JPH0224377Y2 - - Google Patents
Info
- Publication number
- JPH0224377Y2 JPH0224377Y2 JP1984193381U JP19338184U JPH0224377Y2 JP H0224377 Y2 JPH0224377 Y2 JP H0224377Y2 JP 1984193381 U JP1984193381 U JP 1984193381U JP 19338184 U JP19338184 U JP 19338184U JP H0224377 Y2 JPH0224377 Y2 JP H0224377Y2
- Authority
- JP
- Japan
- Prior art keywords
- wheels
- ground
- steering
- wheel
- steering angle
- 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
Links
- 238000003971 tillage Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 13
- 230000005540 biological transmission Effects 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 4
- 230000007935 neutral effect Effects 0.000 description 4
- 239000002689 soil Substances 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000014509 gene expression Effects 0.000 description 1
Landscapes
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Guiding Agricultural Machines (AREA)
Description
【考案の詳細な説明】
（産業上の利用分野）
本考案は全車輪の操舵装置を装備した乗用作業
機に関する。[Detailed Description of the Invention] (Field of Industrial Application) The present invention relates to a riding work machine equipped with an all-wheel steering device.
（従来の技術）
車体の前後左右に車輪を備えた農耕用トラクタ
等の乗用作業機において、例えば車体後部にオー
バーハングさせてロータリー作業機等の接地作業
機を装着し、農耕作業を行う。(Prior Art) In a riding working machine such as an agricultural tractor having wheels on the front, rear, left and right sides of a vehicle body, a ground working machine such as a rotary working machine is mounted overhanging the rear of the vehicle body, and agricultural work is carried out.
斯かる乗用作業機にハンドルの操舵操作により
前輪とともに後輪も転舵するようにした前後輪の
操舵装置を装備することが行われる。この操舵方
式の一つとして、ハンドルと連動して揺動するレ
バーを車体前部に配設するとともに、左右の後輪
用タイロツドを連結支持するアームを中間部で枢
支し、このアームの一半部とレバーとをリンクで
連結したものが知られている。これによれば、ハ
ンドルの操舵操作で後輪を前輪と逆方向へ転舵す
ることが可能となり、小さな旋回半径が得られて
車両のとりまわし性が良好になる。 Such a riding work machine is equipped with a front and rear wheel steering device in which both the front wheels and the rear wheels are steered by steering operation of a handle. As one of these steering systems, a lever that swings in conjunction with the steering wheel is disposed at the front of the vehicle body, and an arm that connects and supports the tie rods for the left and right rear wheels is pivoted in the middle, and one half of this arm is A device in which the part and the lever are connected by a link is known. According to this, it becomes possible to steer the rear wheels in the opposite direction to the front wheels by steering the steering wheel, thereby obtaining a small turning radius and improving maneuverability of the vehicle.
（考案が解決しようとする問題点）
ところが、ハンドルの小操舵角操作でも後輪が
前輪と逆方向に転舵されてしまう、いわゆる線形
特性をもつた操舵方式のため、一般の走行、特に
直進付近におけるハンドル応答がシヤープである
がために、直進維持操作が難しくなり、畔際や段
差のきつい箇所で幅寄せしながらの直進耕耘が行
えず、直進耕耘作業は相当難しいものとなる。(Problem that the invention aims to solve) However, because the steering system has a so-called linear characteristic, in which the rear wheels are steered in the opposite direction to the front wheels even when the steering wheel is operated with a small steering angle, it is difficult to drive in general, especially when driving straight. Because the steering wheel response is sharp in the vicinity, it becomes difficult to maintain straight motion, and it is impossible to plow in a straight line while moving closer to the edge of a bank or in a place with steep steps, making straight plowing work quite difficult.
そして直進付近で前後輪が逆位相に転舵される
ということは、第１６図に示す如く直進付近での
旋回中心（ｒ）は転舵中立状態における前後輪の
車軸延長線上間にある。従つて作業車両の後部に
例えばロータリー作業機を連結した場合、ロータ
リー作業機の旋回半径は作業車両本体の旋回半径
より大きなものとなり、耕耘土を外側に寄せてし
まう。 The fact that the front and rear wheels are steered in opposite phases when the vehicle is traveling straight means that, as shown in FIG. 16, the turning center (r) when the vehicle is traveling straight is between the axle extension lines of the front and rear wheels in the neutral steering state. Therefore, when a rotary work machine is connected to the rear of the work vehicle, the turning radius of the rotary work machine becomes larger than the turning radius of the work vehicle itself, and the tilled soil is pushed to the outside.
これに対し後輪を全く転舵しない通常の前輪操
舵車両の場合には、第１７図に示す如く直進付近
での旋回中心（ｒ）は後車軸延長線上にあるの
で、ロータリー作業機の旋回半径は前記より小さ
い。 On the other hand, in the case of a normal front-wheel steering vehicle that does not steer the rear wheels at all, the turning center (r) when traveling straight is on the extension line of the rear axle, as shown in Figure 17, so the turning radius of the rotary work machine is is smaller than the above.
更にハンドルの小操舵角操作範囲で前後輪を同
位相で、且つ前輪に対し後輪を相対的に小さく転
舵することができれば、第１８図に示す如く直進
付近での旋回中心（ｒ）はロータリー作業機のロ
ータリー軸延長線上側に近づくようになるので、
ロータリー作業機の旋回半径と作業車両車体の旋
回半径は殆ど同じとなる。 Furthermore, if the front and rear wheels can be steered in the same phase within a small steering angle operation range of the steering wheel, and the rear wheels can be steered relatively small relative to the front wheels, the turning center (r) when traveling straight is as shown in Fig. 18. Since it will come close to the upper side of the rotary shaft extension line of the rotary work machine,
The turning radius of the rotary work machine and the turning radius of the work vehicle body are almost the same.
