JP3552482B2 - Crawler type traveling device - Google Patents

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to steering means for a crawler type traveling device such as a combine or a harvester.
[0002]
[Prior art]
There is a combiner in which a traveling device having a pair of left and right traveling crawlers that travels on a soil surface is disposed below a body frame, and a harvester, a threshing device, a grain storage tank, and the like are mounted on the body frame. The speed of such a combine is controlled by a hydrostatic transmission (hereinafter referred to as HST) as a main transmission and a transmission having an auxiliary transmission by the power of the engine, and a speed difference is given to a pair of right and left crawlers so that a traveling direction is provided. Can be changed.
[0003]
[Problems to be solved by the invention]
In the case of a combine with an all-mechanical transmission, it was necessary to shift the traveling speed with a plurality of levers, but in the case of a combine with an HST, it was possible to steplessly shift the forward / backward and traveling speeds by operating only one HST lever. As a result, the operator operates the HST lever with one hand (eg, left hand) to adjust the traveling speed, and operates the power steering lever with the other hand (eg, right hand) to determine the traveling direction and the height of the reaper. So-called one-hand and one-lever operation to adjust the length has become possible.
[0004]
The use of a power steering lever makes it possible to steer the combine in the running direction and move the harvester up and down with a single operating rod, making the operation of the combine easier and easier than before. As the use of the steering wheel in the traveling direction has become more popular due to the spread of the steering wheel, a combine that steers by a rotating handle has been developed.
[0005]
There are the following problems to be solved in the combine operated by the steering wheel method.
In other words, in steering by a rotating handle of a car such as a passenger car or a truck, the traveling direction is changed by rotating the rotating handle to change the steering angle of an automobile tire. The direction change is performed by giving a speed difference to the crawler, and the speed difference is given by ON / OFF of the clutch in the transmission, ON / OFF of the brake, or ON / OFF of the reverse running clutch. If this is the case, there is a problem that smooth steering operation is difficult, and unintended sudden turning occurs because the operation cannot be performed smoothly.
[0006]
Therefore, an object of the present invention is to facilitate the steering operation by a rotating handle of a combine and improve safety.
[0007]
[Means for Solving the Problems]
The above object of the present invention is solved by the following constitution.
That is, a traveling device having a rotary steering operation tool that travels with a pair of left and right crawlers and performs a rotation operation to perform steering, wherein a steering operation tool load at the time of the rotation operation of the rotary steering operation tool is provided. Increases in proportion to the operating angle of the steering operation tool, and by selecting either gentle turning or sharp turning in advance, even if the rotary steering operating tool has the same operating angle, The crawler-type traveling device includes a mechanism for controlling the steering operation tool load to be larger when the sharp turn is selected when the sharp turn is selected.
[0008]
To explain the present invention in a concrete example, as shown in FIG. 6, since a handle arm 65 provided below the rotary handle 60 is tensioned by left and right load springs 77R and 77L, an operator operating the rotary handle 60 It is the same for the gentle turning (brake turn) and the sharp turning (spin turn) that the steering wheel load sensed by the steering wheel increases in proportion to the steering wheel operating angle. Since the handle load motor 71 is operated so that the tension of the load springs 77R and 77L is larger in the spin turn than in the brake turn, the handle load sensed by the operator operating the rotary handle 60 increases in proportion to the handle operation angle. When the spin turn is selected at the same steering angle, the brake Than when selecting act to be sensitive large handle loads.
[0009]
For example, the handle load at the handle operation angle β is m during a brake turn, but becomes M during a spin turn (see FIGS. 8 (e) and 9 (e)). When the combine is turned to the left in the spin turn, the operation is the opposite of the above-described right turn.
[0010]
BEST MODE FOR CARRYING OUT THE INVENTION
An embodiment of the present invention will be described with reference to the drawings. One embodiment of the present invention will be described with reference to FIGS.
FIG. 1 is a left side view of a combine according to an embodiment of the present invention, FIG. 2 is a right side view of the combine, FIG. 3 is a front view of the combine, and FIG. 5 is a perspective view of the vicinity of the operator's seat of the combine, FIG. 6 is a perspective view of a rotating handle portion, FIG. 7 is a diagram showing a control circuit related to steering, and FIG. FIG. 9 is a diagram showing the relationship between the rotation handle operation angle and the clutch pressure, the brake pressure, and the handle load when “S” is selected. FIG. 9 shows the relationship between the rotation handle operation angle and the clutch pressure, the brake pressure, and the handle load when the spin turn is selected. It is a figure showing a relation.
[0011]
As shown in FIGS. 1 to 3, a traveling device 4 having a pair of left and right traveling crawlers 3 </ b> R and 3 </ b> L traveling on the soil surface is disposed below the body frame 2 of the combine 1, and a front end side of the body frame 2. Is provided with a reaper 6 and a feeder 7. The cutting device 6 includes a weeding tool 8 for weeding the planted grain culm, a raising case for causing the planted grain culm, a cutting blade 11 for cutting the planted cereal culm, and a clipped culm. And a stock source transport device 12 that transports backward. Behind the stock carrier 12, there is provided a supply carrier 7 that takes over and transports the grain stalks conveyed from the stock carrier 12.
