JP3118856B2 - Steering device for powered vehicle - Google Patents
Steering device for powered vehicleInfo
- Publication number
- JP3118856B2 JP3118856B2 JP8247891A JP8247891A JP3118856B2 JP 3118856 B2 JP3118856 B2 JP 3118856B2 JP 8247891 A JP8247891 A JP 8247891A JP 8247891 A JP8247891 A JP 8247891A JP 3118856 B2 JP3118856 B2 JP 3118856B2
- Authority
- JP
- Japan
- Prior art keywords
- steering mode
- mode
- steering
- automatic
- wheels
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Description
【０００１】[0001]
【産業上の利用分野】この発明は、前後輪が各々単独
で、あるいは相互に関連して操舵できる動力車輌の操舵
装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steering apparatus for a powered vehicle in which front and rear wheels can be steered independently or in relation to each other.
【０００２】[0002]
【従来技術】従来、この種の装置は、前後輪を夫々独立
的に操舵可能に構成し、手動モ−ド時には、オペレ−タ
が選択したモ−ドのうちの１つ、例えば前輪操舵モ−
ド、後輪操舵モ−ド、あるいは前後輪が逆方向を向く逆
位相操舵モ−ドを優先的に使用可能とし、手動モ−ドか
ら自動モ−ドに切換えたときには、作業機の吊上げ動作
と連動して前後輪が互いに逆方向を向く前後輪逆位相操
舵モ−ドになったり、機体の後進操作と連動して後輪操
舵モ−ドに切換るものがある。2. Description of the Related Art Conventionally, this type of device is configured so that the front and rear wheels can be independently steered, and in a manual mode, one of the modes selected by an operator, for example, a front wheel steering mode. −
Mode, rear-wheel steering mode, or reverse-phase steering mode in which the front and rear wheels face in opposite directions can be preferentially used, and when the mode is switched from the manual mode to the automatic mode, the lifting operation of the work machine is performed. The front and rear wheels are in opposite phase steering mode in which the front and rear wheels face in opposite directions in conjunction with each other, or are switched to the rear wheel steering mode in conjunction with the rearward operation of the body.
【０００３】[0003]
【発明が解決しようとする課題】前記した従来装置は、
自動モ−ドから再び手動モ−ドに戻ったときに、オペレ
−タがどのモ−ドを選択していたのかを忘れてしまうこ
とがあり、特に自動モ−ドを長時間使っていると、前に
設定していたモ−ドを忘れて操舵感覚が狂うことがあっ
た。The above-mentioned conventional device is
When returning from the automatic mode to the manual mode again, the operator may forget which mode the operator has selected, especially if the automatic mode has been used for a long time. The driver sometimes forgets the mode set before and the steering feeling goes wrong.
【０００４】[0004]
【課題を解決するための手段】前記した問題点を解決す
るために、この発明は次のような技術的手段を講じた。
即ち、手動操舵モードの設定により選択設定可能な前輪
を操舵する前輪操舵モードと、後輪を操舵する後輪操舵
モードと、前後輪逆位相で操舵する前後輪逆位相操舵モ
ードとを備え、さらに、自動操舵モードの設定により、
機体の進行方向や作業機の昇降を行なう昇降具の吊り上
げ高さ位置等の他の制御動作と連動して自動的に現在の
操舵モードから他の操舵モードに移行するように制御さ
れる乗用管理用トラクター１において、操舵モードが自
動操舵モードから該自動操舵モードが切られ手動操舵モ
ードに人為的に切換られたときには、前輪操舵モードが
優先される制御装置を設けたことを特徴とするものであ
る。In order to solve the above problems, the present invention takes the following technical measures.
