JP3982036B2 - Front-wheel drive device for power farm equipment - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a front wheel drive device for a power farm machine such as a tractor, a rice transplanter, or a lawn mower, and in particular, the power is branched from a gear transmission of a traveling system and transmitted to the front wheel. The present invention relates to a front wheel drive device for a power agricultural machine configured to transmit power from a transmission to drive a front wheel.
[0002]
[Prior art]
In power farm equipment such as tractors, rice transplanters, lawn mowers, etc., the engine power is transmitted to the rear wheels via a gear transmission, and the front wheels can be driven by branching the power from the gear transmission. The configuration is known. In such a configuration, the power transmission to the front wheels is turned on and off by the 4WD clutch to switch the four-wheel drive.
[0003]
In addition to the gear-type transmission, a transmission gear is provided on the power transmission shaft to the front wheels. When the vehicle body turns, the rotation speed of the front wheels is increased by the transmission gear so that the peripheral speed of the front wheels is higher than that of the rear wheels. There is also known a power farm machine that performs so-called front-wheel-accelerated turning control that shortens the turning time.
[0004]
[Problems to be solved by the invention]
In the conventional front wheel acceleration turning control, the front wheels are driven at high speed rotation at a speed increase ratio (for example, twice that of the rear wheels) set in advance with respect to the peripheral speed of the rear wheels when the vehicle is turning. Moreover, the turning radius of the vehicle body is reduced by depressing the brake pedal inside the turning and performing a one-brake operation. If the speed increase ratio of the front wheels can be increased with this one-brake operation, the turning time of the vehicle body becomes shorter and the turning performance can be improved. However, since the speed increasing ratio is constant unless the transmission gear combination is changed, the speed increasing ratio cannot be changed during one-brake operation.
[0005]
On the other hand, even if the situation changes during the turn of the vehicle body and both the left and right brake pedals are depressed, the front wheels remain accelerated, making it difficult to rapidly decelerate the vehicle, which is critical for avoiding danger. Had an influence.
[0006]
Therefore, there is a technical problem to be solved in order to shorten the turning time by driving the front wheels at high speed when turning the vehicle body and to change the speed increasing ratio of the front wheels according to the depression state of the brake pedal. The present invention aims to solve this problem.
[0007]
[Means for Solving the Problems]
The present invention has been proposed in order to achieve the above object, as well as transmitted to the engine (11) powered gear-type transmission apparatus (22) the rear wheel (18) via, said gear type transmission ( 22) a branched power the front wheel (20) powered agricultural machine which can be driven constructed from, apart from said gear type transmission (22) a path for driving front wheels (20), variable hydraulic pump ( 32) having a path for transmitting the power of the hydraulic transmission (31) having 32) to drive the front wheels (20) , and detecting the turning operation of the vehicle body (60) and the depression of the left and right independent brake pedals A means for detecting the operation, and a switching device (29) for switching the driving of the front wheels (20) from the path of the gear transmission (22) to the path of the hydraulic transmission (31) when the vehicle body turns, Brake pedal In front wheel drive system of a power agricultural machine that is configured to change the drive quantity of the front wheel (20) by the hydraulic transmission according to the depression state (31) (27),
When it is detected that the left and right brake pedals of the brake pedal are depressed simultaneously, the driving of the front wheels (20) by the hydraulic transmission (31) is checked, while only the brake pedal on one side is controlled. When the stepping operation is detected, the driving amount of the front wheel (20) by the hydraulic transmission (31) is configured to increase the driving compared to when the brake pedal operation is not detected. When a depression operation on one side of the brake pedal is performed, the depression position of the brake pedal, that is, the magnitude of the brake operation force is detected by the detection signal of the potentiometer (54, 55), and the brake operation force increases. Of the power agricultural machine configured so that the controller (70) drives the electric motor (85) so as to increase the speed increasing ratio. There is provided a wheel driving apparatus.
[0008]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 shows a tractor 10 as an example of a power farm machine. An engine 11 is placed on the front of a vehicle body and is covered with a hood 12. A seat 14 is mounted inside the cabin 13, and a steering handle 15, a shift lever 16, various operation switches and the like are provided. The power of the engine 11 is transmitted to the rear wheel 18 via a gear transmission housed in the transmission case 17, and the power branched from the gear transmission can be transmitted from the front wheel power transmission shaft 19 to the front wheel 20. It is configured as follows. A hydraulic pump 32 described later is provided in the vicinity of the driving portion of the front wheel 20, and the hydraulic pump 32 is driven by the power of the engine 11 and hydraulic oil is supplied to the hydraulic motor 33.