[0012]
Since the mowing device 6 is supported by the mowing device support frame 13 that moves up and down about the fulcrum above the traveling device 4, the mowing device 6 is configured to move up and down together with the mowing device support frame 13.
[0013]
Above the body frame 2, a threshing device 15 having a feed chain 14 for taking over and transporting the grain culm conveyed from the supply / conveyance device 7, and a Glen for temporarily storing the kernels threshed and sorted by the threshing device 15 A tank 16 is placed, and a vertical auger 16a is erected at the rear of the Glen tank 16, and a horizontal auger 16b is connected to the vertical auger 16a to discharge grains in the Glen tank 16 to the outside of the combine 1. It has a configuration.
[0014]
As shown in FIG. 4, the traveling speed of the combine 1 is controlled by operating the power of the engine (not shown) by operating the hydrostatic transmission HST20 of the main transmission of the transmission 19 by the main transmission HST lever 51 (FIG. 3). The gear shift means of the machine 25 is operated by the auxiliary shift rod 52 (FIG. 3) to change gears, and is transmitted to the left and right crawlers 3R and 3L to run at an arbitrary speed. The steering operation of the combine 1 is performed by operating the rotary handle 60 in the operation seat 50 (see FIG. 3). That is, the traveling direction of the combine 1 is controlled by rotating the rotary handle 60 in a direction in which the combine 1 is turned, thereby operating the clutch and the brake in the transmission 19 to give a speed difference to the left and right crawlers 3R and 3L. This is a configuration for changing the traveling direction.
[0015]
The main parts of the transmission 19 shown in FIG. 4 include a main transmission hydrostatic transmission HST20, an auxiliary transmission 25, first clutches 36R and 36L, second clutches 44R and 44L, a brake 46, a clutch 48, running shafts 39R and 39L, It comprises a crawler drive sprocket wheel 40R, 40L, etc., and has an input pulley 19a for driving force from the engine and a reaper drive pulley 27a for transmitting power to the reaper 6.
[0016]
The mechanical rotation driving force transmitted from the engine to the input pulley 19a is converted into hydraulic pressure by the variable displacement hydraulic pump 21 of the HST 20, and is converted again into mechanical rotation force by the hydraulic motor 23. By controlling the variable displacement hydraulic pump 21, the oil flow can be changed from 0% to ± 100% in a stepless manner. In response to this oil pressure, the rotational speed of the hydraulic motor 23 is steplessly changed from 0% to ± 100%. Can be changed to
[0017]
The output shaft 24 of the hydraulic motor 23 drives an auxiliary transmission input pinion 26 directly connected to the output shaft 24, and drives an auxiliary transmission first gear 31 that always meshes with the input shaft. The sub-transmission second gear 30 and the sub-transmission third gear 29 are fixedly provided integrally with the first gear 31, and are loosely fitted to the sub-transmission shaft 27 so as to be slidable in the axial direction and relatively non-rotatable. In the axial direction, the first gear 31 and the first counter gear 31 ′, the second gear 30 and the second counter gear 30 ′, and the third gear 29 and the third counter gear 29 ′, respectively. The sub speed is changed to high speed, medium speed and low speed. The sub-transmission shaft 27 rotates together with the first gear 31 to transmit power to the reaper drive pulley 27a.
[0018]
The first counter gear 31 'directly meshes with the gear 32a fixed to the second counter shaft 32 (FIG. 4 is an exploded view, so that the gear 31' and the gear 32a do not seem to mesh), and the sub-shift is performed. The pinion 32b fixed to the second counter shaft 32 directly meshes with the clutch gear 34 of the first clutch shaft 33 (the pinion 32b and the clutch Gear 34 does not appear to mesh.) Transmits power.
[0019]
The clutch gear 34 is provided with annular clutch teeth 34R and 34L which are formed in a ring shape on the inner peripheral left and right sides of the gear disk so as to protrude in the axial direction. A first clutch right 36R engraved with a first clutch tooth right 35R protruding in the axial direction opposite to the tooth shape 34R is loosely fitted slidably in the axial direction, and is normally urged by the coil spring 33R. The axial clutch tooth profile 34R and the first clutch tooth profile right 35R mesh with each other non-rotatably to transmit power to the first clutch right 36R, and the transmitted power meshes with the pinion 37R fixed to the first clutch right 36R. It is transmitted to one traveling gear 38R, and drives the right crawler 3R via the traveling shaft right 39R and the right crawler driving sprocket 40R.
[0020]
The first clutch shaft 33 is also provided with a first clutch left 36L engraved with a first clutch tooth left 35L which is annular and protrudes in the axial direction opposite to the axial clutch tooth 34L so as to be slidable in the axial direction. It is loosely fitted and is normally urged by the coil spring 33L so that the axial clutch tooth form 34L and the first clutch tooth form left 35L mesh with each other so that they cannot rotate relative to each other to transmit power to the first clutch left 36L, and the transmitted power is The power is transmitted to a first traveling gear 38L that meshes with a pinion 37L fixed to the first clutch left 36L, and drives the left crawler 3L via the traveling shaft left 39L and the left crawler driving sprocket 40L.
