JPH0569847A - Four-wheel-steering device in power vehicle - Google Patents
Four-wheel-steering device in power vehicleInfo
- Publication number
- JPH0569847A JPH0569847A JP21171891A JP21171891A JPH0569847A JP H0569847 A JPH0569847 A JP H0569847A JP 21171891 A JP21171891 A JP 21171891A JP 21171891 A JP21171891 A JP 21171891A JP H0569847 A JPH0569847 A JP H0569847A
- Authority
- JP
- Japan
- Prior art keywords
- mode
- wheels
- rear wheels
- steering mode
- steering
- 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.)
- Granted
Links
Landscapes
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
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。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steering device for a power vehicle in which front and rear wheels can be steered independently or in association with 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
的にあるいは相互に関連させて操舵可能できるように構
成し、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−ドを選択できるようにして
いる。2. Description of the Related Art Conventionally, a device of this type is constructed such that front and rear wheels can be steered independently or in association with each other, and one of the modes selected by an operator, for example, the front wheels. The steering mode, the rear wheel steering mode, or the antiphase steering mode in which the front and rear wheels face in opposite directions can be selected.
【０００３】そして、このような従来装置にあっては、
操舵車輪が略直進方向を向いたときに、各操舵モ−ドの
変更ができるように構成している。In such a conventional device,
The steering modes can be changed when the steered wheels are oriented in a substantially straight direction.
【０００４】[0004]
【発明が解決しようとする課題】ところで、こうした従
来装置にあっては、傾斜地で作業を行うときに、機体が
横滑りを起こして谷側へずり落ちそうになることがあ
り、このような滑り落ちを防止するために、前後輪共同
じ方向を向くような操舵モ−ド、すなわち、前後輪同位
相操舵モ−ドにし、４つの操舵輪をすべて山側へ向かう
ように操舵することが望ましいとされている。しかしな
がら、このような使用頻度が少ない操舵モ−ドを前記３
つの操舵モ−ド以外に特別に設けることは、油路切換バ
ルブや配管の構成が複雑になる恐れがあり、コスト的に
も高くつく等の問題点を有していた。By the way, in such a conventional apparatus, when working on a sloping ground, the machine body may skid and tend to slide down to the valley side. In order to prevent this, it is desirable that the steering mode is such that the front and rear wheels face the same direction, that is, the front and rear wheels have the same phase steering mode, and all four steered wheels are steered toward the mountain side. ing. However, the steering mode which is less frequently used is not
There is a problem in that the special provision other than the one steering mode may complicate the structure of the oil passage switching valve and the piping, resulting in high cost.
【０００５】[0005]
【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、前輪操舵モ−ドと後輪操舵モ−ドと前後輪逆位相
操舵モ−ドとを備え、操舵輪が略直進方向を向いたとき
に、各モ−ド間の切換ができるように構成された動力車
輌１において、略直進方向に相当する中点位置を検出す
る手段４６と、この中点位置を変更する手段Ｓ４とを具
備させたことを特徴とする動力車輌における四輪操舵装
置とするものである。In order to solve the above problems, the present invention takes the following technical means.
That is, the front wheel steering mode, the rear wheel steering mode, and the front-rear wheel antiphase steering mode are provided so that the modes can be switched when the steered wheels are oriented in a substantially straight direction. A four-wheel steering system for a power vehicle, characterized in that the configured power vehicle 1 is provided with means 46 for detecting a midpoint position corresponding to a substantially straight traveling direction and means S4 for changing the midpoint position. It is what
【０００６】[0006]
【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 now be described based on the embodiments shown in the drawings. First, the structure will be explained as follows.
Is a tractor for passenger management, which is provided with front wheels 2, 2 and rear wheels 3, 3 at the front and rear portions of the body, and these front and rear wheels 2, 3 can be steered independently or in conjunction with each other. Has been done.