[0009]
FIG. 2 is a power transmission block diagram of the traveling system. The power of the engine 11 is turned on and off by a main clutch 21 and is sequentially moved by a forward / reverse switching device 23, a main transmission 24, and a sub-transmission 25 which are gear-type transmissions 22. After being turned or shifted, it is transmitted to the left and right rear wheels 18 via the differential device 26. The left and right rear wheels 18 are provided with brake devices 65 and 66, respectively, so that the brake operation can be performed independently by left and right brake pedals (not shown).
[0010]
Further, the power is branched from the gear type transmission 22 so that the front wheels 20 can be driven through the front wheel drive device 27. The power branched from the gear transmission 22 is turned on and off by the 4WD clutch 28 according to a command from a controller 70 described later, and is input to a switching device 29 connected to the front wheel power transmission shaft 19. This power is transmitted from the switching device 29 to the front wheel 20 via the differential device 30.
[0011]
On the other hand, the front wheel drive device 27 is provided with a path for driving the front wheels 20 with the power of the hydraulic transmission 31, in addition to the path for driving the front wheels 20 with the power from the gear transmission 22. The hydraulic transmission 31 has a variable hydraulic pump 32 and is configured to input the rotation of a hydraulic motor 33 driven by the hydraulic pump 32 to the switching device 29.
[0012]
Here, the switching device 29 selects one of the power path branched from the gear-type transmission 22 and the power path of the hydraulic transmission 31, and the power of the selected path is differentially selected. It is transmitted to the front wheel 20 through the device 30. The switching device 29 is provided with means for preferentially transmitting the power from the hydraulic transmission 31 when the vehicle body is turning, and for example, a one-way clutch is used as the priority transmission means.
[0013]
FIG. 3 shows a one-way clutch 34. A full-time driving wheel 35 connected to the front wheel power transmission shaft 19 has a rotating wall 37 provided with several trapezoidal cams 36, 36. Further, a driven wheel 40 provided with a plurality of small claws 39, 39... On the rear surface is provided at the rear position of the clutch shaft 38 that idles and holds the full-time driving wheel 35. It is attached via.
[0014]
The full-time driving wheel 35 and the driven wheel 40 are in an independent state, and a clutch portion 41 is attached between them. .. Are provided on the rear surface of the clutch portion 41, and the driving small claws that mesh with the small claws 39, 39. 43, 43... Are projected.
[0015]
Reference numeral 44 denotes a pressing spring that urges the clutch portion 41 so as to press it toward the cam 36 of the full-time drive wheel 35. Reference numeral 45 denotes a storage case, which rotates integrally with the full-time drive wheel 35 and provides resistance to rotation by brake tools 46, 46,. The full-time drive wheel 35, the clutch part 41, and the driven wheel 40 constitute a one-way clutch 34.
[0016]
Now, when the power branched from the gear transmission 22 is input to the one-way clutch 34 from the front wheel power transmission shaft 19, the full-time drive wheel 35 rotates and the cam 36 of the rotating wall 37 rotates the clutch portion 41. A thrust force acts on the driven cam 42, and the clutch portion 41 is pressed forward (leftward in the figure). Therefore, as shown in FIG. 4, the driving claw 43 of the clutch portion 41 is engaged with the claw 39 of the driven wheel 40, and the rotation of the full-time driving wheel 35 is transmitted to the driven wheel 40 via the clutch portion 41. Thus, the clutch shaft 38 that is spline-fitted to the driven wheel 40 is driven, and the power from the gear transmission 22 is transmitted to the differential device 30 of the front wheel so that the front wheel 20 has the same peripheral speed as the rear wheel 18. Driven.
[0017]
Here, when the front wheels 20 are driven by the power of the gear-type transmission, as shown in FIG. 4, the one-way clutch 34 is engaged and the full-time drive wheels 35 and the driven wheels 40 rotate at a constant speed. However, at this time, when the power from the hydraulic transmission 31 is input to the switching device 29, the clutch shaft 38 is driven by the rotation of the hydraulic motor 33. When the rotation of the driven wheel 40 becomes higher than that of the full-time driving wheel 35, the small pawl 39 rotates faster than the driving small pawl 43 to rotate the clutch portion 41 at a high speed. 41 as a whole moves rearward, and the driven wheel 40 and the clutch portion 41 are separated as shown in FIG.
