit by the continuously variable transmission 9 for traveling speed shift according to the present invention,
The side gears 16L and 16R are the second traveling device drive units of the continuously variable transmission 10 for turning according to the present invention.

The sub-transmission 13 is provided with a small-diameter low-speed transmission gear 23L and a large-diameter high-speed transmission gear 23H on a counter shaft 22 interlocked with an output shaft 9A of a traveling speed hydraulic motor 9M via a pair of gears 20 and 21. And freely rotate only,
A large-diameter low-speed passive gear 26L and a high-speed transmission gear 2, which are always linked to the low-speed transmission gear 23L, are mounted on a sleeve 25 rotatably mounted only on the shaft 24 of the relay gears 15L and 15R.
A small-diameter high-speed passive gear 26H constantly linked to 3H is mounted so as to rotate integrally, and the counter shaft 22 is set to a low-speed position linked only to the low-speed transmission gear 23L and a high-speed position linked only to the high-speed transmission gear 23H. The shift member 27 which can be shifted is spline-fitted.
That is, the low speed transmission from the counter shaft 22 to the sleeve 25 is performed by linking the shift member 27 to the low speed transmission gear 23L, and the high speed transmission is performed from the counter shaft 22 to the sleeve 25 by linking the shift member 27 to the high speed transmission gear 23H. It has become.

The center gear 14 is interlocked with the auxiliary transmission 13 by meshing the center gear 14 with the low-speed passive gear 26L.

The friction clutches 19L and 19R are biased by springs 28L and 28R. When the shift members 17L and 17R are located at the center positions, only the pawl clutches 18L and 18R are engaged and the shift members 17L and 17R are operated. , 17R are located at the side positions, only the friction clutches 19L, 19R are engaged.

The sleeve 25 is provided with a parking gear 31 interlocking with a gear 30 mounted on a shaft 29A of a parking brake 29 so as to rotate integrally therewith.

The shift members 17L and 17R are arranged as shown in FIG.
As shown in the figure, shifters 33 driven separately by left and right pistons 32L, 32R of the hydraulic actuator 32, respectively.
The shift operation is performed with L and 33R.

As shown in FIG. 3, an operating device for the two continuously variable transmissions 9, 10 and the auxiliary transmission 13 includes a main transmission lever 34 and a swing lever 35 which is a swing operation tool and can swing left and right. A sub-transmission lever 36 is provided to operate both the continuously variable transmissions 9 and 10 based on the operation of the main transmission lever 34 and the turning lever 35, and to operate the sub-transmission 13 and the turning transmission based on the operation of the sub-transmission lever 36. And a linkage operating means for operating the continuously variable transmission 10 for use in the vehicle.

The linking operation means operates a main transmission for operating a trunnion shaft 9a (hereinafter referred to as a transmission trunnion shaft) for changing the capacity of the traveling speed hydraulic pump 9P in conjunction with the operation of the main transmission lever 34. A push-pull wire 37 is provided, which is interlocked with the swivel lever 35 via a release wire 38 for swivel, and is also interlocked with a trunnion shaft 9a for shifting via a tuning rod 39 and swivel via a push-pull wire 41 for swivel. Hydraulic pump 10
By interlocking with a trunnion shaft (hereinafter referred to as a turning trunnion shaft) 10a for changing the capacity at P, the two continuously variable transmissions 9, 10 are synchronized with each other in a state where the turning lever 35 is in the "straight forward" position. A tuning means 40 is provided, and the push-pull wire 4 for turning is provided from the tuning means 40.
1 is transmitted to the turning trunnion shaft 10 a through the correction wire 42 via the correction wire 42.
Correction means 43 for correcting the state of synchronization of the two hydraulic pumps 9P and 10P by correcting the shift state of the two hydraulic pumps 9P and 10P is provided.

When the turning lever 35 is in the "straight forward" position and the subtransmission 13 is in the high-speed transmission state, the synchronizing means 40 adjusts the side gears 16L and 16R in the same direction as the center gear 14 and The synchronizing relationship between the two continuously variable transmissions 9 and 10 is set so as to rotate at a rotation number smaller than the rotation number, and the maximum operation position of the turning lever 35 when the auxiliary transmission 13 is in the high-speed transmission state. The rotation speed of the side gears 16L, 16R in the direction opposite to that of the center gear 14 due to the turning operation to the center gear 14
This is means for associating the two continuously variable transmissions 9 and 10 with a rotational speed smaller than the rotational speed by a set value. Specifically, as shown in FIGS. 4 to 14, the swing arm 44 swings around the first axis P <b> 1 in conjunction with the operation of the tuning rod 39.
A rod-shaped slide member 45 that reciprocates along a linear path in conjunction with the swing of the swing arm 44 is provided,
The pivoting push-pull wire 41 is fixed to the end of the slide member 45, and the swing lever 46 rotatably supporting the guide roller 47 is swung about a second axis P2 parallel to the first axis P1. A guide rail 48 for movably mounting the guide roller 47 is swingably mounted on a fixed portion about a third axis P3 parallel to the second axis P2. 38
The pulling operation arm 49 that swings the guide rail 48 by being pulled by is fixed.