従つて直進耕耘作業の円滑化のためには、ハン
ドルの小操舵角操作範囲では後輪を殆ど転舵しな
いかまたは前輪と同方向へ、且つ相対的に小さく
転舵することが望ましい。 Therefore, in order to facilitate straight plowing, it is desirable that the rear wheels are hardly steered in the small steering angle operation range of the steering wheel, or that the rear wheels are steered in the same direction as the front wheels and relatively small.
尚、接地作業機を作業車両の前部に装着して作
業を行う場合には前輪の転舵角を後輪の転舵角よ
り小さくして同様の効果を得ることができる。 In addition, when carrying out work by attaching the ground-contacting work machine to the front part of a work vehicle, the same effect can be obtained by making the turning angle of the front wheels smaller than the turning angle of the rear wheels.
本考案は乗用作業機における前記問題点を解決
すべく成されたもので、その目的とする処は、例
えば接地作業機を作業車両の後部に装着した場合
には、後輪転舵特性の非線形化を実現した前後輪
の操舵装置を装備することによつて、ハンドルの
小操舵角操作では通常の前輪操舵車両と同等に後
輪を殆ぼ転舵しないかまたは前輪と同方向へ若干
転舵することを可能にし、併せて接地作業機に発
生する旋回外側への横移動を小さなものとする。
これにより直進性能を維持すること、更には作業
車両並びに接地作業機で直進作業をする場合に直
進方向の修正をした場合にも作業機は蛇行するこ
となく直線に近い仕上がりをすることも可能とな
り、また作業における耕耘土の片寄りも抑止でき
るようにし、耕耘作業の円滑化を達成するように
した乗用作業機を提供する。 The present invention was developed to solve the above-mentioned problems with riding work machines, and its purpose is to reduce the non-linearity of the rear wheel steering characteristics when a ground work machine is attached to the rear of a work vehicle. By equipping the front and rear wheels with a steering system that achieves this, when the steering wheel is operated at a small steering angle, the rear wheels are hardly steered or are slightly steered in the same direction as the front wheels, similar to a normal front-wheel steering vehicle. To make it possible to do this, and also to reduce the lateral movement of a ground-touching work machine to the outside of the turn.
This makes it possible to maintain straight-line performance, and even when the work vehicle or ground-based work machine is used to perform straight-line work, even if the straight-line direction is corrected, the work machine can finish in a nearly straight line without meandering. Further, to provide a riding working machine which can prevent the tilled soil from shifting to one side during the work and achieve smooth tillage work.
（問題点を解決するための手段）
従つて本考案は、車体の前後左右に車輪を備
え、且つ車体の前部または後部にオーバーハング
させて接地作業機を装着した乗用作業機に、ハン
ドルの小操舵角操作では接地作業機を装着した側
の車輪を殆ど転舵しないかまたは接地作業機とは
反対側の車輪と同方向へしかも接地作業機と反対
側の車輪の転舵角に比べ極めて小さく転舵する全
車輪の操舵装置を装備し、ハンドルの小操舵角操
作範囲における旋回中心を接地作業機を装着した
側の車輪の車軸延長線上から接地作業機に備えた
耕耘用回転軸の延長線上近傍までの範囲内に設け
たことを特徴とする。(Means for Solving the Problems) Therefore, the present invention provides a ride-on working machine that is equipped with wheels on the front, rear, left, and right sides of the vehicle body, and is equipped with a ground-contacting work machine that overhangs the front or rear of the vehicle body. In small steering angle operations, the wheels on the side to which the ground-contacting work equipment is attached are hardly steered, or the wheels on the side opposite to the ground-touching work equipment are steered in the same direction as the wheels on the side opposite to the ground-touching work equipment, and the steering angle is extremely small compared to the steering angle of the wheels on the side opposite to the ground-touching work equipment. Equipped with a steering device for all wheels that can be steered in a small amount, the turning center in the small steering angle operation range of the handle is set from the extension of the axle of the wheel on the side where the ground-contacting work machine is attached to the extension of the rotary shaft for tillage provided on the ground-contacting work machine. It is characterized by being provided within a range close to the line.
（実施例） 以下に添付図面を基に実施例を詳述する。(Example) Examples will be described in detail below based on the accompanying drawings.
第１図は乗用作業機の破断側面図、第２図は操
舵系の平面図で、乗用作業機１は、フレーム２の
前部にクランク軸４を縦置としたエンジン３を搭
載し、フレーム２の後部にはミツシヨンケース５
を配置し、ミツシヨン入力軸６とクランク軸４と
を推進軸８で連結し、車体後部上にはシート９を
載置し、車体の前後左右には同径なる前輪１１，
１１と後部１２，１２を備え、斯かる作業車両は
ハンドル３１の操作で前後輪操舵が行え、且つ４
輪駆動が可能である。 Fig. 1 is a cutaway side view of the riding work machine, and Fig. 2 is a plan view of the steering system. Mission case 5 is at the rear of 2.
The transmission input shaft 6 and the crankshaft 4 are connected by a propulsion shaft 8, a seat 9 is placed on the rear of the vehicle body, and front wheels 11 with the same diameter are mounted on the front, rear, left and right sides of the vehicle body.
11 and rear parts 12, 12, such a work vehicle can perform front and rear wheel steering by operating a handle 31, and
Wheel drive is possible.
即ちミツシヨンケース５の両側方にはリダクシ
ヨンケース１３，１３が配設され、その入力軸と
ミツシヨンケース５内に設けられたデフの出力軸
とを連動連結し、リダクシヨン出力軸１４，１４
に後輪１２，１２を装着する。そしてエンジン３
下方にはデフケース１５が配設され、デフ入力軸
１６とミツシヨン出力軸７とを推進軸１７で連結
し、更にデフケース１５の両側方にはリダクシヨ
ンケース１８，１８が配設され、その入力軸とデ
フ出力軸とを連動連結し、リダクシヨン出力軸１
９，１９に前輪１１，１１を装着する。斯くして
４輪駆動系が構成される。 That is, reduction cases 13, 13 are disposed on both sides of the transmission case 5, and the input shaft thereof and the output shaft of the differential provided in the transmission case 5 are interlocked and connected, and the reduction output shafts 14, 14 are connected to each other.