[0021]
The transmission 19 has two clutch shifters 41R and 41L. Each of the clutch shifters 41R and 41L has a substantially L-shape with two arms, and supports a corner of the L-shape with a rotating shaft. By rotating with an actuator not shown, the above-mentioned first clutches 36R, 36L and the second clutches 44R, 44L described below are connected and released, respectively.
[0022]
The outer periphery of the first clutch right 36R forms a brake gear 42R. The brake gear 42R is engaged with the second clutch right 44R, which is axially slidably and rotatably loosely fitted on the second clutch shaft 43, with a clutch pinion 43R integral with the second clutch shaft 43. Mesh with each other.
[0023]
An outer periphery of the first clutch left 36L forms a brake gear 42L. The brake gear 42L is integral with a second clutch left 44L which is axially slidably and rotatably loosely fitted on the second clutch shaft 43 in a clutch pinion 43L. Mesh with.
[0024]
Two clutch plates 45R and 45L are fixed to the second clutch shaft 43, and the second clutch right 44R and the clutch plate 45R, and the second clutch left 44L and the clutch plate 45L each have a clutch tooth shape projecting in the axial direction. The clutch is connected or released by the operation of the clutch shifters 41R and 41L.
[0025]
A multi-plate type hydraulic brake 46 is fixed to one shaft end of the second clutch shaft 43, and the rotation of the second clutch shaft 43 is braked by operating the brake arm 47.
[0026]
The driven side of a hydraulic clutch 48 is fixed to the other shaft end of the second clutch shaft 43, but is normally insulated from the driving side of the clutch 48, and the driving side and the driven side are relatively Rotate freely. The rotation of the second counter shaft 32 is performed by a reverse rotation gear 32c fixed to the counter shaft 32, a counter shaft gear 49c of the third counter shaft 49 meshing with the reverse rotation gear 32c, a counter shaft pinion 49a, an idler gear (not shown), The driving direction of the clutch 48 is transmitted to the driving side of the clutch 48 via a clutch gear 48a integral with the driving side of the clutch 48. The direction of rotation is the same as the direction of rotation of the second clutch shaft 43 when the first clutch 36 is connected. It is the opposite direction.
[0027]
That is, the transmission 19 changes the rotational power of the engine by the main transmission HST 20 and the auxiliary transmission 25, and when the first clutches 36R, 36L are connected, the traveling shafts 39R, 39L, and thus the crawler drive sprockets 40R, 40L. Driving at a constant speed causes the crawlers 3R and 3L to move forward at a constant speed.
[0028]
FIG. 4 shows that the clutch shifter right 41R is not operated, the first clutch right 36R is connected, the second clutch right 44R is opened (disconnected), the clutch shifter left 41L is operated, and the first clutch left 36L is opened (disconnected). The second clutch left 44L indicates a connected state. In this state, if neither the brake 46 nor the clutch 48 is operated, the crawler right 3R moves forward and the crawler left 3L becomes free, so that the combine 1 turns slowly to the left. I do.
[0029]
When the brake 46 is operated in the state shown in FIG. 4, the braking force is applied to the crawler left 3L via the second clutch left 44L, the pinion 43L, the brake gear 42L, the first clutch pinion 37L, the running gear 38L, and the crawler driving sprocket 40L. Is transmitted. That is, since the crawler left 3L is braked and the crawler right 3R continues to move forward, the combine 1 turns left (brake turn). The magnitude of the turning radius changes according to the magnitude of the braking force of the brake 46.
[0030]
When the clutch 48 is operated without operating the brake 46 in the state shown in FIG. 4, the power of the second counter gear 32a is transmitted to the reverse rotation gear 32c, the count shaft gear 49c, the counter shaft pinion 49a, and the clutch gear 48a, The second clutch gear 43 is rotated. At this time, the left crawler 3L decelerates and moves forward with respect to the right crawler 3R, so that the left crawler 3L slowly turns (mild turn). At this time, when the reverse rotation gear 32c is slid in the lateral direction to engage the reverse rotation gear 32c with the clutch gear 48a, the power of the second counter shaft 32 rotates the second clutch shaft 43 and reversely moves the left crawler 3L. Let it. At this time, since the right crawler 3R is moving forward, the combine 1 makes a sharp left turn (spin turn).
[0031]
FIG. 5 is a perspective view of the vicinity of the operation seat 50 of the combine 1. The rotation handle 60 is disposed on the operation panel 17 in front of the operation seat 50, and a spin turn / brake turn selection switch 69 and a handle load setting dial 70 are provided. A main transmission HST lever 51 and an auxiliary transmission rod 52 are disposed on the left side of the operation seat 50.
[0032]
FIG. 6 is a perspective view showing only the rotary handle 60. That is, the rotating handle 60 connects the annular handle wheel 61 to the handle boss 63 with a plurality of handle spokes 62 and is fixed to the top of the handle column 64. The handle column 64 is rotatably supported by shaft support means (not shown), and a handle arm 65 is fixedly protruded below the handle column 64 in a direction perpendicular to the axis of the handle column 64. A pin 66 parallel to the handle column 64 is erected at a separated position, and one end of a sensor yoke 67 is loosely fitted to the pin 66, and the other end of the sensor yoke 67 is fixed to a rotating shaft of the handle position sensor 67. Thus, the rotation axis of the handle position sensor 67 is rotated in proportion to the rotation angle of the handle wheel 61. Therefore, the handle position sensor 67 transmits a signal proportional to the rotation angle of the handle wheel 61 via the handle arm 65 and the sensor yoke 68.