When the gearshift trunnion shaft 9a is in the gearshift neutral position N, as shown in FIG.
7 is located on the third shaft center P3 of the guide rail 48 and the transmission trunnion shaft 9a is in the forward movement range F, the guide roller 47 is moved to the third shaft center P3 of the guide rail 48 as shown in FIG. When the transmission trunnion shaft 9a is located in the reverse region R, the guide roller 47 is located at the other side of the third rail P3 of the guide rail 48, as shown in FIG. The positional relationship between the slide member 45 and the guide rail 48 is set so as to perform the operation.

The guide rail 48 swings around the third axis P3 to swing the guide roller 47, that is, the swing lever 46, to operate the push-pull wire 41 for rotation. The pulling operation by the turning release wire 38 causes the turning end of the turning trunnion shaft 10a to be moved from the first inclined position in which one end is positioned closer to one side than the position in parallel with the slide member 45. The second side of which one end is located on the other side
The swinging operation is performed to the inclined posture against the urging force of the spring 50, and the parallel posture is such that the swing lever 46 is positioned at the neutral position for shifting and the turning trunnion shaft 10 a is moved to the neutral position N for shifting. It is set to the position to be located at. More specifically, as shown in FIGS. 7, 10, and 11, when the guide roller 47 is positioned on one side and in a posture between the first inclined posture and a posture parallel to the first inclined posture, the swing lever 46 is moved. Is positioned in the forward posture, and by positioning the rocking lever 46 in the parallel posture, the rocking lever 46 is positioned in the neutral position for shifting. By positioning the rocking lever 46 in the posture between the parallel posture and the second inclined posture, the rocking lever 46 is moved. 9, 12, and 13, the guide roller 47 is swung by being in a posture between the first inclined posture and a posture parallel to the first inclined posture in a state in which the guide roller 47 is located on the other side, as shown in FIGS. The moving lever 46 is positioned in the reverse position, and is positioned in the parallel position, whereby the rocking lever 46 is positioned in the neutral position for shifting, and is rocked by being positioned between the parallel position and the second inclined position. Lever 4 The one in which is positioned in a forward posture.

Therefore, if the main shift lever 34 is now located at the shift neutral position N and the turning lever 35 is located at the "straight forward" position, as shown in FIG. While the hydraulic motor 9M for traveling speed is stopped at the neutral position N and the guide rail 48 is in the first inclined posture, the guide roller 47 is in the third shaft center P3 position and the swing lever 46 is Is located in the shift neutral position, the turning trunnion shaft 10a is located at the shift neutral position N, and the turning hydraulic motor 10M is also stopped. When the main shift lever 34 is operated in the forward range F in this state, the traveling trunnion shaft 9a is operated to the shift position in the forward range F corresponding to the operated position of the main shift lever 34 as shown in FIG. The shift hydraulic motor 9M rotates forward at a rotation speed corresponding to the operation position of the main shift lever 34, and the guide roller 47 moves to one side of the guide rail 48, so that the swing lever 46 moves forward. When the swinging operation is performed, the turning trunnion shaft 10a is operated to the shift position in the forward range F corresponding to the operating position of the main shift lever 34, and the turning hydraulic motor 10M is operated in accordance with the operating position of the main shift lever 34. That is, it rotates forward at a rotation speed proportional to the rotation speed of the traveling speed hydraulic motor 9M. On the other hand, when the main transmission lever 34 is operated in the reverse range R in the above state, the transmission trunnion shaft 9a is moved to the reverse position R corresponding to the operation position of the main transmission lever 34 as shown in FIG. As a result, the traveling speed hydraulic motor 9M reversely rotates at a rotation speed corresponding to the operation position of the main speed change lever 34, and the swing lever 46 is moved by the guide roller 47 moving to the other side of the guide rail 48. By being swung to the reverse side, the turning trunnion shaft 10a is operated to the shift position in the reverse region R corresponding to the operating position of the main shift lever 34, and the turning hydraulic motor 10M corresponds to the operating position, that is, The reverse rotation is performed at a rotation speed proportional to the rotation speed of the traveling speed hydraulic motor 9M. In addition, when the turning lever 35 is tilted to the left or right while the main shift lever 34 is located at the shift neutral position N, that is, when the turning operation is performed, (a), (b), and (c) of FIG. As shown in FIG. 7, although the guide rail 48 is operated to swing, the guide roller 37
Is in the third shaft center P3 and does not move, so that the swing lever 46 is maintained in the neutral position for shifting, and the turning trunnion shaft 10a is maintained in the neutral position for shifting and the hydraulic motor 10M for turning regardless of the turning operation. Is stopped and maintained. Then, when the turning lever 35 is turned to the left or right in the forward running state in which the main shift lever 34 is operated in the forward range F, the guide rail 48 is turned as shown in FIGS. The swinging trunnion shaft 10a is operated to the deceleration side in the forward range F until the swinging lever 46 is operated to the neutral position for shifting by the swinging operation of the guide rail 48. Hydraulic motor for turning 10M
When the swing lever 46 is operated to the neutral position for shifting, the turning trunnion shaft 10a is operated to the neutral position N for shifting. The hydraulic motor 10 for turning
When the swing lever 46 is operated beyond the neutral position for shifting, the turning trunnion shaft 10a is operated to the speed increasing side in the reverse region R, and the turning hydraulic motor 10M is operated.
Is steplessly increased, and reversely rotates at a rotation speed corresponding to the operation position of the turning lever 35. Then, when the turning lever 35 is returned to the "straight forward" position, the guide rail 48 returns to the first inclined posture, and the turning hydraulic motor 10M rotates forward at the original rotation speed. On the other hand, the main shift lever 34
Is operated in the reverse range R and the turning lever 35
When the is turned to the left or right, the guide rail 48 is pulled and rocked as shown in FIGS. 9, 12, and 13, and the rocking lever is Until 46 is operated to the neutral position for shifting, the turning hydraulic motor 10M is steplessly decelerated by operating the turning trunnion shaft 10a to the deceleration side in the reverse region R, and according to the operating position of the turning lever 35. When the swing lever 46 is operated to the neutral position for shifting and the swinging trunnion shaft 10a is operated to the neutral position N for shifting, the hydraulic motor 10M for swing is stopped, and the swing is rotated. When the lever 46 is operated beyond the shift neutral position, the turning hydraulic motor 10M is steplessly increased in speed by operating the turning trunnion shaft 10a to the speed increasing side in the forward movement range F, and the turning lever 35 is turned on. of To move forward rotated at a rotational speed corresponding to the work position. Then, when the turning lever 35 is returned to the "straight forward" position, the guide rail 48 returns to the first inclined posture, and the turning hydraulic motor 10M rotates backward at the original rotation speed.