That is, a front wheel steering mode in which the front wheels can be steerable by setting the manual steering mode, a rear wheel steering mode in which the rear wheels are steered, and a front and rear wheel antiphase steering mode in which the front and rear wheels are steered in opposite phases. , By setting the automatic steering mode,
Passenger management that is controlled to automatically shift from the current steering mode to another steering mode in conjunction with other control operations such as the direction of travel of the aircraft and the lifting height position of the lifting equipment that lifts and lowers the work equipment In the tractor 1, a control device is provided in which when the steering mode is automatically switched from the automatic steering mode to the manual steering mode, the front wheel steering mode is prioritized. is there.
【０００５】[0005]
【実施例】以下、図面に示す実施例に基づいて、この発
明の実施例を説明する。まず、構成から説明すると、１
は乗用管理用のトラクタ−で、機体の前後部に夫々前輪
２、２と後輪３、３とを備え、これらの前後輪２、３は
各々単独で、あるいは連動して操舵できるように構成さ
れている。Embodiments of the present invention will be described below with reference to the embodiments shown in the drawings. First, the structure will be described.
Is a tractor for passenger management, which is provided with front wheels 2, 2 and rear wheels 3, 3 on the front and rear portions of the fuselage, respectively, and these front and rear wheels 2, 3 can be steered independently or in conjunction with each other. Have been.
【０００６】このトラクタ−１のボンネット４内には縦
軸タイプのエンジン５が設けられ、このエンジン５の回
転動力をプ−リ、ベルト等からなる動力伝達手段６を介
してミッションケ−ス７内の変速装置に伝えている。ミ
ッションケ−ス７の後部には２本の動力取出軸９、１０
が軸架され、上方の取出軸９はユニバ−サルジョイント
１２を介して伝動ケ−ス１１から前方へ突設されたＰＴ
Ｏ入力軸１４に伝達される。A longitudinal axis type engine 5 is provided in a hood 4 of the tractor 1, and the rotational power of the engine 5 is transmitted to a transmission case 7 via a power transmission means 6 comprising a pulley, a belt and the like. To the transmission inside. Two power take-off shafts 9, 10 are located at the rear of the mission case 7.
The upper take-out shaft 9 projects from the transmission case 11 via the universal joint 12 to the front.
It is transmitted to the O input shaft 14.
【０００７】伝動ケ−ス１１の後部には後方へ向けてＰ
ＴＯ軸１５が突出軸架され、このＰＴＯ軸１５は、機体
後部に連結されるロ−タリ等の作業機を駆動する動力取
出軸として利用される。１８は作業機を昇降させる連結
リンクで、左右のフレ−ム２０後端部に設けられた２つ
のリフトシリンダ−２１、２１により上下方向に回動操
作される。８４は作業機の上昇を検出するセンサ−であ
る。The rear of the transmission case 11 has a P
A TO shaft 15 is mounted on a protruding shaft, and the PTO shaft 15 is used as a power take-out shaft for driving a working machine such as a rotary connected to the rear of the machine. Reference numeral 18 denotes a connecting link for raising and lowering the working machine. The connecting link 18 is vertically rotated by two lift cylinders 21 and 21 provided at the rear ends of the left and right frames 20. Reference numeral 84 denotes a sensor for detecting the rise of the working machine.
【０００８】また、ミッションケ−ス７内の変速装置で
減速された回転動力はフロントアクスルハウジング２５
及びリヤアクスルハウジング２８内の差動装置（図示省
略）を経て夫々前輪２、２及び後輪３、３に伝達され
る。２９はチェンジレバ−で、その操作基部には機体が
後進操作されたことを検出するセンサ−８５が設けられ
ている。The rotational power reduced by the transmission in the transmission case 7 is transmitted to the front axle housing 25.
And through a differential device (not shown) in the rear axle housing 28 to the front wheels 2, 2 and the rear wheels 3, 3, respectively. Reference numeral 29 denotes a change lever, which is provided at its operation base with a sensor 85 for detecting that the body is operated in reverse.