[0018]
Accordingly, even when the front wheels 20 are driven by the power of the gear transmission 22, when the power from the hydraulic transmission 31 is input to the switching device 29, the one-way clutch 34 is disengaged. The driven wheel 40 is idled. That is, the power from the hydraulic transmission 31 is preferentially transmitted to the front wheels 20, and the front wheels 20 are driven at a peripheral speed corresponding to the rotational speed of the hydraulic motor 33.
[0019]
As the priority transmission means, in addition to the one-way clutch 34 described above, although not shown, a clutch is provided in each of the power path of the gear transmission 22 and the power path of the hydraulic transmission 31. The controller 70 may be configured to selectively engage or disengage any clutch.
[0020]
FIG. 5 is a block diagram of the control system. The potentiometer 51 detects the position lever operating position, and the potentiometer 52 detects the shift lever shift position. Further, the rotation angle of the lift arm, that is, the height of the rear working machine is detected by the potentiometer 53, and the depression positions of the left and right brake pedals are detected by the potentiometers 54 and 55, respectively.
[0021]
On the other hand, the reverse detection switch 56 is turned on when the forward / reverse switch 23 is switched to the reverse position, and the clutch pedal switch 57 is turned on when the clutch pedal is depressed to disengage the main clutch 21. Further, when the front wheel acceleration turning control is performed by the power of the hydraulic transmission 31 when the vehicle body is turning, the control on / off switch 58 is turned on in advance and the peripheral speed of the front wheel relative to the peripheral speed of the rear wheel, that is, the speed increasing ratio. Is arbitrarily set by the work mode dial 59, and the driving amount of the front wheels 20 by the power of the hydraulic transmission 31 is adjusted.
[0022]
Here, a front wheel break angle sensor 60 is provided as means for detecting the turning amount of the front wheel 20 accompanying steering of the steering handle 15, and an engine rotation sensor 61 is provided as means for detecting the rotational speed of the engine 11. As a means for detecting the turning operation of the vehicle body, in addition to directly detecting the steering angle of the front wheel 20 by the front wheel turning angle sensor 60, the rotation angle of the steering handle 15 and the operating speed of the steering handle 15 are measured. There is also a method for detecting the amount of expansion and contraction of the hydraulic cylinder of the power steering device.
[0023]
Further, a front wheel rotation sensor 62 and a rear wheel rotation sensor 63 are provided as means for detecting tire slip, and the front wheel rotation sensor 62 and the rear wheel rotation sensor 63 detect the rotational speeds of the front wheels 20 and the rear wheels 18, and this rotation. The difference is input to the controller 70 to calculate the tire slip ratio. Further, a tilt sensor 64 is provided as means for detecting the tilt of the vehicle body, and the tilt angle of the vehicle body is detected by the tilt sensor 64.
[0024]
Each of the detection signals is input to the controller 70. For example, the operation position of the position lever is determined based on the detection signal of the potentiometer 51, and the work implement raising solenoid of the electromagnetic control valve is operated to operate the lift cylinder for raising and lowering the work implement. A command signal is output to 81 or the work machine lowering solenoid 82. Alternatively, for example, the left brake solenoid of the electromagnetic control valve is used to determine the depression position of the left and right brake pedals based on the detection signals of the potentiometers 54 and 55 and to operate the brake cylinder of the rear wheel according to the magnitude of the operating force. A command signal is output to 83 or the right brake solenoid 84.
[0025]
Further, according to the control procedure described later, a control signal is output to the electric motor 85 which is an actuator for changing the discharge amount of the hydraulic pump 32, and the rotation speed of the hydraulic motor 33 is changed by increasing or decreasing the discharge amount of the hydraulic pump 32. Let Accordingly, the driving amount of the front wheels 20 by the hydraulic transmission 31 changes, and the peripheral speed of the front wheels 20 is controlled so as to be the speed increasing ratio set by the work mode dial 59 or the speed increasing ratio of the control target.
[0026]
FIG. 6 shows a hydraulic circuit, and the hydraulic transmission 31 is provided with a variable hydraulic pump 32. The hydraulic oil discharged from the hydraulic pump 32 is controlled by the electromagnetic control valve 90. When the control on / off switch 58 is off, the electromagnetic control valve 90 is in the normal position (A) and the hydraulic motor 33 is Not driven. When the control on / off switch 58 is turned on, the electromagnetic control valve 90 is switched to the offset position (B), and the oil discharged from the hydraulic pump 32 is led to the hydraulic motor 33.