The set value is zero when the continuously variable transmissions 9 and 10 are in the neutral state, and is set so as to increase as the rotational speed increases. That is, the turning lever 3
When the main transmission lever 13 is in the high-speed transmission state and the main transmission lever 34 is operated, the rotation speeds of the center gear 14 and the side gears 16L, 16R are set to ( It changes as shown in a).

The means for pulling the guide rail 48 through the turning release wire 38 by the turning operation of the turning lever 35, as shown in FIGS. Bracket 5 for swinging support
The two operating arms 52L, 52R are pivoted to one
Are pivotally mounted around the pivot axis P4, respectively, and below the pivot lever 35, the left operation arm 52L pivots counterclockwise from the neutral position as the pivot lever 35 pivots to the left. At the same time, an operating pin 53 is provided for swinging the right operating arm 52R clockwise from the neutral position in accordance with the swinging of the turning lever 35 to the “right”, and the bracket 51 is attached to the bracket 51 from the neutral position of the left operating arm 52L. A positioning pin 54 for restricting the clockwise swing of the right arm and the clockwise swing of the right operating arm 52R from the neutral position is attached.
A spring 55 is provided to urge the two operation arms 52L, 52R to the neutral position over 2R, and the end of the inner wire 38a of the release release wire 38 is fixed to the left operation arm 52L. Of the outer wire 38b is fixed to the right operation arm 52R. That is, the swing lever 35 is urged to swing to the “straight-ahead” position by the spring 55, and the swing lever 35 is tilted to the left to swing the left operating arm 52 </ b> L with the spring 55. By swinging counterclockwise against the power, the inner wire 38a
By pulling the release wire 38 to pull the release rail 38, the guide rail 48 is rocked, and the swing lever 35 is tilted to the right to perform the rocking operation, so that the right operation arm 52R is biased by the spring 55. By oscillating clockwise, the end of the outer wire 38b is moved away from the end of the inner wire 38a, and the release wire 38 is pulled to actuate the guide rail 48.