【０００９】次に図２に示す油圧回路図に基づいて前輪
操舵系Ｆと後輪操舵系Ｒを説明する。３０、３０は前輪
２、２のナックルア−ムで、両ナックルア−ム３０、３
０はタイロッド３１で連結されている。３３、３３は後
輪３、３のナックルア−ム、３５はナックルア−ム３
３、３３を連結するタイロッドである。右側前輪２のナ
ックルア−ム３０の上部に設けたア−ム３７と機体下部
の中央とは片ロッド式の油圧シリンダ−４０で連結さ
れ、右側後輪３のナックルア−ム３３の前部と機体との
間には油圧シリンダ−４４が介装されている。Next, a front wheel steering system F and a rear wheel steering system R will be described based on a hydraulic circuit diagram shown in FIG. Numerals 30 and 30 denote knuckle arms for the front wheels 2 and 2, respectively.
Numerals 0 are connected by tie rods 31. 33, 33 are knuckle arms for the rear wheels 3, 3, and 35 is a knuckle arm 3.
This is a tie rod that connects 3, 33. The arm 37 provided on the upper part of the knuckle arm 30 of the right front wheel 2 and the center of the lower part of the fuselage are connected by a single rod type hydraulic cylinder 40, and the front part of the knuckle arm 33 of the right rear wheel 3 and the fuselage. And a hydraulic cylinder 44 is interposed therebetween.
【００１０】４５、４６は右側前輪２と後輪３の操舵角
を検出する操舵角センサ−である。５０は前輪操舵系Ｆ
を制御する電磁バルブで、２位置４ポ−ト式の弁にて構
成され、常態では油圧ポンプ５２側と油圧シリンダ−４
０側とが連通する状態となり、電磁バルブ５０のソレノ
イド５３が励磁されると、右側の室に切り換って油圧ポ
ンプ５２側と油圧シリンダ−４０側とは油路が遮断され
る。Reference numerals 45 and 46 denote steering angle sensors for detecting the steering angles of the right front wheel 2 and the rear wheel 3. 50 is a front wheel steering system F
The solenoid valve is a two-position, four-port type valve, and normally includes a hydraulic pump 52 and a hydraulic cylinder-4.
When the solenoid valve 53 of the electromagnetic valve 50 is excited, the chamber is switched to the right chamber, and the oil passage between the hydraulic pump 52 and the hydraulic cylinder -40 is shut off.
【００１１】５５は後輪操舵系Ｒを制御する電磁バルブ
であって、２位置４ポ−ト式の弁で構成され、常態では
油圧ポンプ５２側と油圧シリンダ−４４側とは連通を絶
たれた状態であり、ソレノイド５８が励磁されると右側
の室に切り換り、油圧ポンプ５２側と油圧シリンダ−４
４側の油路が連通する。６０は全油圧方式の操舵機構を
示し、ステアリングハンドル６１を回すと油路と油量が
制御される。Reference numeral 55 denotes an electromagnetic valve for controlling the rear wheel steering system R, which is a two-position, four-port valve. Under normal conditions, the hydraulic pump 52 and the hydraulic cylinder 44 are disconnected from each other. When the solenoid 58 is excited, it switches to the right chamber, and the hydraulic pump 52 side and the hydraulic cylinder-4
The oil passages on the four sides communicate. Reference numeral 60 denotes a fully hydraulic steering mechanism. When the steering handle 61 is turned, an oil path and an oil amount are controlled.
【００１２】例えば、同図において、ステアリングハン
ドル６１を右に回すと、油圧ポンプ５２から送られた作
動圧油は油路（イ）を通って電磁バルブ５０の左側の室
に入り、油圧シリンダ−４０のピストンロッドを押し出
して前輪２、２を右に切り、戻りの作動圧油は電磁バル
ブ５５の左側の室を通ってタンク６３に戻る。逆にステ
アリングハンドル６１を左側に回動すると、油圧ポンプ
５２から送られた作動圧油は油路（ロ）を通過して電磁
バルブ５５の左側室に入り、油圧シリンダ−４０のピス
トンロッドを引っ込めて前輪２、２を左に切り、その戻
りの圧油はタンク６３に回収される。For example, in FIG. 1, when the steering handle 61 is turned to the right, the operating pressure oil sent from the hydraulic pump 52 passes through an oil passage (a) and enters the left chamber of the electromagnetic valve 50, and the hydraulic cylinder The piston rod 40 is pushed out to cut the front wheels 2 and 2 to the right, and the return hydraulic pressure returns to the tank 63 through the left chamber of the electromagnetic valve 55. Conversely, when the steering handle 61 is turned to the left, the operating pressure oil sent from the hydraulic pump 52 passes through the oil passage (b), enters the left chamber of the electromagnetic valve 55, and retracts the piston rod of the hydraulic cylinder 40. Then, the front wheels 2 and 2 are turned to the left, and the returned pressure oil is collected in the tank 63.