[0033]
In the present invention, one end of each of load springs 77R and 77L such as two coil springs is connected to the right and left positions of the handle arm 65 close to the planting pin 66, and the other end of the load spring 77R is a first L-shaped. The other end of the load spring 77L is connected to one end of the link 73 and one end of the second L-shaped link 76.
[0034]
The first L-shaped link 73 fixedly supports the center (the L-shaped corner) of the link on a shaft 72 of a handle load motor 71 composed of a deceleration motor or the like. A pin is connected to one end of the link 74. The second L-shaped link 76 rotatably supports a central portion (an L-shaped corner) of the link 76 by a fixed fulcrum 75, and the other end of the link 76 is the other end of the tie link 74. Pin connection. When the handle load motor 71 is rotated clockwise, the first L-shaped link 73 also rotates clockwise to apply tension to the load spring 77R. At the same time, the second L-shaped link 76 rotates counterclockwise by the action of the tie link 74 to apply tension to the load spring 77L. That is, when the handle load motor 71 is rotated clockwise, the load spring 77R and the load spring 77L are extended and tension is applied, and when the handle arm 65, and thus the handle wheel 61, is rotated, a resistance force, that is, a handle load is applied. Further, it acts so as to apply a handle load proportional to the rotation angle of the rotation handle 60.
[0035]
In the present invention, the operation panel 17 (FIG. 5) is provided with a spin turn / brake turn selection switch 69 (FIG. 5), and the selection switch 69 is previously selected to be either a spin turn or a brake turn. It is characterized in that the steering wheel load acting on the wheel 60 is controlled to be larger when a spin turn is selected than when a brake turn is selected. Further, a handle load setting dial 70 (FIG. 5) is provided on the operation panel 17 so that the handle load can be arbitrarily changed.
[0036]
As shown in FIG. 6, a pin 73a for connecting the tie link 74 of the first L-shaped link 73 is slightly protruded and engages with the sensor yoke 78 of the handle load sensor 79 to form the first L-shaped link. The handle load sensor 79 can transmit a handle load as a structure capable of detecting the rotation of the 73, that is, the degree of extension of the load springs 77R and 77L.
[0037]
FIG. 7 is a diagram of the control circuit 90 showing only a portion related to the steering operation. The handle position sensor 67, the pressure sensor of the brake 46, the pressure sensor of the clutch 48, the pressure sensor of the clutch shifter left 41L, and the clutch shifter right 41R. Signals of the pressure sensor, the vehicle speed sensor, the steering wheel load sensor 79, the spin turn / brake turn selection switch 69, and the steering wheel load setting dial 70, are input to the CPU 91, calculated by the CPU 91, converted into output signals, and output to the clutch shifter. The solenoid 41L, the solenoid 41R of the clutch shifter right, the solenoid of the brake 46, the solenoid of the clutch 48, and the handle load motor 71 are respectively controlled.
[0038]
The operation of the embodiment of the present invention configured as described above will be described with reference to FIGS. 8A to 8E and FIGS. 9A to 9E, the horizontal axis is the operation angle of the rotary handle 60, and FIG. 8 is a diagram showing the operation when the brake turn is selected. FIG. 9 is a diagram showing an operation when a spin turn is selected.
[0039]
First, the case where the operator selects the spin turn / brake turn selection switch 69 (FIG. 5) for the brake turn will be described. When the rotating handle 60 is operated as shown in FIG. 8A, the handle position sensor 67 transmits a position value proportional to the handle operation angle (see FIG. 6). As shown in FIG. 8 (b), a section where the steering wheel operation angle is plus or minus α is a so-called steering wheel play section. In the dead zone of the clutch operation and the brake operation, the clutch shifter right 41R and the clutch shifter left 41L do not operate. Therefore, the first clutch right 36R and the first clutch left 36L are connected together, the left and right crawlers 3R and 3L advance at a constant speed, and the combine 1 travels straight.
[0040]
When turning the combine 1 to the right, the handle 60 is rotated to the right. When the steering wheel operation angle reaches α, the clutch shifter right 41R is activated (FIG. 8 (b)), the first clutch right 36R is disconnected, and at the same time, the second clutch right 45R is connected, and the engine is powered by the crawler. The power is not transmitted to the right 3R and the crawler right 3R is in a free state. At this time, since the first clutch left 36L is connected, the power of the engine is transmitted to the crawler left 3L and the traveling continues, so that the combine 1 is shifted to the right. Turn slowly in the direction. When the steering wheel operation angle is further increased beyond α, the brake pressure increases (FIG. 8C), and the brake 46 starts operating. By operation of the brake 46, the crawler right 3R connected to the second clutch right 45R is subjected to a braking force and the traveling speed is reduced, and thus the combine 1 is turned clockwise. When the steering wheel operating angle is between α and β, the larger the steering wheel operating angle, the larger the brake pressure (FIG. 8C). Therefore, the larger the steering wheel operating angle, the sharper the right turn of the combine 1. Become.