The correcting means 43 is provided as shown in FIG.
(B) As shown in FIG. 18, the mounting position of the push-pull wire 41 for turning to the operating lever 10 b of the turning trunnion shaft 10 a is determined in the longitudinal direction of the operating lever 10 b according to the shift state of the auxiliary transmission 13. By making changes,
Means for preventing the rotational speed of the center gear 14 from changing due to the shift by the auxiliary transmission device 13 and differing from the rotational speeds of the side gears 16L and 16R even if the rotational speed of the traveling speed hydraulic motor 9M is the same. The auxiliary transmission 1 operated by the auxiliary transmission lever 36 via the auxiliary transmission operation wire 56
The swing of the operating lever 36a from the low position L to the high position H of the third operating lever 36a causes the operating lever 10 of the push-pull wire 41 for turning.
A correction wire 42 is provided so as to pull the attachment pin 41a to the second position PH from a first position PL far from the turning trunnion shaft 10a to a second position PH near the turning trunnion shaft 10a against the urging force of the spring 57. The first position P
L is smaller than the rotation speed of the center gear 14 when the auxiliary transmission 13 is switched to the low speed transmission state while the turning lever 35 is in the “straight forward” position.
The second position PH is a position in which the turning push-pull wire 41 is linked to the operating lever 10b so that the rotating speeds of the L and 16R are set to a smaller value. When the sub-transmission 13 is switched to the high-speed transmission state, the turning lever 10b is provided with a turning push-pull wire so that the rotation speed of the side gears 16L and 16R is smaller than the rotation speed of the center gear 14 by a set value. This is the position where 41 is linked. That is, when the main transmission lever 34 is operated in a state where the turning lever 35 is in the “straight forward” position and the auxiliary transmission 13 is in a high-speed transmission state, the swing of the operation lever 10 b with respect to the operation amount of the main transmission lever 34 is controlled. If the rotational speed of the side gears 16L and 16R is slightly lower than the rotational speed of the center gear 14 by increasing the rotational amount of the turning hydraulic motor 10M by increasing the amount of movement, and the sub-transmission 13 is in a low-speed transmission state. By reducing the amount of swing of the operating lever 10b with respect to the amount of operation of the main shift lever 34 and reducing the number of rotations of the hydraulic motor 10M for turning, the number of rotations of the side gears 16L and 16R is slightly greater than the number of rotations of the center gear 14. It is designed to lower. Similarly, the set value is the same for both continuously variable transmissions 9,
It is zero when 10 is in the neutral state, and increases as the rotational speed increases. That is, when the turning lever 35 is located at the “straight forward” position and the auxiliary transmission 13 is in the low-speed transmission state, the rotation speeds of the center gear 14 and the side gears 16L and 16R are changed with the operation of the main transmission lever 34. It changes as shown in FIG.

As shown in FIGS. 20 and 21, the maximum forward rotation speed and the maximum reverse rotation speed of the center gear 14 are set to be equal to each other, and when the subtransmission 13 is in the high-speed transmission state. The maximum forward rotation speed and the maximum reverse rotation speed of the side gears 16L and 16R are slightly smaller than the maximum forward rotation speed and the maximum reverse rotation speed of the center gear 14 when the auxiliary transmission 13 is in the high-speed transmission state. And the maximum forward rotation speed and the maximum reverse rotation speed of the side gears 16L and 16R when the auxiliary transmission 13 is in the low-speed transmission state are determined by the center gear 14 when the auxiliary transmission 13 is in the low-speed transmission state. The rotation speed is set to be slightly smaller than the maximum forward rotation speed and the maximum reverse rotation speed.

As shown in FIG. 16, the hydraulic actuator 32 is in a linear operation state in which the shifters 33L, 33R are positioned in a posture for positioning the shift members 17L, 17R at the center position, and only the left shift member 17L is The operation valve 58 is in a left turning operation state in which the left shifter 33L is positioned in the position where the right shift member 33R is positioned in the side position in which only the right shift member 17R is positioned in the side position. The control valve 59 controls the hydraulic actuator 32 to move straight when the control device 59 detects that the turning lever 35 is at the “straight” position by the turning switch 60. In the "straight ahead" position to be activated, the swivel lever 35 is in the "left" swivel position by the swivel switch 60. Cause the hydraulic actuator 35 to the left turning operation state when it is detected is in the "left turn" position, in turn switch 60 pivot lever 35 is "right"
When it is detected that the hydraulic actuator 35 is located at the turning position, the hydraulic actuator 35 is operated so as to be at the "right turning" position for bringing the hydraulic actuator 35 into the right turning operation state. That is, the operation valve 58
Is operated in accordance with the operation state of the turning lever 35. Then, the turning switch 60, the shift members 17L and 17R, the friction clutches 19L and 19R, the hydraulic actuator 32,
From the shifters 33L, 33R, the operation valve 58, and the control device 59, based on the turning operation of the turning lever 35, the interlocking of the left and right traveling devices 1 with the continuously variable transmission 9 for traveling speed change is performed while turning. Turning interlocking means for interlocking the inner traveling device 1 with the turning continuously variable transmission 10 is configured. As shown in FIG. 15, the turning switch 60 is pressed by an operation arm 60 a connected to the turning lever 35 in accordance with the turning operation of the turning lever 35 to the “left” turning position, and turns on the left turning switch unit. With the turning operation of the turning lever to the “right” turning position, the operation arm 60 is moved.
a to turn on the right turning switch unit.