【００１３】６５はトラクタ−１後部に連結される作業
機を昇降制御するメインコントロ−ルバルブであって、
「中立位置」、「上げ位置」、「下げ位置」の切換が可
能である。作業者が油圧操作レバ−６６を握ってこれを
「上げ位置」に保てば、リフトシリンダ−２１、２１内
に作動圧油が流入し、連結リンク１８を上昇回動させ
る。前記した電磁バルブ５０、５５の各ソレノイド５
３、５８のオン、オフを次のように組み合わせて制御す
ることにより、３つの操舵モ−ドが選択できるものであ
る。Reference numeral 65 denotes a main control valve for controlling the lifting and lowering of a working machine connected to the rear of the tractor-1,
Switching between "neutral position", "up position", and "down position" is possible. When the operator holds the hydraulic operating lever 66 and holds it at the “raised position”, the operating pressure oil flows into the lift cylinders 21 and 21 to rotate the connecting link 18 upward. Each solenoid 5 of the electromagnetic valves 50 and 55 described above
The three steering modes can be selected by controlling the ON and OFF of the switches 3 and 58 as follows.
【００１４】即ち、いずれのソレノイド５３、５８も励
磁しないオフの状態では、前輪２、２操舵モ−ドとな
り、両ソレノイド５３、５８を共にオンにすると後輪操
舵モ−ドになり、ソレノイド５３はオフで他方のソレノ
イド５８をオンにすると前後輪２、３が逆方向を向く前
後輪逆位相操舵モ−ドに切り換る。これらのモ−ド切換
は操縦席近傍に設けたモ−ド切換スイッチ６８にて行な
われ、また、各モ−ド間の切換は前輪２、２と後輪３、
３が直進状態となったときに可能となるように構成して
いる。That is, in the off state in which none of the solenoids 53 and 58 is excited, the front wheels 2 and 2 are in the steering mode, and when both solenoids 53 and 58 are both turned on, the rear wheels are in the steering mode and the solenoid 53 When the other solenoid 58 is turned on and the other solenoid 58 is turned on, the front and rear wheels 2 and 3 are switched to the front and rear wheel reverse phase steering mode in which the directions are opposite. These modes are switched by a mode switching switch 68 provided near the cockpit. The switching between the modes is performed by the front wheels 2 and 2 and the rear wheels 3.
3 is configured to be enabled when the vehicle enters a straight traveling state.
【００１５】後述するが、この操舵装置は手動操舵モ−
ドと自動操舵モ−ドがあり、手動操舵モ−ドでは作業者
が設定した操舵モ−ドが優先される。自動操舵モ−ドの
場合、作業機を上昇させると操舵モ−ドが前後輪逆位相
操舵モ−ドに変わり、また、機体を後進させると、後輪
操舵モ−ドに移行する。次に図３の制御系を説明する。
前輪２、２及び後輪３、３の操舵角を検出する操舵角セ
ンサ−４５、４６はＡ／Ｄ変換器７０、入力インタ−フ
ェ−ス７２を介してマイコンからなる制御部７４に接続
されている。As will be described later, this steering device is a manual steering mode.