【０００７】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本の軸９、１０が突設さ
れ、上部の軸９はユニバ−サルジョイント１２を介して
伝動ケ−ス１１の下部入力軸１４に伝達される。伝動ケ
−ス１１内のギヤ機構を介して減速された回転動力は上
部の出力軸１５から取り出され、ＰＴＯ軸として利用さ
れる。１８は作業機を連結するリンク、２１、２１は連
結リンク１８を昇降回動させるためのシリンダ、２９は
変速レバ−である。A ordinate type engine 5 is provided in the hood 4 of the tractor 1, and a transmission case 7 is provided for transmitting rotational power of the engine 5 through a power transmission means 6 including a pulley and a belt. To the internal gearbox. Two shafts 9 and 10 project from the rear of the transmission case 7, and the upper shaft 9 is transmitted to a lower input shaft 14 of a transmission case 11 via a universal joint 12. The rotational power decelerated via the gear mechanism in the transmission case 11 is taken out from the upper output shaft 15 and used as a PTO shaft. Reference numeral 18 is a link for connecting the working machine, 21 and 21 are cylinders for vertically rotating the connection link 18, and 29 is a shift lever.
【０００８】図２は前輪操舵系Ｆと後輪操舵系Ｒの油圧
回路図であるが、以下その詳細を説明する。３０、３０
は前輪２、２のナックルア−ムで、両ナックルア−ム３
０、３０はタイロッド３１で連結されている。３３、３
３は後輪３、３のナックルア−ム、３５はナックルア−
ム３３、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。FIG. 2 is a hydraulic circuit diagram of the front wheel steering system F and the rear wheel steering system R, the details of which will be described below. 30, 30
Is the knuckle arm for the front wheels 2 and 2, both knuckle arms 3
0 and 30 are connected by a tie rod 31. 33, 3
3 is a knuckle arm for the rear wheels 3 and 3, 35 is a knuckle arm.
It is a tie rod that connects the frames 33, 33. Right front wheel 2
The arm 37 provided on the upper part of the knuckle arm 30 and the center of the lower part of the machine body are connected by a single rod type hydraulic cylinder 40, and between the front part of the knuckle arm 33 of the right rear wheel 3 and the machine body. A hydraulic cylinder-44 is interposed in the.
【０００９】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 are 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
It is an electromagnetic valve that controls the two-position, four-port type valve, and normally includes the hydraulic pump 52 side and the hydraulic cylinder-4.
When the solenoid 53 of the electromagnetic valve 50 is excited and the solenoid valve 53 is in communication with the 0 side, the oil passage is switched between the hydraulic pump 52 side and the hydraulic cylinder 40 side by switching to the right chamber.
【００１０】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 is an electromagnetic valve for controlling the rear wheel steering system R, which is composed of a two-position four-port type valve, and normally disconnects the hydraulic pump 52 side and the hydraulic cylinder-44 side from each other. When the solenoid 58 is excited, the chamber is switched to the right chamber, and the hydraulic pump 52 side and the hydraulic cylinder-4
The oil passages on the 4th side are in communication. Reference numeral 60 denotes an all-hydraulic steering mechanism. When the steering handle 61 is turned, the oil passage and the oil amount are controlled.
【００１１】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 the figure, when the steering handle 61 is turned to the right, the operating pressure oil sent from the hydraulic pump 52 passes through the oil passage (a) into the chamber on the left side of the electromagnetic valve 50, and the hydraulic cylinder-- The piston rod of 40 is pushed out to cut the front wheels 2 and 2 to the right, and the returned working pressure oil returns to the tank 63 through the chamber on the left side of the electromagnetic valve 55. On the contrary, 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) and enters the left chamber of the electromagnetic valve 55 to retract the piston rod of the hydraulic cylinder-40. Then, the front wheels 2 and 2 are turned to the left, and the returning pressure oil is collected in the tank 63.
【００１２】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 part of the tractor-1.