Therefore, by operating the turning lever 35 to the "straight forward" position to shift both the shift members 17L and 17R to the center position, the center gear 14, the pawl clutches 18L and 18R, and the shift members 17L and 17R are interposed. In this way, the left and right traveling devices 1 are driven by the continuously variable transmission 9 for traveling speed change, whereby it is possible to obtain a straight traveling state by operating the left and right traveling devices 1 at the same speed in the same direction. In this state, by operating the continuously variable transmission 9 for traveling speed change with the main transmission lever 34, continuously variable transmission and neutral stop in the straight forward traveling state and continuously variable transmission in the straight forward traveling state can be performed. By operating the device 13 with the auxiliary transmission lever 36, the traveling speed can be switched between high and low. Then, as shown by thick solid lines a and b in FIGS. 20 and 21, the sub-transmission 13 is switched to the high-speed transmission state, and a straight forward high-speed traveling state for movement or the sub-transmission 13 is switched to the low-speed transmission state. When the turning lever 35 is turned to the left in the straight forward low-speed running state for all the operations, the left shift member 17L is located at the side position, and the right running device 1 is moved as described above. Is driven forward by the continuously variable transmission 9, while the left traveling is performed by the turning continuously variable transmission 10 via the left relay gear 15L, the left side gear 16L, the left friction clutch 19L, and the left shift member 17L. The device 1 is driven, and as the operation amount of the turning lever 35 to the “left” is increased, the forward drive speed of the continuously variable transmission 10 for turning is gradually reduced, and the left and right traveling is accordingly performed. Speed of device 1 And than perform the forward slow turning to the left and turning inside the difference, "left" of the swing lever 35
Continuously variable transmission 1 for turning by further increasing the operation amount to
By setting 0 to the shift neutral state, the left traveling device 1 is stopped, and a forward left pivot turn (forward left pivot turn) with the left turning inside can be performed, and the turning lever 35 is set to the maximum left position. When operated to the operation position, the reverse drive speed of the continuously variable transmission 10 for turning is increased, so that the left traveling device 1 travels backward at a slightly lower speed than the right traveling device 1 traveling forward. You can perform all left spinning turns (left spin turn). The thick solid line c in FIG.
Indicates the traveling speed of the right traveling device 1 traveling forward and high speed, and the thick solid line d in FIG. 21 indicates the traveling speed of the right traveling device 1 traveling forward and low speed.

The thick solid lines e and f in FIGS.
As shown by the arrow, in the above-described traveling straight forward high-speed traveling state for work and the straight traveling forward low-speed traveling state for work,
5, the right shift member 17R is located at the side position, and the left traveling device 1 is driven forward by the continuously variable transmission 9 for traveling speed, while the right traveling member 17R is moved to the right position. The right traveling device 1 is driven by the continuously variable transmission 10 for turning via the relay gear 15R, the right side gear 16R, the right friction clutch 19R, and the right shift member 17R. As the operation amount to the “right” is increased, the forward drive speed of the continuously variable transmission 10 for turning is gradually reduced, and the speed difference between the left and right traveling devices 1 is accompanied by the slow forward driving with the right turning inside. You can make a turn,
By further increasing the operation amount of the turning lever 35 to the “right” to bring the continuously variable transmission 10 for turning into the neutral state of shifting, the right traveling device 1 is stopped and the right is turned inside the turning. A right pivot turn (forward right pivot turn) can be performed, and when the turning lever 35 is operated to the maximum operation position of “right”, the reverse drive speed of the continuously variable transmission 10 for turning is increased to increase the right position. This makes it possible to perform a right super pivot turn (right spin turn) by traveling backwards at a speed slightly slower than the left traveling device 1 traveling forward. In addition,
A thick solid line g in FIG. 20 indicates the traveling speed of the left traveling device 1 traveling forward and high speed, and a thick solid line h in FIG. 21 indicates the traveling speed of the left traveling device 1 traveling forward and low speed.

On the other hand, the thick broken lines i and j in FIGS.
As shown by the arrow, the sub-transmission 13 is switched to the high-speed transmission state, and the vehicle is traveling straight forward and backward at a high speed.
When the turning lever 35 is turned to the “left” in a working straight-ahead low-speed running state while switching to the low-speed transmission state, the left shift member 17L is located at the side position,
The right traveling device 1 is driven backward by the continuously variable transmission 9 for traveling speed change, as described above, while being driven via the left relay gear 15L, the left side gear 16L, the left friction clutch 19L, and the left shift member 17L. The traveling device 1 on the left is driven by the continuously variable transmission 10 for turning, and the reverse drive by the continuously variable transmission 10 for turning is performed with an increase in the operation amount of the turning lever 35 to the left. The drive speed is gradually reduced, and the speed difference between the left and right traveling devices 1 can cause a slow reverse turning with the left turning inside.
Continuously variable transmission 1 for turning by further increasing the operation amount to
By setting 0 to the shift neutral state, it is possible to stop the left traveling device 1 and perform a reverse left pivot turn (reverse left pivot turn) with the left turning inside, and set the turning lever 35 to the maximum left position. When operated to the operating position, the forward drive speed of the continuously variable transmission 10 for turning is increased, so that the left traveling device 1 travels forward at a speed slightly slower than the right traveling device 1 traveling backward. You can perform all left spinning turns (left spin turn). The thick broken line k in FIG.
Indicates the traveling speed of the right traveling device 1 traveling backward at high speed, and the thick broken line m in FIG. 21 indicates the traveling speed of the right traveling device 1 traveling backward at low speed.