[0027]
Here, when the electric motor 85 is driven to rotate the trunnion shaft, the angle of the swash plate or the oblique shaft, that is, the tilt angle of the hydraulic pump 32 changes, and the discharge amount of the hydraulic pump 32 increases or decreases. Accordingly, the flow rate of the hydraulic motor 33 changes, and the rotational speed of the hydraulic motor 33 can be arbitrarily adjusted. Although not shown, a variable hydraulic motor is used, and the rotational speed is arbitrarily adjusted by changing the flow rate of the hydraulic motor by changing the tilt angle of the hydraulic motor with the electric motor. May be.
[0028]
As described above, even if the 4WD clutch 28 is operated and the power branched from the gear transmission 22 is transmitted to the front wheel power transmission shaft 19, the power of the hydraulic transmission 31 is switched over. When input to 29, the power from the hydraulic transmission 31 is preferentially transmitted to the front wheels 20.
[0029]
In the figure, reference numerals 95a and 95b denote other hydraulic pumps. The hydraulic oil discharged from the hydraulic pump 95a is controlled by an electromagnetic control valve 96, and the controller 70 is used to raise the working machine raising solenoid 81 or the working machine. When the command signal is output to the descending solenoid 82, the hydraulic oil of the hydraulic pump 95a is supplied to the lift cylinder 97, and the working machine is moved up and down. On the other hand, the hydraulic oil discharged from the hydraulic pump 95b is supplied to the power steering circuit 99 via the pressure reducing valve 98, the steering cylinder 100 is driven, and the front wheel 20 turns.
[0030]
The hydraulic oil branched from the pressure reducing valve 98 is led to the left and right brake cylinders 103 and 104 via the electromagnetic control valves 101 and 102 and supplied to other hydraulic circuits. When a command signal is output from the controller 70 to the left brake solenoid 83 or the right brake solenoid 84, the electromagnetic control valve 101 or 102 is opened according to the magnitude of the command signal, and the brake cylinders 103 and 104 are When driven, the left or right brake devices 65 and 66 are operated, and the rear wheels 18 and 18 are braked independently.
[0031]
FIG. 7 shows a work mode dial 59 as an example of an operation means for arbitrarily setting the driving amount of the front wheels 20 by the hydraulic transmission 31, and the work mode dial 59 is provided in the cabin 13 where it is easy to operate. ing. When the work mode dial 59 is rotated clockwise, the front wheel speed increase ratio (hereinafter simply referred to as “speed increase ratio”) when the front wheels 20 are driven by the power of the hydraulic transmission 31 is set high. If it rotates counterclockwise, the speed increasing ratio is set low.
[0032]
In the present embodiment, as indicated by a broken line in FIG. 8, the speed increase ratio is changed from “1” to “3” by the work mode dial 59 (the peripheral speed of the front wheel is 1 to (3 times) can be set. If the front wheel turning angle is less than the predetermined value α, it is considered that the vehicle body is running straight ahead, the front wheel acceleration turning control is not entered, and the hydraulic motor 33 is not driven. Further, the operation means for setting the driving amount of the front wheels is not limited to the work mode dial 59, and although not shown, a lever type work mode switching tool or the like may be installed instead of the volume type.
[0033]
Now, when the work mode dial 59 is set at a position of “1.8”, for example, as shown by the solid line A in FIG. The speed ratio is “0”, and the hydraulic motor 33 is driven when the front wheel turning angle increases to a predetermined value α or more. At this time, a control signal is output from the controller 70 to the electric motor 85 to adjust the discharge amount of the hydraulic pump 32 so that the peripheral speed of the front wheel 20 is about 1.8 times the peripheral speed of the rear wheel 18. The rotation speed of the motor 33 is controlled. Even when the turning amount of the vehicle body increases and the turning angle of the front wheels further increases, the controller 70 causes the electric motor 55 to maintain the speed increase ratio “1.8” set by the work mode dial 59. To control.
[0034]
This speed increasing ratio is preferably adjusted to an optimum ratio depending on soil quality, crop type, work conditions, or the like. For example, since the grip force of the wheel is high on a hard ground such as a dry paddy, it is possible to shorten the turning time of the vehicle body by setting a large acceleration ratio.