There is an automatic steering mode and an automatic steering mode. In the manual steering mode, the steering mode set by the operator has priority. In the automatic steering mode, when the work machine is raised, the steering mode is changed to the front and rear wheel opposite phase steering mode, and when the body is moved backward, the mode is shifted to the rear wheel steering mode. Next, the control system of FIG. 3 will be described.
The steering angle sensors 45 and 46 for detecting the steering angles of the front wheels 2 and 2 and the rear wheels 3 and 3 are connected to a control unit 74 composed of a microcomputer via an A / D converter 70 and an input interface 72. ing.
【００１６】入力インタ−フェ−ス７２には、その他、
前輪操舵モ−ド設定スイッチ８０、後輪操舵モ−ド設定
スイッチ８１、前後輪逆位相操舵モ−ド設定スイッチ８
２、自動−手動切換スイッチ８３、作業機上昇検出セン
サ−８４、機体の後進検出センサ−８５が接続されてい
る。一方、出力インタ−フェ−ス７６には、前進操舵モ
−ド状態表示ランプＬ１、後輪操舵モ−ド状態表示ラン
プＬ２、前後輪逆位相操舵モ−ド状態表示ランプＬ３、
自動状態表示ランプＬ４及び電磁バルブ５０、５５のソ
レノイド５３、５８が接続されている。The input interface 72 further includes:
Front wheel steering mode setting switch 80, rear wheel steering mode setting switch 81, front and rear wheel opposite phase steering mode setting switch 8
2. An automatic / manual changeover switch 83, a work implement elevation detection sensor 84, and a reverse detection sensor 85 of the machine are connected. On the other hand, the output interface 76 includes a forward steering mode state indicator lamp L1, a rear wheel steering mode state indicator lamp L2, a front and rear wheel opposite phase steering mode state indicator lamp L3,
The automatic status display lamp L4 and the solenoids 53 and 58 of the electromagnetic valves 50 and 55 are connected.
【００１７】前記した制御部７４のメモリ内には図４の
プログラムの内容が記憶されており、以下、その内容を
説明する。トラクタ−１の電源をオンにすると手動操舵
モ−ドが設定される（ステップＳ１）。作業時は一般に
自動操舵モ−ドを使用するが、自動−手動切換スイッチ
８３を押して自動操舵モ−ドを選択し、機体を前進させ
ているときであって作業機が降下しているときは前輪操
舵モ−ドになり（ステップＳ３、Ｓ４、Ｓ５）、作業機
を上昇させると前後輪逆位相操舵モ−ドになる（ステッ
プＳ６）。The contents of the program shown in FIG. 4 are stored in the memory of the control unit 74, and the contents will be described below. When the power of the tractor 1 is turned on, the manual steering mode is set (step S1). In operation, the automatic steering mode is generally used. However, the automatic steering mode is selected by pressing the automatic-manual changeover switch 83, and when the machine is moving forward and the work machine is descending. The front wheel steering mode is set (steps S3, S4, S5), and when the work implement is raised, the front and rear wheel steering mode is reversed (step S6).
【００１８】防除作業では機体を繰返し前後進させるこ
とが多いが、前進から後進に切り換えたときは、後輪操
舵モ−ドに移行する（ステップＳ７）。このように自動
操舵モ−ドが設定されている中、自動−手動切換スイッ
チ８３を押すと直ちに前輪操舵モ−ドに移り、以降は、
前回の手動モ−ドの設定に拘らず、この前輪操舵モ−ド
が優先される。In the control work, the aircraft is often moved forward and backward repeatedly, but when the forward is switched to the reverse, the operation shifts to the rear wheel steering mode (step S7). While the automatic steering mode is set as described above, when the automatic-manual changeover switch 83 is pressed, the mode immediately shifts to the front wheel steering mode.
Regardless of the setting of the previous manual mode, the front wheel steering mode has priority.