It is possible to switch between "neutral position", "up position", and "down position". When the operator holds the hydraulic operation lever 66 and keeps it at the "raised position", the operating pressure oil flows into the lift cylinders 21 and 21, and the connecting link 18 is rotated upward. Each solenoid 5 of the electromagnetic valves 50 and 55 described above
Three steering modes can be selected by controlling the on / off states of 3, 58 by combining them as follows.
【００１３】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（以下、中点位置という）となったときに切換が可
能となるように構成している。That is, in the OFF state where neither solenoid 53, 58 is excited, the front wheel steering mode is set. When both solenoids 53, 58 are turned ON, the rear wheel steering mode is set, and the solenoid 53 is OFF. The other solenoid 58
When the switch is turned on, the front and rear wheels 2 and 3 are switched to the front and rear wheel antiphase steering mode in which the front and rear wheels 2 and 3 face in opposite directions. These modes are switched by a mode switch 68 provided near the driver's seat, and the front wheels 2, 2 and the rear wheels 3, 3 are switched in a straight state (hereinafter, referred to as "mode switching switch 68"). It is configured so that it can be switched when it reaches the middle point position).
【００１４】図３はこの制御装置のブロック回路を示す
ものであり、操作パネル７０に設けたモ−ド切換スイッ
チ６８を適宜選択して所望のモ−ドを得る。即ち、モ−
ド切換スイッチ６８を操作すると入力インタ−フェ−ス
７１を介してその状態がＣＰＵ７２に読み込まれ、出力
インタ−フエ−ス７４を介して該当するソレノイド５
３、５８を励磁し、操舵モ−ドを切り換える。このと
き、前輪２と後輪３に設けた操舵角センサ−４５、４６
の値はＡ／Ｄ変換器７５、入力インタ−フェ−ス７１を
介してＣＰＵ７２に常時読み込まれており、操舵車輪２
（あるいは３）が直進を向いたときに操舵モ−ドが切り
換わる。７８は制御プログラムを記憶しているＲＯＭ、
７９は操舵車輪の中点位置を一時的に記憶するＲＡＭで
ある。８０は電気的に書替え可能なＥＥＰＲＯＭで、前
記中点値として基準になる値、すなわち、前輪２、２と
後輪３、３が直進を向いているとされる基準値が記憶さ
れている。この実施例ではそのときの前輪２の値をθ１
とし、後輪３の値をθ２とする。なお、モ−ド切換スイ
ッチ６８は３つのスイッチＳ１、Ｓ２、Ｓ３からなり、
前輪操舵設定スイッチＳ１を押すと前輪２、２のみが操
舵可能となり、前後輪逆位相操舵設定スイッチＳ２を押
すと前輪２、２と後輪３、３が逆方向を向く操舵モ−ド
になり、後輪操舵設定スイッチＳ３を押すと後輪３、３
のみが操舵できるモ−ドになる。これらのスイッチＳ
１，Ｓ２，Ｓ３は所謂モ−メンタリ型と云われるもの
で、一度押すとその状態を保持し、再度押すと解除され
るようにしてある。Ｓ４は後輪３の中点位置を変更する
ためのスイッチであり、このスイッチＳ４は後輪操舵モ
−ド時においてのみ有効に働く。後輪操舵モ−ド時にこ
の中点変更スイッチＳ４を一度押すと、そのときの後輪
３の操舵角θ２’が中点位置となり、再度押すとリセッ
トされ、再びθ２が中点位置になるように構成される。
また、出力インタ−フエ−ス７４には前輪操舵表示ラン
プＬ１、後輪操舵表示ランプＬ２、前後輪逆位相操舵表
示ランプＬ３が接続されている。FIG. 3 shows a block circuit of this control apparatus. A mode change switch 68 provided on the operation panel 70 is appropriately selected to obtain a desired mode. That is, the mode
When the switching switch 68 is operated, the state is read into the CPU 72 via the input interface 71, and the corresponding solenoid 5 is read via the output interface 74.