[0035]
Here, in order to reduce the turning radius of the vehicle body, the brake pedal inside the turn may be depressed to perform a single brake operation. Pushing or dragging the rear wheel will leave a brake mark. This becomes more noticeable as the braking force increases. At this time, by increasing the speed of the front wheels, the turn can be completed in a short time, and the field roughness can be minimized.
[0036]
For example, when the brake pedal on one side is depressed, as shown by the solid line B in FIG. 9, the speed increase ratio may be controlled to gradually increase depending on the magnitude of the operation force of the one brake. That is, as the brake operation force at the time of operating the single brake pedal increases, the discharge amount of the hydraulic pump 32 is increased to increase the rotational speed of the hydraulic motor 33 and to increase the speed increase ratio of the front wheels. For example, the braking force and the speed increase of the front wheels are proportional to each other, and there is a remarkable effect in preventing the rough field. The fluctuation line of the speed increase ratio is set in advance in consideration of safety such as prevention of the vehicle body from falling.
[0037]
Here, according to the flowchart of FIG. 10, the control when there is a brake operation during the front wheel acceleration turning control will be described. When the turning angle of the front wheel exceeds a predetermined value, the vehicle body is regarded as turning and the front wheel acceleration turning control is entered. During the front wheel acceleration turning control, the left and right brakes are controlled based on the detection signals of the potentiometers 54 and 55. Determine pedal operation. When the left and right brake pedals are depressed simultaneously (step 1), it is considered that the vehicle body needs to be decelerated suddenly due to some change of state during turning, and the front wheel 20 is driven by the power of the hydraulic transmission 31. The drive is checked and the front wheel acceleration turning control is stopped (step 1 → 5).
[0038]
At that time, the rotation of the hydraulic motor 33 is reduced or stopped, the one-way clutch 34 provided in the switching device 29 is engaged, and the power of the gear type transmission 22 is transmitted to the front wheels 20 so that the normal four Since the vehicle is in a driving state, the braking force increases and the vehicle body can be decelerated rapidly. In this way, it is possible to avoid a danger that occurs suddenly during turning and to improve safety.
[0039]
On the other hand, when the left and right brake pedals are not depressed and only one brake pedal is depressed (step 2), that is, when the one-side brake operation inside the turning is detected, the work mode dial 59 is used. The speed increasing ratio is made larger than the set value, and the driving amount of the front wheels 20 is increased as compared with the case where no brake pedal operation is detected. At this time, since the depression position of the brake pedal, that is, the magnitude of the brake operation force is calculated based on the detection signals of the potentiometers 54 and 55, as described with reference to FIG. 9, it increases as the brake operation force increases. In order to increase the speed ratio, the controller 70 drives the electric motor 55 (step 3).
[0040]
Accordingly, the discharge amount of the hydraulic pump 32 of the hydraulic transmission 31 is adjusted according to the magnitude of the one-brake operating force, and the hydraulic motor 33 is rotated so that the peripheral speed of the front wheels 20 becomes the speed increase ratio of the control target. The number is controlled. As described above, when power from the gear transmission 22 and power from the hydraulic transmission 31 are simultaneously input to the switching device 29 of the front wheel drive device 27, the power from the hydraulic transmission 31 has priority. Therefore, the front wheel 20 is driven at an optimal speed increase ratio according to the magnitude of the one-brake operating force. Thus, the turning time of the vehicle body can be shortened.
[0041]
When driving at low speeds such as creep work, the one-brake operation may not be performed during turning. In this case, the speed increase ratio set by the work mode dial 59 is maintained without changing the speed increase ratio. (Step 2 → 4). Then, this control is repeated during the turning of the vehicle body, and when the turning of the vehicle body is completed, the front wheel acceleration turning control by the power of the hydraulic transmission 31 is checked (step 4 → 5).
[0042]
If it is detected in step 2 that the depression position of one brake pedal is greater than or equal to the predetermined depth, it is assumed that the one-side brake has been locked, and the controller 70 sends the brake solenoid 83 or 84 to the brake solenoid 83 or 84. A command signal is output, the electromagnetic control valve 101 or 102 is opened, and the brake cylinder 103 or 104 is made a full stroke. Thus, the brake device 65 or 66 on one side can be held in a locked state by simply stepping lightly without having to step on the brake pedal on one side strongly during turning.