[0041]
When the steering wheel operation angle reaches β, the brake pressure, that is, the braking force becomes maximum, the right crawler 3R stops, and the combine 1 turns around the right crawler 3R as a turning center. Even when the steering wheel operation angle is greater than β, the brake pressure, that is, the braking force, maintains the same value as in the steering wheel operation angle β (FIG. 8C), and the turning state of the combine 1 is also the steering wheel operation angle β. Is the same as Since the handle arm 65 provided below the rotary handle 60 is tensioned from the left and right by the load springs 77R and 77L (see FIG. 6), the handle load detected by the operator operating the rotary handle 60 (the handle operation angle β) Handle load = m) increases in proportion to the handle operation angle (FIG. 8 (e)).
[0042]
When the combine 1 is turned to the left in the brake turn, the operation is the opposite of the above-described right turn.
When the brake turn is selected, the clutch 48 for the spin turn and the mild turn is not operated, so that the spin clutch pressure remains zero regardless of the steering wheel operation angle (FIG. 8D).
[0043]
Next, a case where the operator selects the spin turn / brake turn selection switch 69 to be a spin turn will be described. When the rotating handle 60 is operated as shown in FIG. 9A, the handle position sensor 67 transmits a position value proportional to the handle operation angle. As shown in FIG. 9 (b), a section where the steering wheel operation angle is plus or minus α is a so-called steering wheel play section. The left and right crawlers 3R and 3L advance at a constant speed, and the crawler 1 goes straight.
[0044]
When turning the crawler 1 to the right, the handle 60 is rotated to the right. When the handle operation angle reaches α, the clutch shifter right 41R (FIG. 4) operates (FIG. 9B), the first clutch right 36R (FIG. 4) is disconnected, and at the same time, the second clutch right 45R (FIG. 4). 4) is connected, the power of the engine is not transmitted to the right crawler 3R, and the right crawler 36R is in a free state. However, at this time, since the first clutch left 36L is connected, the power of the engine is transmitted to the crawler left 3L to continue running, so that the combine 1 turns slowly to the right. When the steering wheel operation angle is further increased beyond α, the brake pressure increases (FIG. 9C), and the brake 46 starts operating. By the operation of the brake 46, the crawler right 3R connected to the second clutch right 45R is subjected to a braking force to reduce the traveling speed, and thus causes the crawler 1 to turn clockwise. When the steering wheel operating angle is between α and β, the larger the steering wheel operating angle, the larger the brake pressure (FIG. 9C). Therefore, the larger the steering wheel operating angle, the sharper the right turn of the combine 1. become.
[0045]
When the steering wheel operation angle reaches β, the brake pressure, that is, the braking force becomes maximum, the right crawler 3R stops, and the combine 1 turns around the right crawler 3R, so that the sharpest turn in the brake turn. When the steering wheel operation angle exceeds β, the brake pressure, that is, the braking force becomes zero (FIG. 9 (c)), and at the same time, the spin clutch pressure increases (FIG. 9 (d)). The shaft 43 reversely rotates. As a result, the right crawler 3R finally moves backward, but the left crawler 3L continues to move forward, so that the combine 1 makes a sharp turn (spin turn) on the spot.
[0046]
As shown in FIG. 6, the handle arm 65 provided below the rotary handle 60 is tensioned by the load springs 77R and 77L from the left and right. The same applies to both the brake turn and the spin turn. However, as a feature of the present invention, the control device 90 controls the load of the handle so that the tension of the load springs 77R and 77L is larger in the spin turn than in the brake turn. Since the operating motor 71 is operated, the handle load perceived by the operator who operates the rotary handle 60 increases in proportion to the handle operation angle, and at the same handle operation angle, a larger handle load is applied to the spin turn than to the brake turn. It works so that it can be sensed. For example, the handle load at the handle operation angle β is m during the brake turn, but becomes M during the spin turn (see FIGS. 8 (e) and 9 (e)). When the combine 1 is turned to the left in a spin turn, the operation is the opposite of the above-described right turn.
[0047]
Although the spin clutch pressure is stepwise increased at the steering wheel operating angle β in FIG. 9D, the spin clutch pressure is set so as to perform an operation of increasing the ramp in proportion to the steering wheel operating angle similarly to the brake pressure. It is also possible to reduce the sharpness of the sharp turn.
[0048]
With the combine 1 acting as described above, the following effects can be obtained.
That is, a traveling device such as a combine 1 having a pair of right and left crawlers 3R and 3L in the traveling device 4, wherein the steering means of the traveling device is the rotating handle 60, and the steering wheel load during the rotating operation of the rotating handle 60 is reduced. The handle load increases in proportion to the steering wheel operating angle, and even when the operating angle is the same, the operator selects a brake turn or a spin turn in advance, and the handle load becomes larger when the spin turn is selected. It is characterized by a configuration that controls so that, for example, it is always possible to select a brake turn and perform operations such as mowing, which is easy to operate and has little danger of driving operation, such as work in a narrow place When a sharp turn is required, a spin turn can be selected to perform a small-turn driving and steering operation.