Excitation of 3, 58 switches the steering mode. At this time, steering angle sensors 45, 46 provided on the front wheels 2 and the rear wheels 3
The value of is constantly read by the CPU 72 via the A / D converter 75 and the input interface 71.
When (or 3) goes straight, the steering mode is switched. 78 is a ROM storing a control program,
Reference numeral 79 is a RAM for temporarily storing the midpoint position of the steered wheels. Reference numeral 80 denotes an electrically rewritable EEPROM, which stores a reference value as the midpoint value, that is, a reference value that the front wheels 2, 2 and the rear wheels 3, 3 are directed straight ahead. In this embodiment, the value of the front wheel 2 at that time is θ1.
And the value of the rear wheel 3 is θ2. The mode changeover switch 68 comprises three switches S1, S2 and S3,
When the front wheel steering setting switch S1 is pressed, only the front wheels 2 and 2 can be steered, and when the front and rear wheel anti-phase steering setting switch S2 is pressed, the front wheels 2, 2 and the rear wheels 3, 3 are in the steering mode in which they are directed in opposite directions. , When the rear wheel steering setting switch S3 is pressed, the rear wheels 3, 3
Only in steerable mode. These switches S
1, S2 and S3 are so-called momentary type, and when pressed once, the state is maintained, and when pressed again, they are released. S4 is a switch for changing the midpoint position of the rear wheel 3, and this switch S4 works effectively only in the rear wheel steering mode. When the middle point change switch S4 is pressed once in the rear wheel steering mode, the steering angle θ2 ′ of the rear wheel 3 at that time is set to the middle point position, and when it is pressed again, the steering angle θ2 ′ is reset and θ2 is set to the middle point position again. Is composed of.
A front wheel steering display lamp L1, a rear wheel steering display lamp L2, and front and rear wheel antiphase steering display lamps L3 are connected to the output interface 74.
【００１５】図４のプログラムの内容は操舵車輪の中点
位置を変更する際の制御プログラムを示すものであり、
以下、これを説明する。図示外のキ−スイッチを回して
電源をオンすると、前輪操舵モ−ドが優先されているた
めに、操舵モ−ドは前輪操舵になる。この状態で、次の
操舵モ−ドが選択されるのを待ち、オペレ−タが前後輪
逆位相操舵スイッチＳ２を押せば前輪２、２と後輪３、
３が逆方向となる前後輪逆位相操舵モ−ド、所謂４ＷＳ
モ−ドに切り換えられる（ステップ４、１２）。The content of the program shown in FIG. 4 shows a control program for changing the midpoint position of the steered wheels.
This will be described below. When the key switch (not shown) is turned on to turn on the power, the steering mode becomes the front wheel steering because the front wheel steering mode is prioritized. In this state, waiting for the next steering mode to be selected, if the operator pushes the front / rear wheel reverse phase steering switch S2, the front wheels 2, 2 and the rear wheels 3,
Front and rear wheel antiphase steering mode in which 3 is in the opposite direction, so-called 4WS
It is switched to the mode (steps 4 and 12).