The thick broken lines n and p in FIGS.
As shown by the arrow, in the above-mentioned traveling straight backward high-speed traveling state for work or the straight traveling backward low-speed traveling state for work,
When the vehicle 5 is turned to the right, the right shift member 17R is located at the side position, and the left traveling device 1 is driven backward by the continuously variable transmission 9 for traveling speed, while The right traveling device 1 is driven by the continuously variable transmission 10 for turning via the relay gear 15R, the right side gear 16R, the right friction clutch 19R, and the right shift member 17R. As the amount of operation to the “right” is increased, the reverse drive speed of the continuously variable transmission 10 for turning is gradually reduced, and the speed difference between the left and right traveling devices 1 causes the right side to turn inside the vehicle slowly. You can make a turn,
The amount of operation of the turning lever 35 to the “right” is still increased, and the continuously variable transmission 10 for turning is brought into the neutral state for shifting, so that the right traveling device 1 is stopped and the right is turned inside the reverse. A right pivot turn (reverse right pivot turn) can be performed. When the turning lever 35 is operated to the maximum operation position of “right”, the forward drive speed of the continuously variable transmission 10 for turning is increased. This makes it possible to perform a right super pivot turn (right spin turn) by moving the right traveling device 1 forward at a slightly lower speed than the left traveling device 1 traveling backward. Note that the thick solid line q in FIG. 20 indicates the traveling speed of the left traveling device 1 that is traveling at a high speed in reverse, and the thick solid line r in FIG.
5 shows the traveling speed of the left traveling device 1 traveling backward at low speed.

As shown in FIGS. 14 (a), 14 (b) and 14 (c), the link operation means is provided with the turning lever 35.
The pull operation arm when the continuously variable transmission 10 for turning is brought into the neutral state for shifting in accordance with the forward rotation deceleration operation (forward speed deceleration operation during forward traveling and reverse speed deceleration operation during reverse traveling) among the turning operations of Shaft 7 linked to 49
In addition to increasing the operating resistance by contacting the pusher 71 provided at 0, the reverse rotation speed increasing operation of the turning lever 35 (the reverse speed increasing operation during forward running and the forward speed increasing operation during reverse running) is performed. Accordingly, a compression spring 72 is provided which is pushed and compressed by the pull operation arm 49 to increase the operation resistance as the operation amount increases.
The shaft 70 is inserted into the compression spring 72 and also serves as a deformation guide for the compression spring 72.

In this way, the combine travels straight by driving the left and right traveling devices 1 by the continuously variable transmission 9 for traveling speed change by operating the turning lever 35 to the "straight ahead" position. The traveling device 1 on the inside of the turn is driven by the continuously variable transmission 10 for turning by turning operation of the lever 35 to the turning operation area, and with the increase in the amount of operation of the turning lever 35 to the turning operation area, the non-turning operation is performed. The speed change device 10 is configured to perform various forms of turning by performing a deceleration operation, a neutral state, and a reverse rotation acceleration operation.

Then, the output shaft 9 of the hydraulic motor 9M for traveling speed is interlocked with the transmission system to the traveling device 1.
In the transmission system to the reaping unit 4 branched from A, a reaping clutch 61 and a reaping transmission 62 for intermittently transmitting power to the reaping unit 4 are interposed.

The cutting clutch 61 includes a cutting transmission 62.
Is also used. That is, the reaper transmission 6
When the transmission 2 is in the non-transmission state, the clutch is released, and when the cutting transmission 62 is in the transmission state, the clutch is engaged.

Further, the combine includes a bending tendency detecting means 80 for detecting a tendency in the traveling direction from the frequency of manual correction in the straight traveling direction, and the right and left traveling devices 1 so as to travel straight based on the detection result of the bending tendency detecting means 80. Automatic direction correcting means for automatically correcting the driving speed of the motor.

As shown in FIG. 22 , the bending tendency detecting means 80 is a means for detecting the tendency of the traveling direction based on how many times and in which direction the correction has been made within the set time T. As shown in FIG. 22, when the automatic switch 81 is turned on, the number of times the operating valve 58 is operated to the “left” turning position within the set time T via the turning lever 35 and the operation valve 58 is operated to the “right” turning position. The number of times LN and RN are integrated by incrementing the left counter and the right counter each time an operation is performed. When the set time T has elapsed, the difference between the two numbers LN and RN is calculated. LN
= RN) It is assumed that the vehicle is traveling straight, and if there is a difference, the value of the difference is set to the target number N, and the larger value is set to the operating valve
The correction direction is set to 8, that is, the running direction tendency is detected. The initial values of the left counter, the right counter, and the target number N are zero, and the left counter and the right counter are returned to zero after the setting is completed.