【００１９】従来装置の構成であると、前回の手動操舵
モ−ドによる設定が、例えば後輪操舵モ−ドであって、
自動操舵モ−ドを解除した後、そのまま機体を高速で後
進させると危険な場合があるが、本実施例のような構成
を採用すれば、自動操舵モ−ド解除後は常に前輪操舵モ
−ドが優先されるため、作業者が手動操舵モ−ドにおけ
る前回の設定を忘れていても危険な状態に陥ることがな
く安全である。According to the configuration of the conventional apparatus, the setting in the previous manual steering mode is, for example, the rear wheel steering mode.
It may be dangerous to reverse the aircraft at high speed after releasing the automatic steering mode. However, if the configuration as in this embodiment is adopted, the front wheel steering mode is always maintained after the automatic steering mode is released. Since the priority is given to the mode, even if the operator forgets the previous setting in the manual steering mode, it is safe without falling into a dangerous state.
【００２０】なお、この実施例で説明した自動操舵モ−
ドにおける前後輪逆位相操舵モ−ドへの切換は、作業機
の上げ操作と連動して前輪操舵モ−ドから前後輪逆位相
操舵モ−ドに切り換わるようにしたものであるが、モ−
ド切換のタイミングは、前記した通り前後輪２、３が直
進状態となった瞬間でなければ行なわれず、畦際に至る
前にこの動作が完了していなければならない。しかしな
がら現実には畦際でハンドル操作と作業機の上げ動作と
がほとんど同時かハンドル操作の方が早く行なわれるこ
とが多い。このような場合、小旋回が必要な畦際でモ−
ド切換が行なわれないまま旋回を完了し、旋回完了後の
前後輪２、３が直進方向を向いたときに前輪操舵モ−ド
から前後輪逆位相操舵モ−ドに切り換わる不具合が生じ
る。The automatic steering mode described in this embodiment
The mode is switched from the front wheel steering mode to the front / rear wheel opposite phase steering mode in conjunction with the lifting operation of the work implement. −
As described above, the timing of the switching is not performed unless the front and rear wheels 2 and 3 are in the straight traveling state, and this operation must be completed before reaching the ridge. However, in reality, in many cases, the steering wheel operation and the raising operation of the work machine are almost simultaneously performed at the time of the ridge or the steering wheel operation is often performed earlier. In such a case, the moat should be
The turning is completed without switching the mode, and when the front and rear wheels 2 and 3 after the turning are directed in the straight traveling direction, there is a problem that the front wheel steering mode is switched to the front and rear wheel reverse phase steering mode.
【００２１】そこで、このような不具合をなくするため
に、前後輪逆位相操舵モ−ドの入り操作は手動とし、上
昇している作業機が降下した場合、前後輪逆位相操舵モ
−ドを解除して前輪操舵モ−ドに移行させるような自動
操舵モ−ドにしてもよい。Therefore, in order to eliminate such inconveniences, the operation for entering the front and rear wheel reverse phase steering mode is manually performed, and when the ascending work machine descends, the front and rear wheel reverse phase steering mode is switched to the opposite mode. An automatic steering mode in which the mode is released to shift to the front wheel steering mode may be adopted.
【００２２】[0022]
【発明の効果】この発明は前記の如く、手動操舵モード
の設定により選択設定可能な前輪を操舵する前輪操舵モ
ードと、後輪を操舵する後輪操舵モードと、前後輪逆位
相で操舵する前後輪逆位相操舵モードとを備え、さら
に、自動操舵モードの設定により、機体の進行方向や作
業機の昇降を行なう昇降具の吊り上げ高さ位置等の他の
制御動作と連動して自動的に現在の操舵モードから他の
操舵モードに移行するように制御される乗用管理用トラ
クター１において、操舵モードが自動操舵モードから該
自動操舵モードが切られ手動操舵モードに人為的に切換
られたときには、前輪操舵モードが優先される制御装置
を設けたものであるから、自動操舵モードを切り操作し
て手動操舵モードに切り換えた際の違和感が少なく、作
業者が前回の操舵モードを失念していても安全に機体の
操向操作を行なうことができる。As described above, the present invention provides a front wheel steering mode in which the front wheels can be selectively set by setting the manual steering mode, a rear wheel steering mode in which the rear wheels are steered, and front and rear steering in front and rear wheels in opposite phases. A wheel reverse phase steering mode is provided, and the automatic steering mode is automatically set in conjunction with other control operations such as the advancing direction of the aircraft and the lifting height position of the lifting / lowering device that lifts and lowers the work equipment. In the passenger management tractor 1 which is controlled to shift from the steering mode to another steering mode, when the steering mode is automatically switched from the automatic steering mode to the manual steering mode, the front wheel Since a control device that prioritizes the steering mode is provided, there is little sense of discomfort when the automatic steering mode is switched to the manual steering mode by switching to the manual steering mode. Even if forgotten the de can safely perform steering operation of the aircraft.