【００１６】オペレ−タが後輪操舵スイッチＳ３を押す
と後輪操舵モ−ドに切り換えられ、このときには、前輪
２、２が直進を向いた方向で固定されて後輪３、３のみ
が操舵できる後輪操舵モ−ドに切り換わる（ステップ
５、６）。この操舵モ−ドは、機体を後退させながら防
除作業を行うような場合に使用する。一方、傾斜地で等
高線に沿って前進しながら管理作業を行うような場合で
あって、前輪操舵モ−ドで前輪２、２を山側に向けて進
行させても機体が谷側へ滑り落ちそうなときには、前後
輪が同方向を向く操舵モ−ドが有効となるが、このよう
に一種の前後輪同位相操舵モ−ドを現出させようとする
場合には、前輪操舵モ−ドから一度後輪操舵モ−ドの状
態にし、同時に後輪３の中点位置の書替を行う。すなわ
ち、後輪操舵モ−ドで後輪３、３を僅かに山側に向け、
その状態て中点変更スイッチＳ４を押す。後輪３には操
舵角センサ−４６が取り付けられているので、そのとき
の操舵角θ２’がＣＰＵに読み込まれ、中点変更スイッ
チＳ４を押したときに基準となる中点値の値がθ２から
θ２’に書替えられる。When the operator pushes the rear wheel steering switch S3, the operator switches to the rear wheel steering mode. At this time, the front wheels 2 and 2 are fixed in the direction in which they are straight ahead, and only the rear wheels 3 and 3 are steered. The mode is switched to the rear wheel steering mode which is possible (steps 5 and 6). This steering mode is used when the control work is performed while the machine body is retracted. On the other hand, in a case where management work is performed while advancing along a contour line on a sloping ground, even if the front wheels 2 and 2 are advanced toward the mountain side in the front wheel steering mode, the aircraft is likely to slide down to the valley side. In some cases, the steering mode in which the front and rear wheels face the same direction is effective.However, in order to bring out a kind of front and rear wheel in-phase steering mode in this way, once the front wheel steering mode is reached. The rear wheel steering mode is set, and at the same time, the midpoint position of the rear wheel 3 is rewritten. That is, in the rear wheel steering mode, turn the rear wheels 3 and 3 slightly to the mountain side,
In that state, the middle point change switch S4 is pressed. Since the steering angle sensor-46 is attached to the rear wheel 3, the steering angle θ2 ′ at that time is read by the CPU, and when the midpoint change switch S4 is pressed, the reference midpoint value is θ2. To θ2 '.
【００１７】この状態で再び前輪操舵モ−ドに移行させ
る（ステップ７、８、９）。傾斜地での耕耘管理作業で
は、このように前後輪２、３ともに山側を向くようにし
て機体を前進させる。このとき、後輪３、３は向きが斜
めになった状態で固定されていて、後輪３、３の操舵を
直接に行うことができないが、前輪２、２の舵取り操作
で機体の谷側への滑り落ちを防止することができる。な
お、後輪２の中点値の書替は任意にできるので、土壌の
硬軟あるいは傾斜度合に応じてオペレ−タが作業中にそ
の中点値（θ２’）を決定すれば良い。In this state, the mode is again shifted to the front wheel steering mode (steps 7, 8 and 9). In the tillage management work on a sloping land, the front and rear wheels 2 and 3 face the mountain side in this way, and the airframe is advanced. At this time, the rear wheels 3 and 3 are fixed in a state in which the directions are oblique, and the rear wheels 3 and 3 cannot be steered directly, but the steering operation of the front wheels 2 and 2 causes the valley side of the machine body. It is possible to prevent sliding down. Since the midpoint value of the rear wheel 2 can be rewritten arbitrarily, the midpoint value (θ2 ′) may be determined during operation by the operator according to the hardness or softness of the soil or the degree of inclination.
【００１８】そして、傾斜地での作業を終えて平地で作
業を行う場合には再び中点変更スイッチＳ４を押す。す
ると、これまでのθ２’がクリアされ、元の基準値θ２
が選択され、以後の操舵モ−ドを設定する際に、後輪
３、３の中点値がこのθ２になったことを操舵角センサ
−４６が検出した時点で、所望の操舵モ−ドの変更が行
われるのである。When the work on the sloping ground is completed and the work is performed on the flat ground, the middle point changing switch S4 is pressed again. Then, the previous θ2 'is cleared and the original reference value θ2
When the steering angle sensor 46 detects that the midpoint value of the rear wheels 3 and 3 has reached this θ2 when the subsequent steering mode is set, the desired steering mode is selected. Will be changed.