Attach the rear wheels 12, 12 to the. and engine 3
A differential case 15 is disposed below, and connects a differential input shaft 16 and a transmission output shaft 7 with a propulsion shaft 17. Further, reduction cases 18, 18 are disposed on both sides of the differential case 15, and the input shaft and the differential output shaft, and the reduction output shaft 1
Attach the front wheels 11, 11 to 9, 19. A four-wheel drive system is thus constructed.
４輪操舵系は以下の如く構成する。 The four-wheel steering system is constructed as follows.
先ず前輪１１，１１を軸承したリダクシヨンケ
ース１８，１８をキングピン２１，２１回りに揺
動可能とし、後方へ延びるナツクルアーム２２，
２２を設け、ナツクルアーム２２，２２にタイロ
ツド２３，２３を玉継手２４，２４にて連結す
る。また後輪１２，１２を軸承したリダクシヨン
ケース１３，１３もキングピン２６，２６回りに
揺動可能とし、内側方へ延びるナツクルアーム２
７，２７を設け、ナツクルアーム２７，２７にタ
イロツド２８，２８を玉継手２９，２９にて連結
する。 First, the reduction cases 18, 18 bearing the front wheels 11, 11 are made swingable around the king pins 21, 21, and the knuckle arms 22, which extend rearward,
22 is provided, and tie rods 23, 23 are connected to the knuckle arms 22, 22 by ball joints 24, 24. Further, the reduction cases 13, 13 bearing the rear wheels 12, 12 are also swingable around the king pins 26, 26, and the knuckle arms 2 extending inwardly.
7, 27 are provided, and tie rods 28, 28 are connected to the knuckle arms 27, 27 by ball joints 29, 29.
そしてハンドル３１のステアリング軸３２が縦
通するハンドルコラム３３の下部にギヤボツクス
３４を設け、このギヤボツクス３４をエンジン３
後方に配設する。ギヤボツクス３４内の前部には
ステアリング軸３２と連動して回転するピニオン
３５を配置し、このピニオン３５と噛合するセク
タギヤ３６を設け、セクタギヤ３６と一体化した
支軸３７をギヤボツクス３４下方に垂下突出させ
る。この支軸３７の突出部にレバー４１を一体化
して設ける。 A gearbox 34 is provided at the bottom of the handle column 33 through which the steering shaft 32 of the handle 31 passes longitudinally, and this gearbox 34 is connected to the engine 3.
Placed at the rear. A pinion 35 that rotates in conjunction with the steering shaft 32 is disposed in the front part of the gear box 34, a sector gear 36 that meshes with the pinion 35 is provided, and a support shaft 37 integrated with the sector gear 36 hangs downwardly and protrudes below the gear box 34. let A lever 41 is integrally provided on the protrusion of this support shaft 37.
このレバー４１は平面ほぼベルクランク型を成
し、中間部の角部で支軸３７に固着され、前方へ
延びる一半部４２の先部左右に前輪用タイロツド
２３，２３の内端部を玉継手４５，４５にて連結
支持する。またレバー４１の側部後方へ延びる他
半部４３の先部には側面コ字形部４４を起設す
る。 This lever 41 has a substantially bell-crank shape when viewed from above, and is fixed to the support shaft 37 at the corner of the intermediate portion, and connects the inner ends of front wheel tie rods 23, 23 with ball joints on the left and right sides of the tip of a half portion 42 extending forward. Connect and support at 45 and 45. Further, a side U-shaped portion 44 is provided at the tip of the other half portion 43 extending toward the rear side of the lever 41 .
一方、ミツシヨンケース５の前方のフレーム２
上に支軸４６を起設し、この支軸４６に平面ほぼ
ベルクランク型のアーム４７を中間部の角部で揺
動自在に枢支し、このアーム４７の両側部前方へ
延びる先部に後輪用タイロツド２８，２８の内端
部を玉継手４９，４９にて連結支持する。 On the other hand, the frame 2 in front of the transmission case 5
A support shaft 46 is set up on the support shaft 46, and an arm 47 having a substantially bell-crank shape in plan view is pivotally supported at the corner of the intermediate portion thereof, and a tip portion extending forward on both sides of the arm 47 is attached to the support shaft 46. The inner ends of the rear wheel tie rods 28, 28 are connected and supported by ball joints 49, 49.
以上において、レバー４１の支軸３７及びアー
ム４７の支軸４６をともに車体の車巾中心線上に
配置し、アーム４７の右半部の先部には突出部４
８を設ける。 In the above, the support shaft 37 of the lever 41 and the support shaft 46 of the arm 47 are both arranged on the width center line of the vehicle body, and the right half of the arm 47 has a protrusion 4 at its tip.
8 will be provided.
そしてこのアーム突出部４８にリンケージリン
ク５１をピン５２にて枢着連結する。 A linkage link 51 is pivotally connected to this arm protrusion 48 by a pin 52.
更に第３図及び第４図にも示すようにレバー４
１のコ字形部４４とリンク５１前端部とをクラン
ク軸５３にて連結する。即ちクランク軸５３は軸
心を偏心ｅさせた上下のクランクピン５４，５５
を一体形成して成り、下部のクランクピン５５で
リンク５１前端部を枢支し、斯くしてリンク５１
を車体の車巾中心線と交差させる一方、上部のク
ランクピン５４をコ字形部４４に縦通支承し、こ
のコ字形部４４内に臨むクランクピン５４の中間
部にはピニオン５６を一体に備える。 Furthermore, as shown in FIGS. 3 and 4, the lever 4
The U-shaped portion 44 and the front end of the link 51 are connected by a crankshaft 53. That is, the crankshaft 53 has upper and lower crank pins 54, 55 whose shaft centers are eccentric e.