[0049]
Further, with the above configuration, whether the brake turn or the spin turn is selected can be determined based on the magnitude of the handle load of the rotary handle 60 without having to check the selection switch 69 each time, and it is extremely rapid The steering wheel load is increased when selecting a spin turn that can turn but poses a risk to the steering operation, so that the operator can easily determine whether the brake turn or the spin turn is selected by operating the steering wheel As a result, it is possible to avoid inadvertently making dangerous spin turns and to maintain safety.
[0050]
Also, a handle load setting dial 70 is installed on the operation panel 17 of the operation seat 50 (FIG. 5), and the operator adjusts the handle load by using a configuration (FIG. 7) in which an arbitrary handle load can be manually input to the CPU 91 of the control device 90 (FIG. 7). If it is made possible, the steering wheel load can be adjusted according to the physical strength of the operator, and the difference between the steering wheel load between the brake turn and the spin turn can be adjusted according to the operator's request. Operability can be further improved. The selection switch 69 may be set so as to select a mild turn.
[0051]
Further, it is preferable that the handle load of the rotary handle 60 is increased in proportion to the traveling speed of the traveling device. However, even when the crawler 3 runs backward in a spin turn or the like, it is necessary to provide an appropriate handle load. By adopting a value obtained by detecting the rotation angle of the main transmission HST lever 51 or a value obtained by detecting the rotation speed of the counter shaft 28 of the transmission 19 as a detection value instead of the vehicle speed of the traveling device 4, the vehicle speed during forward traveling is determined. Is obtained.
[0052]
By employing the above configuration, a detection value that does not become zero even when the vehicle speed is almost zero during reverse running such as a spin turn can be obtained, and this is used as the detection value of the vehicle speed sensor as shown in FIG. The control is input to the CPU 91 to increase the handle load of the rotating handle 60 as the vehicle speed increases and the turning amount such as a spin turn increases, and the steering of the traveling device having the crawler 3 by the rotating handle 60 can be performed. Operability can be further improved.
[0053]
FIG. 10 shows a modification in which the operability and safety of the traveling device such as the combine 1 of the embodiment shown in FIGS. 1 to 9 are improved.
In other words, the main transmission HST20 that controls the speed change and the forward / reverse movement in the combine 1 is operated by the operator operating the HST lever 51 provided on the side of the operator's seat 50 with the left hand, or provided on the step surface 53 in the lower front part of the operator's seat 50. Although the foot pedal 80 is operated by the operator's foot and can be operated from any of them, the conventional foot pedal 80 is provided substantially horizontally on the horizontal step 53 on which the operator's foot is put. There are problems that it is difficult to perform a stepping operation and that the foot is easily caught by the foot pedal 80 when getting on and off the operation seat 50.
[0054]
Therefore, as shown in a side view including a partial cross section in the vicinity of the operation seat 50 in FIG. 10, the height position and the front-back position of the operation seat 50 and the height position of the step 53 are all adjustable. In the steering operation of the combine 1 performed by the rotary handle 60, the step 53 of the inner portion of the steering post cover 60a in front of the operator's seat 50 is changed to a step 53a in which the front is made higher and the rear is made lower. The foot pedal 80 is installed so as to be able to swing forward of the upper surface of the rotation handle 60 from below vertically below the rotary handle 60.
[0055]
The foot pedal 80 is a wire for transmitting the swinging motion of the footrest plate 81 in the front-rear direction by supporting the footrest plate 81 having an inverted letter shape in a side view with a pin 82 on the inclined step 53a so as to be able to swing freely in the vicinity of the inverted letter bending point. By connecting the 83 and 84, the T-shaped intermediate arm 85 supported by the rotation fulcrum 86 is rotated, and the rotation of the T-shaped intermediate arm 85 is further controlled by the wire 87 to the transformer of the variable displacement hydraulic pump 21 of the HST 20. The HST 20 is configured to transmit the force to the pinion shaft 21a. The HST 20 is configured to move forward if the foot rest plate 81 is stepped forward, to move backward if the foot rest plate 81 is stepped backward, and to increase the speed as the force is stepped on in any direction. , The transpinion shaft 21a of the variable displacement hydraulic pump 21 is rotated.
[0056]
According to the configuration of FIG. 10, the operator does not take an unreasonable posture, while supporting the rotating handle 60 with both hands (or right hand) while steering in the operating seat 50 in a correct posture, and steering the traveling direction of the combine 1. By depressing the foot pedal 80 with both feet (or one foot), the forward, backward, speed-up, and deceleration of the combine 1 can be easily performed, and the left hand does not need to operate the main shift HST lever 51 at all. Since the switches on the operation panel 17 can be operated with the left hand with a margin, an extremely excellent effect in driving operation is obtained, and the position of the foot pedal 80 is provided inside the steering post cover 60a. When the operator moves up and down to the operation seat 50, safety problems such as the foot pedal being hooked on the foot pedal 80 can be solved.
[0057]
FIGS. 11 to 16 show modifications of the traveling apparatus such as the combine 1 according to the embodiment shown in FIGS. 1 to 9 for improving the operability and the safety for raising and lowering the vehicle height.