[0043]
Thus, the present invention can be variously modified without departing from the spirit of the present invention, and the present invention naturally extends to the modified ones.
[0044]
【The invention's effect】
As described above, in the present invention, a path for branching engine power from the gear type transmission to transmit to the front wheels and a path for transmitting power from the hydraulic transmission to the front wheels are provided. to change the front wheel drive amount by the power of expression transmission in accordance with the depression state of the brake pedal, it is possible to change the front wheel drive amount stepless by ground conditions and working conditions, and the like.
In addition, when both left and right brake operations are performed during turning, the driving of the front wheels by the hydraulic transmission is restrained, so that the normal four-wheel drive state by the power of the gear transmission is obtained, so that the braking force increases. The vehicle body can be decelerated rapidly, and safety can be improved by avoiding danger.
[0045]
In addition, if there is a single brake operation during turning, the amount of driving of the front wheels by the hydraulic transmission is increased compared to when the brake pedal operation is not detected, so the turning time of the vehicle body is shortened The performance is improved.
[0046]
Furthermore , when the depression operation on one side of the brake pedal is performed, the depression position of the brake pedal, that is, the magnitude of the brake operation force is detected by the detection signal of the potentiometer, and the speed increasing ratio increases as the brake operation force increases. Since the controller is configured to drive the electric motor so as to increase the braking force, the braking force and the speed increase of the front wheels are proportional to each other, and there is a remarkable effect in preventing the field from being rough.
[Brief description of the drawings]
The figure shows an embodiment of the present invention.
FIG. 1 is a side view of a tractor.
FIG. 2 is a power transmission block diagram of a traveling system.
FIG. 3 is a longitudinal sectional view of a one-way clutch in a disengaged state.
FIG. 4 is a longitudinal sectional view showing a state in which a one-way clutch is engaged.
FIG. 5 is a block diagram of a control system.
FIG. 6 is a hydraulic circuit diagram.
FIG. 7 is a front view of a work mode dial.
FIG. 8 is a graph showing an example of a relationship between a front wheel turning angle and a speed increase ratio.
FIG. 9 is a graph showing an example of fluctuations in the acceleration ratio with respect to changes in the one-brake operating force.
FIG. 10 is a flowchart showing a control procedure of the front wheel drive device.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 10 Tractor 11 Engine 18 Rear wheel 20 Front wheel 22 Gear transmission 27 Front wheel drive device 29 Switching device 31 Hydraulic transmission device 32 Hydraulic pump 33 Hydraulic motor 34 One-way clutch 54, 55 Potentiometer 58 Control ON / OFF switch 59 Work mode dial 60 Front wheel Cutting angle sensor 61 Engine rotation sensor 65, 66 Brake device 70 Controller 83, 84 Solenoid 85 for brake Electric motor 103, 104 Brake cylinder

Claims (1)

While transmitting the engine power to a gear type transmission (11) (22) rear wheel via a (18), drivable configure front wheel (20) is branched power from said gear type transmission (22) a was powered agricultural machine, said from the gear-type transmission apparatus (22) a path for driving front wheels (20) separately, by transmitting the power of hydraulic transmission (31) having a variable hydraulic pump (32) A means (60) for detecting a turning operation of the vehicle body, a means for detecting a depressing operation of the left and right independent brake pedals, and a driving of the front wheel (20) when turning the vehicle body, provided with a path for driving the front wheels (20) . path provided with a switching device for switching the path of the hydraulic transmission (31) (29) from said gear type transmission (22), wherein by the hydraulic transmission (31) according to the depression state of the brake pedal In-wheel front wheel drive system configuration the power agricultural equipment so as to change the driving amount of the (20) (27),
When it is detected that the left and right brake pedals of the brake pedal are depressed simultaneously, the driving of the front wheels (20) by the hydraulic transmission (31) is checked, while only the brake pedal on one side is controlled. When the stepping operation is detected, the driving amount of the front wheel (20) by the hydraulic transmission (31) is configured to increase the driving compared to when the brake pedal operation is not detected. When a depression operation on one side of the brake pedal is performed, the depression position of the brake pedal, that is, the magnitude of the brake operation force is detected by the detection signal of the potentiometer (54, 55), and the brake operation force increases. The controller (70) is configured to drive the electric motor (85) so as to increase the speed increasing ratio. Front-wheel drive device for a power agricultural machine for.

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