The front end of the link 51 is pivotally supported by the lower crank pin 55, and thus the link 51
intersects with the width center line of the vehicle body, while an upper crank pin 54 is longitudinally supported in the U-shaped portion 44, and a pinion 56 is integrally provided at the middle portion of the crank pin 54 facing inside the U-shaped portion 44. .
斯かるピニオン５６が噛合するエキスターナル
ギヤ５７をギヤボツクス３４下面に固定する。こ
のエキスターナルギヤ５７は軸心を支軸３７の軸
心と一致させたセクタギヤ型のサンギヤを成し、
このサンギヤ５７をギヤボツクス３４下面にボル
ト５８…にて固定する。従つてピニオン５６はサ
ンギヤ５７外周を回転するプラネタリピニオンを
成す。 An external gear 57 with which the pinion 56 meshes is fixed to the lower surface of the gear box 34. This external gear 57 forms a sector gear type sun gear whose axis is aligned with the axis of the support shaft 37,
This sun gear 57 is fixed to the lower surface of the gear box 34 with bolts 58. Therefore, the pinion 56 forms a planetary pinion that rotates around the outer periphery of the sun gear 57.
以上の遊星歯車機構５６，５７とクランク軸５
３の初期設定を以下の如く行う。 The above planetary gear mechanism 56, 57 and crankshaft 5
Perform the initial settings in step 3 as follows.
先ず操舵中立状態におけるサンギヤ５７の中心
点O1とプラネタリピニオン５６の中心点O2とを
結ぶ直線上にリンク５１とのジヨイントピン５５
の中心点Ｐを一致させる。即ち線図的に示した第
５図の如く初期設定する。図中R1はサンギヤ５
７の基準ピツチ円半径、R2はピニオン５６の基
準ピツチ円半径で、R3はピニオン５６に対する
ジヨイントピン５５の偏心量であり、αは中立位
置からのレバー４１の回動角である。 First, the joint pin 55 with the link 51 is placed on the straight line connecting the center point O 1 of the sun gear 57 and the center point O 2 of the planetary pinion 56 in the neutral steering state.
Match the center point P of That is, initial settings are made as shown diagrammatically in FIG. R 1 in the diagram is sun gear 5
7, R 2 is the standard pitch radius of the pinion 56, R 3 is the eccentricity of the joint pin 55 with respect to the pinion 56, and α is the rotation angle of the lever 41 from the neutral position.
そしてO1点で交わる直交座標系をとれば第６
図の如くで、外転サイクロイドの条件より
R1α＝R2θ
∴ θ＝（R1／R2）α …(i)
従つて（O2）点の座標は
x1＝（R1＋R2）cosα …(ii)
y1＝（R1＋R2）sinα …(iii)
次に（O2）点に対する（Ｐ）点の相対座標を
求める。 And if we take a rectangular coordinate system that intersects at one point O, then the sixth
As shown in the figure, from the condition of the epicycloid, R 1 α=R 2 θ ∴ θ=(R 1 /R 2 ) α …(i) Therefore, the coordinates of the (O 2 ) point are x 1 = (R 1 + R 2 ) cosα...(ii) y1 =( R1 + R2 )sinα...(iii) Next, find the relative coordinates of point (P) with respect to point ( O2 ).
先ずR3＝R2、即ちピニオン５６の基準ピツチ
円上に（Ｐ）点を一致させた場合は、第７図から
明らかな如く
Ｘ＝−R2cos（α＋θ） …(iv)
Ｙ＝−R2sin（α＋θ） …(v)
そして（O1）点に対する（Ｐ）点の座標は
ｘ＝x1＋Ｘ、ｙ＝y1＋Ｙで表されるから
ｘ＝（R1＋R2）cosα−R2cos（α＋θ）
ｙ＝（R1＋R2）sinα−R2sin（α＋θ）
これに(i)式を代入して
ｘ＝（R1＋R2）cosα−R2cos
｛（R1＋R2／R2）α｝ …(vi)
ｙ＝（R1＋R2）sinα−R2sin
｛（R1＋R2／R2）α｝ …(vii)
以上により(vii)式のｙの値がほぼレバー４１の回
動角（α）におけるジヨイントピン５５のコント
ロールストロークとなる。 First, if R 3 = R 2 , that is, point (P) coincides with the reference pitch circle of the pinion 56, then as is clear from Fig. 7, X = -R 2 cos (α + θ) ... (iv) Y = - R 2 sin (α+θ) …(v) And the coordinates of point (P) with respect to point (O 1 ) are expressed as x=x 1 +X, y=y 1 +Y, so x=(R 1 +R 2 )cosα− R 2 cos (α + θ) y = (R 1 + R 2 ) sin α − R 2 sin (α + θ) Substituting equation (i) into this, x = (R 1 + R 2 ) cos α − R 2 cos {(R 1 + R 2 /R 2 )α} …(vi) y=(R 1 +R 2 )sinα−R 2 sin {(R 1 +R 2 /R 2 )α} …(vii) From the above, the value of y in equation (vii) is approximately the control stroke of the joint pin 55 at the rotation angle (α) of the lever 41.
尚、ピニオン５６の基準ピツチ円上に（Ｐ）点
を一致させない場合、即ちジヨイントピン５５の
中心点を（P′）点とした場合は、前記の(iv)，(v)，
(vi)，(vii)式は下記の如くなる。 In addition, if the point (P) is not made to coincide with the reference pitch circle of the pinion 56, that is, if the center point of the joint pin 55 is set to the point (P'), the above (iv), (v),
Equations (vi) and (vii) are as follows.