【００１９】[0019]
【発明の効果】この発明は前記の如く、前輪操舵モ−ド
と後輪操舵モ−ドと前後輪逆位相操舵モ−ドとを備え、
操舵輪が略直進方向を向いたときに、各モ−ド間の切換
ができるように構成された動力車輌において、略直進方
向に相当する中点位置を検出する手段と、この中点位置
を変更する手段とを具備させたことを特徴とする動力車
輌における四輪操舵装置であるから、後輪の中点値を書
き替えることによって前輪と後輪が共に山側を向いて進
行する前後輪同位相操舵モ−ドに近い操舵モ−ドを安価
で簡単な構成で現出できるのであり、乗用管理用トラク
タ−の傾斜地での有効性を高めることができたのであ
る。As described above, the present invention comprises the front wheel steering mode, the rear wheel steering mode, and the front and rear wheel antiphase steering modes,
In a power vehicle configured to switch between the modes when the steered wheels are oriented in a substantially straight traveling direction, a means for detecting a middle point position corresponding to the substantially straight traveling direction and the middle point position are set. Since it is a four-wheel steering device for a power vehicle, the front and rear wheels are both forward and backward traveling toward the mountain side by rewriting the midpoint value of the rear wheels. The steering mode close to the phase steering mode can be realized with a low cost and a simple structure, and the effectiveness of the riding management tractor on the slope can be improved.
【図１】乗用管理用のトラクタ−の側面図である。FIG. 1 is a side view of a riding management 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 the operating 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】プログラム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 the program.
１ トラクタ− ２ 前輪 ３ 後輪 ４ ボンネット ５ エンジン 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 Ｓ１ 前輪操舵スイッチ Ｓ２ 前後輪逆位相操舵スイッチ Ｓ３ 後輪操舵スイッチ Ｓ４ 中点変更スイッチ 1 tractor 2 front wheel 3 rear wheel 4 bonnet 5 engine 40 hydraulic cylinder-44 hydraulic cylinder-45 steering angle sensor-46 steering angle sensor-68 mode selector switch S1 front wheel steering switch S2 front and rear wheels reverse phase steering switch S3 rear wheel Steering switch S4 Middle point change switch
Claims (1)
逆位相操舵モ−ドとを備え、操舵輪が略直進方向を向い
たときに、各モ−ド間の切換ができるように構成された
動力車輌において、略直進方向に相当する中点位置を検
出する手段と、この中点位置を変更する手段とを具備さ
せたことを特徴とする動力車輌における四輪操舵装置。1. A front wheel steering mode, a rear wheel steering mode, and front and rear wheel antiphase steering modes are provided, and when the steered wheels are oriented in a substantially straight direction, switching between the modes is performed. A four-wheel steering system for a power vehicle, comprising: a power vehicle configured to be capable of detecting a midpoint position corresponding to a substantially straight traveling direction; and a means for changing the midpoint position. ..
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21171891A JP3077288B2 (en) | 1991-08-23 | 1991-08-23 | Four-wheel steering system for powered vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21171891A JP3077288B2 (en) | 1991-08-23 | 1991-08-23 | Four-wheel steering system for powered vehicles |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0569847A true JPH0569847A (en) | 1993-03-23 |
| JP3077288B2 JP3077288B2 (en) | 2000-08-14 |
Family
ID=16610453
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP21171891A Expired - Fee Related JP3077288B2 (en) | 1991-08-23 | 1991-08-23 | Four-wheel steering system for powered vehicles |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3077288B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007001426A (en) * | 2005-06-23 | 2007-01-11 | Honda Motor Co Ltd | Vehicular steering device |
-
1991
- 1991-08-23 JP JP21171891A patent/JP3077288B2/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007001426A (en) * | 2005-06-23 | 2007-01-11 | Honda Motor Co Ltd | Vehicular steering device |
| JP4528213B2 (en) * | 2005-06-23 | 2010-08-18 | 本田技研工業株式会社 | Vehicle steering system |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3077288B2 (en) | 2000-08-14 |
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