FIG. 11 is a left side view of the combine 1, FIG. 12 is a detailed side view including a partially cutaway cross section of the vehicle body frame 2 and the traveling device 4, and FIG. FIG. 14 is a plan view including a cutaway section, FIG. 14 is a perspective view of the vicinity of the operation seat 50, FIG. 15 is a cross-sectional view of the rotary handle 60, and FIG. 16 is a side view taken along line AA of FIG. .
[0058]
In a traveling device using the pair of left and right crawlers 3 as the traveling device 4, in particular, in the combine 1, it is necessary to increase the vehicle height when traveling in a wetland or a wetland, and therefore, the elevating means 103 ( FIG. 12) is provided.
[0059]
11 to 13, which show a combine 1 capable of raising and lowering the vehicle height, a traveling device 4 of the combine 1 is provided with a crawler 3 having an endless belt shape and a drive sprocket 40 for driving the crawler 3 at a predetermined interval. A plurality of ground wheels 116 for grounding the crawler 3 on the ground, a movable wheel 117 corresponding to unevenness of the ground, a track roller frame 118 supporting the ground wheel 116 and the movable wheel 117, a crawler 3 A sprocket 119 for applying tension to the crawler 3, an adjusting device 120 for adjusting the movement of the moving sprocket 119, a supporting wheel 121 for preventing the crawler 3 from hanging down, etc. Is provided.
[0060]
As shown in FIG. 12, the elevating means 103 are provided on the left and right sides of the traveling device 4 so that the left and right elevating means can be individually moved. Can be raised and lowered. The elevating means 103 is configured as follows. A front arm 122 is loosely connected to a pin 123 at the front of the track roller frame 118, and a rear arm 124 is loosely connected to a pin 125 at the rear. The other end of the front arm 122 is loosely connected to a front rolling shaft 127 of a support base 126 fixed to the vehicle body frame 2, and an arm 130 is loosely connected to the front rolling shaft 127. ing.
[0061]
The front arm 122 and the arm 130 are connected and fixed. The other end of the rear arm 124 is loosely connected to a rear rolling shaft 128 of a connecting arm 129 fixed to the vehicle body frame 2, and an arm 131 is loosely connected to the rear rolling shaft 128. . The rear arm 124 and the arm 131 are connected and fixed. The arm 130 and the arm 131 are loosely connected by a connecting rod 132, and the end of the arm 131 is loosely connected to the end of a piston rod 134 of the hydraulic cylinder 133. The hydraulic cylinder 133 is loosely fitted to a plate 133a which is loosely fitted to the vehicle body frame 2, and a plate 133b is provided from the loosely fitted axis, and the end thereof is connected to the pitching arm 139.
[0062]
The plate 133b allows the piston rod 134 of the hydraulic cylinder 133 to move. The reason why the hydraulic cylinder 133 is suspended by the plate 133a is to prevent the piston rod 134 of the hydraulic cylinder 133 from moving when the pitching hydraulic cylinder 143 is operated. The amount of movement of the piston rod 134 is detected by a potentiometer 134a and driven by a rod 134b.
[0063]
Accordingly, when the piston rod 134 of the hydraulic cylinder 133 is extended, in the left side view shown in FIG. 12, the arm 131 rotates clockwise to pull the connecting rod 132, and the connecting rod 132 rotates the arm 130 clockwise. . Then, both the rear arm 124 and the front arm 122 rotate clockwise, whereby the track roller frame 118 is lowered with respect to the vehicle body frame 2. When the piston rods 134 of the left and right hydraulic cylinders 133 are simultaneously extended, the vehicle body frame 2 is raised with respect to the ground.
The tilt adjustment of the body frame 2 in the front-rear direction is performed by the pinching cylinder 143.
[0064]
In addition, when the piston rod 134 of the hydraulic cylinder 133 is contracted, the operation is performed in a direction opposite to the above-described operation. When the piston rods 134 of the left and right hydraulic cylinders 133 are shortened at the same time, the body frame 2 descends with respect to the ground.
[0065]
FIG. 14 is a perspective view of the vicinity of the operation seat 50 of the combine 1 shown in FIG. 11, wherein the rotary handle 60 protrudes from the operation panel 17 in front of the operation seat, and the operation panel 17 has a long hole through which the column 64 of the rotary handle 60 can move back and forth. A lock device 99 for stopping the forward and backward movement of the rotary handle 60 is provided.
[0066]
FIG. 15 is a longitudinal sectional view of the rotary handle 60. The handle column 64 is rotatably supported by two sealed bearings 64a and 64b, and the bearings 64a and 64b are fitted to a handle housing vertical 92a. Journals 93 and 94 protrude from both sides of a handle housing side 92b integral with the handle 92a, and the journals 93 and 94 are rotatably supported by bearings 93a and 94a. 66, the sensor yoke 68 and the handle position sensor 67 are built in, and even if an operation of moving the handle column 64 back and forth described below is performed, the rotation angle of the handle wheel 61 for steering is accurately detected by the handle position sensor 67. The structure can be transmitted.