Ｘ＝−R3cos（α＋θ） …（）
Ｙ＝−R3sin（α＋θ） …（）
ｘ＝（R1＋R2）cosα−R3cos
｛（R1＋R2／R2）α｝ …（）
ｙ＝（R1＋R2）sinα−R3sin
｛（R1＋R2／R2）α｝ …（）
そしてジヨイントピン５５の中心点（Ｐ）若し
くは（P′）の軌跡を表せば第８図の如くである。
ここでR1＝76.5、R2＝12であり、R3＝17の場合
は軌跡(A)、R3＝12の場合は軌跡(B)、R3＝８の場
合は軌跡(C)を描く。 X = -R 3 cos (α + θ) ... () Y = -R 3 sin (α + θ) ... () x = (R 1 + R 2 ) cos α - R 3 cos {(R 1 + R 2 / R 2 ) α} ... () y=(R 1 + R 2 ) sinα−R 3 sin {(R 1 +R 2 /R 2 ) α} …() And if we express the locus of the center point (P) or (P′) of the joint pin 55, then As shown in Figure 8.
Here, R 1 = 76.5, R 2 = 12, and if R 3 = 17, the trajectory (A), if R 3 = 12, the trajectory (B), and if R 3 = 8, the trajectory (C). draw.
更に各軌跡に対応する後輪１２，１２の操舵特
性を表せば第９図の如くである。ここでレバー４
１の使用角度は±38.5゜とし、線形特性（Ｌ）は
従来の特性を示し、また領域イ，ロは前後輪の逆
位相操舵を、領域ハ，ニは同位相操舵を表す。 Further, the steering characteristics of the rear wheels 12, 12 corresponding to each trajectory are shown in FIG. Here lever 4
The angle used in No. 1 is ±38.5 degrees, the linear characteristic (L) shows the conventional characteristic, and regions A and B represent anti-phase steering of the front and rear wheels, and regions C and D represent in-phase steering.
斯かる特性図から明らかなようにR3＞R2、即
ちジヨイントピン５５の中心をピニオン５６の基
準ピツチ円の外方に設定した場合、つまり中心点
（P′）の場合は、ハンドル３１の小操舵角範囲で
後輪１２，１２を前輪１１，１１と同方向へ若干
転舵することが可能となり、車両を斜め左右方向
へ移動させることができ、幅寄せ等を容易に行う
ことができる。 As is clear from this characteristic diagram, when R 3 > R 2 , that is, when the center of the joint pin 55 is set outside the reference pitch circle of the pinion 56, that is, when the center point (P'), the small It becomes possible to slightly steer the rear wheels 12, 12 in the same direction as the front wheels 11, 11 within the steering angle range, and the vehicle can be moved diagonally left and right, making it possible to easily perform width closing.
そしてR3≦R2、即ちジヨイントピン５５の中
心をピニオン５６の基準ピツチ円を含みその内方
に設定した場合、つまり中心点（Ｐ）の場合は、
ハンドル３１の小操舵角範囲では後輪１２，１２
を殆ど転舵することがなく、通常の前輪操舵車両
と同等の直進維持が行える。 When R 3 ≦ R 2 , that is, when the center of the joint pin 55 is set inside the reference pitch circle of the pinion 56 , that is, when it is the center point (P),
In the small steering angle range of the handle 31, the rear wheels 12, 12
There is almost no steering required, and the vehicle can maintain straight travel in the same way as a normal front-wheel steering vehicle.
また何れの場合にもハンドル３１の大操舵角範
囲では後輪１２，１２を前輪１１，１１と逆方向
へ大きく転舵することができるので、小さな旋回
半径が得られ、車両のとりまわし性は良好なもの
となる。 Furthermore, in any case, the rear wheels 12, 12 can be largely steered in the opposite direction to the front wheels 11, 11 in the large steering angle range of the handle 31, so a small turning radius is obtained, and the maneuverability of the vehicle is improved. It will be good.
以上に外転サイクロイドを説明したが、次に内
転サイクロイドを説明する。 The abduction cycloid has been explained above, and the adduction cycloid will now be explained.
本実施例では第１０図及び第１１図に示すよう
にピニオン５６が噛合するインターナルギヤ１５
７をギヤボツクス３４下面に固定する。このイン
ターナルギヤ１５７は軸心を支軸３７の軸心と一
致させた円弧状のリングギヤを成し、このインタ
ーナルギヤ１５７をギヤボツクス３４下面にボル
ト１５８…にて固定する。従つてピニオン５６は
インターナルギヤ１５７内周を回転するプラネタ
リピニオンを成す。 In this embodiment, as shown in FIGS. 10 and 11, the internal gear 15 is engaged with the pinion 56.
7 is fixed to the lower surface of the gear box 34. This internal gear 157 forms an arcuate ring gear whose axis is aligned with the axis of the support shaft 37, and is fixed to the lower surface of the gear box 34 with bolts 158. Therefore, the pinion 56 forms a planetary pinion that rotates around the inner circumference of the internal gear 157.
以上の遊星歯車機構５６，１５７とクランク軸
５３の初期設定は、操舵中立状態におけるインタ
ーナルギヤ１５７の中心点（O1）とリンク５１
のジヨイントピン５５の中心点（Ｐ）とを結ぶ直
線上にプラネタリピニオン５６の中心点（O2）
を一致させて行う。 The above initial settings of the planetary gear mechanisms 56, 157 and the crankshaft 53 are based on the center point (O 1 ) of the internal gear 157 and the link 51 in the neutral steering state.
The center point (O 2 ) of the planetary pinion 56 is on the straight line connecting the center point (P) of the joint pin 55.
Do it in a consistent manner.
また第１２図にも示す如くインターナルギヤ１
５７の基準ピツチ円半径を（R1）とする以外は
前記と同様であり、斯かる内転サイクロイド方式
によつても前記の各条件式が成立する。 Also, as shown in Fig. 12, the internal gear 1
It is the same as above except that the reference pitch circle radius of 57 is set to (R 1 ), and the above-mentioned conditional expressions also hold true with this internal rotation cycloid system.