The automatic direction correcting means includes a swing lever 35
Is in the "straight ahead" position, the center gear 14
The rotation speeds of the side gears 16L and 16R are slightly lower than the rotation speeds of the left friction clutch 19L and the right friction clutch 1
By using the fact that the traveling direction can be changed to the left or right just by turning on the 9R, as shown in FIG. 16, the control means 82 for operating the turning interlocking means based on the detection result of the bending tendency detecting means 80 is used. It is provided and configured. Specifically, as shown in FIG. 22, when the target number N set by the bending tendency detecting means 80 is not zero, the control means 82 calculates “set time T ÷ target number N” to calculate the operation interval. Is set, and the operation valve 58 is operated at the set correction direction position for each set operation interval for the set operation time and then returned to the original position, and the correction direction counter of the left counter and the right counter is incremented. .

That is, in the direction control routine by the turning tendency detecting means 80 and the automatic direction correcting means, when the vehicle travels for the first set time T, an artificial direction correction for straight traveling is performed, and the traveling direction tendency is detected. When the vehicle travels for the set time T, an automatic direction correction for straight traveling based on the detected traveling direction tendency is performed, and when the artificial direction correction is performed at that time, the traveling direction tendency is corrected by the number and direction of the artificial direction correction. The automatic direction correction for traveling straight during traveling for the next set time T is performed based on the corrected traveling direction tendency.

More specifically, for example, the set time T
Is set to 30 seconds, and the direction is corrected five times to the left and two times to the right in order to go straight in the running over the first set time T,
5-2 = 3 is set as the target number N, and the correction direction is set to “left”. In the running for the next 30 seconds, an operation interval of 30 ÷ 3 = 10 seconds is set, and the operating valve 58 is operated to the “left” every 10 seconds to automatically correct the running direction to the “left”. Is done. At this time, if there is no artificial direction correction, the same automatic direction control is performed during the next 30 seconds of running. For example, if there is one artificial direction correction to the right, 5- (2 + 1) = 2 If the target number of times N is newly set and the automatic direction correction to “left” is performed at an operation interval of 30 ＝ 2 = 15, and if there are three artificial direction corrections to the right, 5- (2 + 3) = 0 = N and automatic direction correction is not performed.

[Another Embodiment] [1] The bending tendency detecting means 80 in the above embodiment
And the control means 82 of the automatic direction correcting means are modified as follows.

The bending tendency detection means 80 is a means for detecting the running direction tendency based on how many times (integrated time) and in which direction within the set time T it has been corrected, and is specifically shown in FIG. As described above, in the state where the automatic switch 81 is turned on, the time during which the operating valve 58 is operated to the "left" turning position and the time when the operating valve 58 is operated to the "right" turning position within the set time T via the turning lever 35. Are accumulated by the left timer and the right timer, respectively, and when the set time T elapses,
The difference between the two integrated times Lt and Rt is calculated, and if there is no difference, (L
(t = Rt) It is considered that the vehicle is traveling straight, and if there is a difference, the value of the difference is set to the target time t and the larger value is set to the correction direction of the operation valve 58, that is, the tendency in the traveling direction is detected. . The initial values of the left timer, the right timer, and the target time t are zero, and the left timer and the right timer are returned to zero after the setting is completed.

The control means 82 of the automatic direction correcting means for operating the turning interlocking means based on the detection result of the bending tendency detecting means 80, when the target time t set by the bending tendency detecting means 80 is not zero, The operation interval and the operation time are set based on the target time t, and the operation valve 58 is operated for the operation time set in the correction direction at each set operation interval, and the timer on the correction direction side of the left timer and the right timer is used. Integrate the operation time.

That is, in the direction control routine by the turning tendency detecting means 80 and the automatic direction correcting means, when the vehicle travels for the first set time T, an artificial direction correction for straight traveling is performed, and the traveling direction tendency is detected. When the vehicle travels for the set time T, an automatic direction correction for straight traveling based on the detected traveling direction tendency is performed. If the artificial direction correction is performed at that time, the traveling direction tendency is corrected by the time and direction of the artificial direction correction. The automatic direction correction for traveling straight during traveling for the next set time T is performed based on the corrected traveling direction tendency.

[2] The bending tendency detecting means 80 includes:
The traveling direction tendency may be detected from the operation amount (integrated operation amount) of the turning operation tool 35 to the left and right. In that case,
The automatic direction correcting means automatically corrects the direction by adjusting the operation amount.

[3] In the above embodiment, the hydrostatic type is shown as the both continuously variable transmissions 9 and 10, but the both continuously variable transmissions 9 and 10 may be of the belt type. good.