[0067]
As shown in FIG. 16, when the operator pushes or pulls the handle wheel 61 of the rotary handle 60, the handle housings 92 a and 92 b rotate about the journals 93 and 94 as the rotation center, and the handle column 64 When the wheel 61 is pushed forward, the push lever 95a fixed to the handle housing 92a pushes the vehicle height up / down switch 95 to turn on the switch circuit and sends a signal to a control circuit (not shown). The vehicle height is lowered by operating the lifting / lowering means 103 (FIG. 12).
[0068]
When the handle wheel 61 of the rotary handle 60 is pulled backward, the push lever 96a fixed to the handle housing 92a pushes the vehicle height up / down switch 96 to turn on the switch circuit and sends a signal to a control circuit (not shown) to reduce the vehicle height. The control signal output to raise activates the vehicle body frame lifting / lowering means 103 to increase the vehicle height.
[0069]
The handle housing 92a is pulled from the front and rear directions by tension springs 97 and 98 so that the handle column 64 is always stopped at the neutral position. A handle lock device 99 provided on the operation panel 17 (FIG. 1) is provided to detect a force load, and to prevent the vehicle height from being raised or lowered by erroneous operation when it is not necessary to change the vehicle height such as when driving on a road. According to 14), it is possible to lock the forward and backward movement of the rotary handle 60.
[0070]
In the combine 1 having the above structure, the operator can tilt the rotary handle 60 forward and backward while performing the steering operation with the rotary handle 60 without releasing the hand from the rotary handle 60, so that the vehicle height of the traveling device can be controlled up and down. In addition, the operation for raising and lowering the vehicle height is extremely easy, and the locking device 99 can lock the tilting of the rotary handle 60 in the front-rear direction. Therefore, the vehicle height can be prevented from being raised or lowered due to an accidental erroneous operation, and the traveling safety of the combine 1 can be improved.
[Brief description of the drawings]
FIG. 1 is a left side view of a combine according to an embodiment of the present invention.
FIG. 2 shows a right side view of the combine of FIG.
FIG. 3 shows a front view of the combine of FIG. 1;
FIG. 4 shows a partially cutaway sectional view of the transmission of the combine of FIG. 1;
FIG. 5 is a perspective view showing the vicinity of an operation seat of the combine shown in FIG. 1;
FIG. 6 is a perspective view of a rotating handle portion of the combine shown in FIG. 1;
FIG. 7 is a diagram showing a control circuit related to steering of the combine shown in FIG. 1;
FIG. 8 is a diagram showing a relationship between a rotation handle operation angle, a clutch pressure, a brake pressure, and a handle load when a brake turn is selected in the combine of FIG. 1;
FIG. 9 is a diagram showing a relationship between a rotation handle operation angle, a clutch pressure, a brake pressure, and a handle load when a spin turn is selected in the combine in FIG. 1;
FIG. 10 is a side view including a partial cross section near the operation seat of the combine according to the embodiment of the present invention.
FIG. 11 is a left side view of the combine according to the embodiment of the present invention, which can raise and lower the vehicle height.
12 shows a left side view of the traveling device of the combine of FIG. 12;
13 shows a plan view of the traveling device of the combine of FIG. 12;
FIG. 14 is a perspective view showing the vicinity of an operation seat of the combine shown in FIG. 12;
FIG. 15 shows a sectional view of the rotary handle of the combine of FIG. 12;
FIG. 16 is a side view taken along the line AA of FIG. 15;
[Explanation of symbols]
1 Combine 2 Body frame
3 traveling crawler 4 traveling device
6 Harvesting device 7 Supply and transport device
8 Weeding tools 11 Cutting blade
12 Stock carrier device 13 Mowing device support frame
14 Feed chain 15 Threshing device
16 Glen tank 17 Operation panel
18 Power steering 19 Transmission
50 Operation seat 51 Main shift lever (HST lever)
52 Sub transmission rod 53 Step
53a Inclined step 60 Rotating handle
60b Slot for rotating handle back and forth
61 Handle wheel 62 Handle spoke
63 Handle boss 64 Handle column
65 Handle arm 66 Standing pin of handle arm
67 Handle position sensor 68 Sensor yoke
69 Brake turn / spin turn selection switch
70 Handle load setting dial 71 Motor for handle load
72 axis 73 first L-shaped link
74 tie link 75 fulcrum
76 Second L-shaped link 77R, 77L Load spring
78 Sensor yoke 79 Load sensor
80 Foot pedal 81 Foot plate
82 Pin bearing 83, 84 Oscillating motion transmission wire
85 T-shaped intermediate arm 86 Rotating fulcrum
87 Rotation transmission wire 90 Control device
91 CPU 93, 94 Journal
93, 94a Bearing 95 Vehicle height switch
95a Push lever 96 Height switch
96a Push lever 97, 98 Tension spring
99 Locking device for rotation handle back and forth movement

Claims (1)

A traveling device having a rotary steering operation tool that travels by a pair of left and right crawlers and performs a rotation operation to perform steering.
The steering operation tool load at the time of the rotation operation of the rotary steering operation tool increases in proportion to the steering operation tool operation angle, and by selecting either a gentle turn or a sharp turn in advance, Even if the rotary steering operation tool has the same operation angle, a mechanism is provided that controls the steering operation tool load to be larger when sharp turning is selected than when gentle turning is selected. A crawler-type traveling device.

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