そしてジヨイントピン５５の中心点の軌跡を第
１３図、その各軌跡に対応する後輪１２，１２の
転舵特性を第１４図に示す。ここでR1＝88.5であ
り、軌跡及び特性の(A)はR2＝12、R3＝17の場合、
(B)はR2＝R3＝12の場合、(C)はR2＝12、R3＝８の
場合で、また(D)はR2＝R3＝８の場合である。 FIG. 13 shows the trajectory of the center point of the joint pin 55, and FIG. 14 shows the steering characteristics of the rear wheels 12, 12 corresponding to each trajectory. Here, R 1 = 88.5, and the trajectory and characteristics (A) are R 2 = 12, R 3 = 17,
(B) is the case when R 2 =R 3 =12, (C) is the case when R 2 =12 and R 3 =8, and (D) is the case when R 2 =R 3 =8.
このように内転サイクロイド方式によつても前
述の外転サイクロイド方式とは同様の効果が得ら
れることが判る。 Thus, it can be seen that the adduction cycloid system also provides the same effects as the above-mentioned epicycloid system.
ところで、以上の実施例ではレバー４１とリン
ク５１との連結部にクランク軸５３と遊星歯車機
構５６，５７，１５７を構成したが、リンク５１
とアーム４７との連結部に同様に構成しても良
い。その場合においては、クランク軸の操舵入力
側、即ちリンク５１とのクランクピンと車体側と
に遊星歯車機構を構成する。 By the way, in the above embodiment, the crankshaft 53 and the planetary gear mechanism 56, 57, 157 were configured at the connection part between the lever 41 and the link 51, but the link 51
A similar structure may be applied to the connecting portion between the arm 47 and the arm 47. In that case, a planetary gear mechanism is configured on the steering input side of the crankshaft, that is, on the crank pin with the link 51 and on the vehicle body side.
以上のように後輪転舵特性の非線形化を実現す
る前後輪の操舵装置を装備した乗用作業機１の後
部に第１５図に示す如く接地作業機７１をオーバ
ーハングさせて装着する。 As shown in FIG. 15, the ground-contacting work machine 71 is mounted in an overhanging manner at the rear of the riding work machine 1 equipped with front and rear wheel steering devices that realize nonlinear rear wheel steering characteristics as described above.
接地作業機は、実施例ではロータリー作業機７
１であり、ロータリー７２の上方はフエンダ７４
で覆われ、フエンダ７４上のセンターから前方へ
はヒツチボツクス７５が延出し、後方にはブラケ
ツト７６を延出してその後端からアーム７７を垂
下し、アーム７７下端に尾輪７８を備える。 The ground work machine is rotary work machine 7 in the embodiment.
1, and above the rotary 72 is a fender 74.
A hitbox 75 extends forward from the center on the fender 74, a bracket 76 extends rearward, an arm 77 hangs down from the rear end, and a tail wheel 78 is provided at the lower end of the arm 77.
一方、乗用作業機１の後部にヒツチボツクス６
１がリフト装置６２にて揺動自在に備えられ、ヒ
ツチボツクス６１はミツシヨンケース５に支承さ
れた動力取出軸６５と同芯的に枢支されている。
斯かるヒツチボツクス６１に前記ヒツチボツクス
７５を結合してロータリー作業機７１を乗用作業
機１後方へオーバーハングさせて連結し、動力取
出軸６５とロータリー軸７３とに伝動ケース６
６，６７を架設する。 On the other hand, a hitbox 6 is installed at the rear of the riding work machine 1.
1 is swingably provided by a lift device 62, and the hitbox 61 is pivotally supported concentrically with a power take-off shaft 65 supported by the mission case 5.
The hitbox 75 is connected to the hitbox 61 to connect the rotary work machine 71 with an overhang to the rear of the riding work machine 1, and the power take-off shaft 65 and the rotary shaft 73 are connected to the transmission case 6.
6,67 will be constructed.
以上の作業車両により農耕作業を行う場合、ハ
ンドル３１の大操舵角範囲では第１６図の如く後
輪１２，１２を前輪１１，１１と逆方向へ大きく
転舵して小さな旋回半径が得られるので、後輪１
２，１２のタイヤスリツプを防止しつつ急旋回し
てスムーズに行うことができる。 When carrying out agricultural work using the above-mentioned work vehicle, in the large steering angle range of the handlebar 31, the rear wheels 12, 12 are largely steered in the opposite direction to the front wheels 11, 11, as shown in Fig. 16, and a small turning radius can be obtained. , rear wheel 1
It is possible to make sharp turns smoothly while preventing tire slips of 2 and 12.
そしてハンドル３１の小操舵角範囲では後輪１
２，１２を殆ど転舵しないかまたは前輪１１，１
１と同方向へ若干転舵するので、以下の如く直進
耕耘性を向上する。 In the small steering angle range of the steering wheel 31, the rear wheel 1
2, 12 are hardly steered or the front wheels 11, 1
Since it is slightly steered in the same direction as No. 1, straight-line tillability is improved as described below.
即ちハンドル３１の小操舵角範囲において、第
１７図の如く後輪１２，１２を殆ど転舵しなけれ
ば、直進付近での旋回中心（ｒ）は後車軸延長線
上にあるため、ロータリー作業機７１に発生する
旋回外側への横移動（Ｎ）は比較的小さく、通常
の前輪操舵車両と同等の直進維持が容易に行え
る。そして第１８図の如く前輪１１，１１と同方
向へ後輪１２，１２を若干転舵すれば、直進付近
での旋回中心（ｒ）はロータリー作業機７１のロ
ータリー軸７３延長線上側に近づくため、ロータ
リー作業機１には旋回外側への横移動（Ｎ）が殆
ど発生しなくなり、畔際や段差のきつい箇所で幅
寄せを行いながらの直進に近い耕耘が行え、ロー
タリー作業機７１の蛇行を防止できる。 That is, in the small steering angle range of the handlebar 31, if the rear wheels 12, 12 are hardly steered as shown in FIG. The lateral movement (N) to the outside of the turn that occurs during the turn is relatively small, and it is easy to maintain straight travel equivalent to a normal front-wheel steering vehicle. If the rear wheels 12, 12 are slightly steered in the same direction as the front wheels 11, 11 as shown in FIG. , the rotary work machine 1 almost never experiences lateral movement (N) to the outside of the turn, and plowing can be done in a nearly straight line while moving along the edge of a bank or in a place with a steep step, and the meandering of the rotary work machine 71 can be prevented. It can be prevented.