[4] In the above embodiment, the continuously variable transmission 9 for traveling speed and the continuously variable transmission 10 for turning are provided, and the traveling device 1 on the inside of the turning is changed to the continuously variable transmission 10 for turning.
In this case, the vehicle may be turned by interlocking with the gears. However, a continuously variable transmission that separately drives the left and right traveling devices 1 may be provided, and the vehicle may be turned by performing a speed change operation on these continuously variable transmissions. .

[5] The turning operation tool 35 may be a steering handle.

[6] In the above embodiment, the traveling device 1 is a crawler type, but the traveling device 1 may be a multi-wheel type having three or more wheels.

[7] In the above embodiment, an example of application to a combine has been described, but the present invention can be applied to various working machines.

[Brief description of the drawings]

FIG. 1 is a side view of a combine.

FIG. 2 Transmission system diagram

FIG. 3 is a system diagram of an operation linking mechanism.

FIG. 4 is a cross-sectional plan view of the tuning means.

FIG. 5 is a perspective view of a tuning means.

FIG. 6 is a longitudinal sectional front view of the tuning means.

FIG. 7 is a longitudinal sectional side view of the tuning means in a state in which the continuously variable transmission for traveling transmission is switched to forward.

FIG. 8 is a longitudinal sectional side view of the tuning means in a state where the continuously variable transmission for traveling speed is switched to neutral.

FIG. 9 is a longitudinal sectional side view of the tuning means in a state where the continuously variable transmission for traveling speed is switched to reverse.

FIG. 10 is a longitudinal sectional side view of the tuning means in a state where the continuously variable transmission for traveling is switched to the forward direction and the continuously variable transmission for turning is switched to the neutral position.

FIG. 11 is a longitudinal sectional side view of the tuning means in a state where the continuously variable transmission for traveling speed is switched to the forward direction and the continuously variable transmission for turning is switched to the reverse direction.

FIG. 12 is a longitudinal sectional side view of the tuning means in a state where the continuously variable transmission for traveling speed is switched to reverse and the continuously variable transmission for turning is switched to neutral.

FIG. 13 is a longitudinal sectional side view of the tuning means in a state where the continuously variable transmission for traveling speed is switched to reverse and the continuously variable transmission for turning is switched to reverse.

FIG. 14 is an explanatory diagram of the operation of the pull operation arm.

FIG. 15 is an explanatory diagram of the operation of the pulling operation means.

FIG. 16 is an operation system diagram of a shift member.

FIG. 17 is an explanatory diagram of the operation of the correction means.

FIG. 18 is a longitudinal sectional view of a correction unit.

FIG. 19 is a diagram showing a change in speed between a center gear and a side gear according to a main speed change operation.

FIG. 20 is an explanatory diagram showing a relationship between a turning operation amount in a high-speed running state and a speed of a traveling device inside the turn.

FIG. 21 is an explanatory diagram showing a relationship between a turning operation amount in a low-speed running state and a speed of a traveling device inside the turning.

FIG. 22 is a flowchart of a direction control routine.

FIG. 23 is a flowchart of a direction control routine showing another embodiment.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 traveling device 9 continuously variable transmission for traveling speed change 10 continuously variable transmission for turning 14 first traveling device drive unit 16L, 16R second travel device drive unit 35 turning operation tool 80 bending tendency detecting means 82 control means

Claims (3)

(57) [Claims] In a working machine configured to change a traveling direction by giving a difference between driving speeds of left and right traveling devices , an artificial leftward operation of a turning operation tool within a set time is provided.
The number of corrective operations and the number of manual corrective operations to the right, and the leftward artificial corrective operation of the turning operation tool within the set time
The total time obtained by integrating the time required for
Accumulated time obtained by adding the time required for the artificial correction operation , turning operation
Accumulation of artificial correction operations in the horizontal direction for the tool
A turning tendency detecting means for detecting a running direction tendency by any one of an operation amount, and an automatic direction for automatically correcting the driving speed of the left and right traveling devices based on a detection result of the turning tendency detecting means. A steering operation device for a working machine provided with a correction means. 2. A means for providing a difference between the driving speeds of the left and right traveling devices is provided with a continuously variable transmission for traveling speed driving the left and right traveling devices, wherein the turning operation tool is in a straight-ahead position. A continuously variable transmission for turning, which operates in synchronization with the continuously variable transmission and decelerates with an increase in the amount of turning operation of the turning operation tool, is provided. The turning interlocking means for interlocking the inside of the turning with the continuously variable transmission for traveling speed change and interlocking the traveling inside of the turning with the continuously variable transmission for turning is provided. Steering operation device for work equipment. 3. The automatic direction correcting device according to claim 1, wherein the rotation speed of the first traveling device drive unit is higher than the rotation speed of the first traveling device drive unit when the turning operation tool is at the straight-ahead position. 3. The work according to claim 2, further comprising means for setting the number of revolutions of the second traveling device drive unit to a number of revolutions smaller than the set value, and providing control means for operating the turning interlocking means based on the detection result of the bending tendency detecting means. Machine steering operation device.