【図１】トラクタ−の側面図である。FIG. 1 is a side view of a tractor.
【図２】動作原理を説明するための油圧回路図である。FIG. 2 is a hydraulic circuit diagram for explaining an operation principle.
【図３】制御系を示すブロック図である。FIG. 3 is a block diagram showing a control system.
【図４】制御の内容を説明するフロ−チャ−トである。FIG. 4 is a flowchart for explaining the contents of control.
１ 農用トラクタ− ２ 前輪 ３ 後輪 ４ ボンネット ５ エンジン １８ 連結リンク ２１ リフトシリンダ− ４０ 油圧シリンダ− ４４ 油圧シリンダ− ４５ 操舵角センサ− ４６ 操舵角センサ− ６８ モ−ド切換スイッチ DESCRIPTION OF SYMBOLS 1 Agricultural tractor 2 Front wheel 3 Rear wheel 4 Bonnet 5 Engine 18 Connection link 21 Lift cylinder 40 Hydraulic cylinder 44 Hydraulic cylinder 45 Steering angle sensor 46 Steering angle sensor 68 Mode switch
Claims (1)
能な前輪を操舵する前輪操舵モードと、後輪を操舵する
後輪操舵モードと、前後輪逆位相で操舵する前後輪逆位
相操舵モードとを備え、さらに、自動操舵モードの設定
により、機体の進行方向や作業機の昇降を行なう昇降具
の吊り上げ高さ位置等の他の制御動作と連動して自動的
に現在の操舵モードから他の操舵モードに移行するよう
に制御される乗用管理用トラクター１において、操舵モ
ードが自動操舵モードから該自動操舵モードが切られ手
動操舵モードに人為的に切換られたときには、前輪操舵
モードが優先される制御装置を設けたことを特徴とする
動力車輌における操舵装置。1. Selectable setting by setting the manual steering mode
A front wheel steering mode that steers the front wheels, a rear wheel steering mode that steers the rear wheels, and a front and rear wheel opposite phase steering mode that steers in front and rear wheels in opposite phases. A riding management tractor that is controlled to automatically shift from the current steering mode to another steering mode in conjunction with other control operations such as the traveling direction and the lifting height position of the lifting device that raises and lowers the work equipment 1. A steering system for a powered vehicle, comprising: a control device for prioritizing the front wheel steering mode when the automatic steering mode is switched from the automatic steering mode to the manual steering mode. apparatus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8247891A JP3118856B2 (en) | 1991-04-15 | 1991-04-15 | Steering device for powered vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8247891A JP3118856B2 (en) | 1991-04-15 | 1991-04-15 | Steering device for powered vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH04317866A JPH04317866A (en) | 1992-11-09 |
| JP3118856B2 true JP3118856B2 (en) | 2000-12-18 |
Family
ID=13775622
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP8247891A Expired - Fee Related JP3118856B2 (en) | 1991-04-15 | 1991-04-15 | Steering device for powered vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3118856B2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2020099222A (en) * | 2018-12-20 | 2020-07-02 | 株式会社クボタ | Mobile vehicle |
-
1991
- 1991-04-15 JP JP8247891A patent/JP3118856B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH04317866A (en) | 1992-11-09 |
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