このように直進付近での作業時において、ロー
タリー作業機７１の蛇行を防止できるので、耕耘
土の片寄りを抑止しつつ耕耘作業を円滑に行うこ
とができる。 In this way, it is possible to prevent the rotary working machine 71 from meandering when working in a straight line, so that the tilling work can be smoothly performed while suppressing the shifting of the tilled soil.
ところで、前後輪の操舵システムは実施例のも
のに限らず、接地作業機を装着した側の前輪の転
舵特性が非線形であれば任意のものを採用し得
る。 Incidentally, the steering system for the front and rear wheels is not limited to the one in the embodiment, and any system may be used as long as the steering characteristic of the front wheel on the side to which the ground-contacting work machine is attached is nonlinear.
（考案の効果）
以上のように本考案によれば、前部または後部
にオーバーハングさせて接地作業機を装着した乗
用作業機において、ハンドルの小操舵角操作では
接地作業機を装着した側の車輪を殆ど転舵しない
かまたは接地作業機と反対側の車輪と同方向へ若
干転舵する全車輪の操舵装置を装備し、ハンドル
の小操舵角操作範囲での旋回中心を接地作業機を
装着した側の車輪の車軸延長線上から接地作業機
に備えた耕耘用回転軸の延長線上近傍までの範囲
内に設けたため、直進維持も容易となり、また作
業車両並びに接地作業機を斜め左右方向へ移動さ
せて幅寄せを容易に行うことも可能となり、特に
直進付近の接地作業機に発生する旋回外側への横
移動を小さくすることができるので、接地作業機
の蛇行を防止しつつ直進付近の耕耘作業を耕耘土
の片寄りを抑止しながら円滑に行うことができ
る。(Effects of the invention) As described above, according to the invention, in a riding work machine equipped with a ground-contacting work equipment overhanging the front or rear part, when operating a small steering angle of the handle, the side to which the ground-contacting work equipment is installed is Equipped with an all-wheel steering device that hardly steers the wheels or slightly steers them in the same direction as the wheels on the opposite side of the ground-contacting machine, and the ground-contacting machine is equipped with a turning center that is set within a small steering angle operation range of the handle. Since it is installed within the range from the extension of the axle of the wheel on the side where the wheel is turned to the extension of the rotary shaft for tillage provided on the ground-based work machine, it is easy to maintain straight movement, and it is also possible to move the work vehicle and the ground-based work machine diagonally to the left or right. In particular, it is possible to reduce the lateral movement to the outside of the turn that occurs with ground-contacting working machines near straight-travelling, thereby preventing meandering of ground-touching working machines while plowing near straight-travelling. Work can be carried out smoothly while preventing the tilled soil from shifting to one side.
第１図は乗用作業機の破断側面図、第２図は操
舵系の平面図、第３図は要部拡大側面図、第４図
は同平面図、第５図は線図的に示した要部平面
図、第６図はエキスターナルギヤの中心点に対す
るジヨイントピンの中心点の座標を示す線図、第
７図はピニオンの中心点に対するジヨイントピン
の中心点の相対座標を示す線図、第８図は外転サ
イクロイドによる軌跡図、第９図はその後輪転舵
特性図、第１０図は第２実施例を示す要部拡大側
面図、第１１図は同平面図、第１２図は線図的に
示した要部平面図、第１３図は内転サイクロイド
による軌跡図、第１４図はその後輪転舵特性図、
第１５図は接地作業機を装着した乗用作業機の破
断側面図、第１６図は前後輪の逆位相パターン
図、第１７図は後輪を転舵しないパターン図、第
１８図は同位相パターン図である。
尚、図面中１は乗用作業機、１１は前輪、１２
は後輪、２３は前輪用タイロツド、２８は後輪用
タイロツド、３１はハンドル、３４はギヤボツク
ス、３５はピニオン、３６はセクタギヤ、３７は
支軸、４１はレバー、４６は支軸、４７はアー
ム、５１はリンク、５３はクランク軸、５４は操
舵入力側の軸部、５５はジヨイントピン、５６は
プラネタリピニオン、５７はエキスターナルギ
ヤ、１５７はインターナルギヤ、７１は接地作業
機、７３は回転軸、ｒは旋回中心である。
Figure 1 is a cutaway side view of the riding work machine, Figure 2 is a plan view of the steering system, Figure 3 is an enlarged side view of the main parts, Figure 4 is the same plan view, and Figure 5 is a diagrammatic representation. 6 is a diagram showing the relative coordinates of the center point of the joint pin with respect to the center point of the external gear; FIG. 7 is a diagram showing the relative coordinates of the center point of the joint pin with respect to the center point of the pinion; Figure 8 is a locus diagram of an epicycloid, Figure 9 is a rear wheel steering characteristic diagram, Figure 10 is an enlarged side view of the main part showing the second embodiment, Figure 11 is a plan view of the same, and Figure 12 is a line diagram. Fig. 13 is a locus diagram of the internal rotation cycloid, Fig. 14 is a rear wheel steering characteristic diagram,
Fig. 15 is a cutaway side view of a riding work machine equipped with a ground-contacting work machine, Fig. 16 is a reverse phase pattern diagram of the front and rear wheels, Fig. 17 is a pattern diagram where the rear wheels are not steered, and Fig. 18 is a same phase pattern diagram. It is a diagram. In addition, in the drawing, 1 is a riding working machine, 11 is a front wheel, and 12 is a riding work machine.
is the rear wheel, 23 is the tie rod for the front wheel, 28 is the tie rod for the rear wheel, 31 is the handle, 34 is the gearbox, 35 is the pinion, 36 is the sector gear, 37 is the support shaft, 41 is the lever, 46 is the support shaft, 47 is the arm , 51 is a link, 53 is a crankshaft, 54 is a shaft portion on the steering input side, 55 is a joint pin, 56 is a planetary pinion, 57 is an external gear, 157 is an internal gear, 71 is a ground work machine, 73 is a rotation The axis, r, is the center of rotation.
Claims (1)
部または後部にオーバーハングさせて接地作業
機を装着した乗用作業機において、ハンドルの
操舵操作により全車輪を転舵することが可能で
あつて、且つハンドルの小操舵角操作では接地
作業機を装着した側の車輪を殆ど転舵しないか
または当該車輪を接地作業機と反対側の車輪と
同方向へしかも接地作業機と反対側の車輪の転
舵角に比べ極めて小さな転舵角をもつて転舵す
るようにした全車輪の操舵装置を装備し、ハン
ドルの小操舵角操作範囲における旋回中心を接
地作業機を装着した側の車輪の車軸延長線上か
ら接地作業機に備えた耕耘用回転軸の延長線上
近傍までの範囲内に設けたことを特徴とする乗
用作業機。 (2) 前記耕耘用回転軸の延長線上に前記旋回中心
を一致させた実用新案登録請求の範囲第１項記
載の乗用作業機。[Scope of Claim for Utility Model Registration] (1) In a riding work machine that is equipped with wheels on the front, rear, left, and right sides of the vehicle body, and is equipped with a ground-contacting work equipment overhanging the front or rear of the vehicle body, all wheels can be moved by steering the handle. In addition, when operating the handlebar at a small steering angle, the wheels on the side to which the ground-contacting work equipment is attached are hardly steered, or the wheels are steered in the same direction as the wheels on the side opposite to the ground-contacting work equipment. In addition, it is equipped with a steering system for all wheels that steers at an extremely small steering angle compared to the steering angle of the wheel on the opposite side of the ground-contacting work equipment, and the turning center is set to the ground within the small steering angle operation range of the steering wheel. A riding working machine characterized in that it is installed within a range from an extension of the axle of a wheel on which the working machine is attached to an extension of a rotary shaft for tillage provided on the ground-contact working machine. (2) The riding working machine according to claim 1, wherein the turning center is aligned with an extension line of the tilling rotation shaft.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1984193381U JPH0224377Y2 (en) | 1984-12-20 | 1984-12-20 | |
| FR858518942A FR2578217B1 (en) | 1984-12-20 | 1985-12-20 | WORK MACHINE DRIVEN BY A DRIVER AND EQUIPPED WITH A STEERING SYSTEM WITH FOUR STEERING WHEELS |
| CA000498376A CA1264676A (en) | 1984-12-20 | 1985-12-20 | Rider-controlled working machine with four-wheel steering system |
| US07/063,700 US4798393A (en) | 1984-12-20 | 1987-06-12 | Rider-controlled working machine with four-wheel steering system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1984193381U JPH0224377Y2 (en) | 1984-12-20 | 1984-12-20 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS61107686U JPS61107686U (en) | 1986-07-08 |
| JPH0224377Y2 true JPH0224377Y2 (en) | 1990-07-04 |
Family
ID=30750804
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1984193381U Expired JPH0224377Y2 (en) | 1984-12-20 | 1984-12-20 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0224377Y2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6349589A (en) * | 1986-08-18 | 1988-03-02 | Kubota Ltd | Power steering device for working vehicle |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS566672B2 (en) * | 1974-06-24 | 1981-02-13 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS566672U (en) * | 1979-06-29 | 1981-01-21 |
-
1984
- 1984-12-20 JP JP1984193381U patent/JPH0224377Y2/ja not_active Expired
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS566672B2 (en) * | 1974-06-24 | 1981-02-13 |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS61107686U (en) | 1986-07-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3028927B1 (en) | Steering device and vehicle with same | |
| JP2005053471A (en) | Steering device of vehicle | |
| JPH07257419A (en) | Farm working vehicle | |
| US4798393A (en) | Rider-controlled working machine with four-wheel steering system | |
| JPH107009A (en) | Installation structure of power steering cylinder | |
| JPH0224377Y2 (en) | ||
| JPH0427067B2 (en) | ||
| JP2522062B2 (en) | Rear wheel steering system for front and rear wheel steering vehicles | |
| JPH0224379Y2 (en) | ||
| JPH0224378Y2 (en) | ||
| JPH0319109B2 (en) | ||
| US5765659A (en) | Dirigible drive wheel assembly | |
| JPS61146680A (en) | Passenger working machine | |
| JPS6235639Y2 (en) | ||
| JPS61188275A (en) | Steering device for 4-wheel driving car | |
| JPS61146679A (en) | Passenger working machine | |
| KR860003449Y1 (en) | Steering device in vehicle | |
| JP2560825B2 (en) | Rear wheel steering system for front and rear wheel steering vehicles | |
| JPH0531019Y2 (en) | ||
| JPH0414273Y2 (en) | ||
| JP3280291B2 (en) | Riding paddy working machine | |
| JPS63232079A (en) | Steering device for agricultural vehicle | |
| JPH076064Y2 (en) | Steering device for agricultural tractor | |
| JP2001086803A (en) | Steering apparatus for working vehicle | |
| JPS6130464A (en) | Steering device for four-wheel driving type moving agricultural equipment |