JPS62289472A - Method and device for steering control of trailer drawn by tractor - Google Patents
Method and device for steering control of trailer drawn by tractorInfo
- Publication number
- JPS62289472A JPS62289472A JP13344586A JP13344586A JPS62289472A JP S62289472 A JPS62289472 A JP S62289472A JP 13344586 A JP13344586 A JP 13344586A JP 13344586 A JP13344586 A JP 13344586A JP S62289472 A JPS62289472 A JP S62289472A
- Authority
- JP
- Japan
- Prior art keywords
- angle
- trailer
- tractor
- steering
- hitch
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims description 9
- 238000001514 detection method Methods 0.000 claims description 19
- 238000010586 diagram Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 1
Landscapes
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
Description
【発明の詳細な説明】
３、発明の詳細な説明
〔産業上の利用分野〕
本発明はトラクタによりトレーラを牽引する作業車例え
ば農耕用作業車においてトレーラを所定の走行路線に沿
って走行させるためのステアリング制御方法及びその装
置に関する。[Detailed Description of the Invention] 3. Detailed Description of the Invention [Field of Industrial Application] The present invention relates to a work vehicle that pulls a trailer with a tractor, such as an agricultural work vehicle, for causing the trailer to travel along a predetermined travel route. The present invention relates to a steering control method and device thereof.
上記トラクタによりトレーラを牽引する作業車は旋回運
動するに際し曲率半径が大となる欠点がある。特に農耕
用の作業者にあっては枕地から田畑への乗入れに際して
は田畑の畦および作物の損傷が大きく、かつ所定位置へ
のトレーラの引込み操作が困難である。このためトレー
ラにもステアリング機構を取付け、必要によりこれを操
作する手段も試みられている。A working vehicle that pulls a trailer with the above-mentioned tractor has a disadvantage in that the radius of curvature is large when it makes a turning motion. Particularly for agricultural workers, when driving into a field from a headland, the ridges of the field and the crops are severely damaged, and it is difficult to pull the trailer into a predetermined position. For this reason, attempts have been made to attach a steering mechanism to the trailer and operate it as necessary.
上記トレーラにステアリング機構を取付けた場合、操縦
者はトラクタのステアリング操作と共にトレーラのステ
アリング操作も行わねばならず、操作に熟練を用すると
共に、特に農耕特等不整地において旋回運動するに際し
ては操作が困難である等の問題がある。When a steering mechanism is attached to the above-mentioned trailer, the operator must perform both the steering operation of the tractor and the trailer, which requires skill and is difficult to operate, especially when making turning movements on uneven terrain such as agricultural land. There are problems such as:
本発明はかかる点に鑑み、トレーラに取付けたステアリ
ング機構を自動的に制御し、予め設定した路線に沿って
トレーラを追随して走行させる方法及びその装置を提供
することを目的とする。In view of this, an object of the present invention is to provide a method and apparatus for automatically controlling a steering mechanism attached to a trailer and causing the trailer to follow a preset route.
上記目的を達成するための第１の発明を第１実施例に対
応する第１図を用いて説明する。本発明はトラクタ２に
より牽引ロッド３を介してトレーラ５を牽引する作業車
１において、トラクタ軸線３１と牽引ロッドとにより形
成する角度（以下ヒッチ角という）α１を検出し、この
角度からトレーラ５のステアリング操作機構１５を作動
し、トレーラ５の走行車輪１２．１３の走行方向を制御
することを要旨とするものである。A first invention for achieving the above object will be explained using FIG. 1 corresponding to the first embodiment. The present invention detects an angle (hereinafter referred to as hitch angle) α1 formed by the tractor axis 31 and the tow rod in a working vehicle 1 that tows a trailer 5 with a tractor 2 via a tow rod 3, and detects the angle α1 formed by the tractor axis 31 and the tow rod, and uses this angle to The gist is to operate the steering operation mechanism 15 and control the traveling direction of the traveling wheels 12, 13 of the trailer 5.
第２の発明は上記方法を実施するための装置に関し、上
記牽引ロッド３をトラクタ２の後部に左右方向へ揺動可
能に軸支し、この軸支部にはヒツチ角検出センサ２５を
備え、トレーラ５には走行車輪１２．１３に対するステ
アリング操作機構１５並びに該機構による走行車輪１２
．１３の首振り角度検出用センサ２７を備え、トラクタ
軸線３１と牽引ロッド３とにより形成するヒツチ角α１
をヒツチ角検出センサ２５により検出し、その出力信号
によりステアリング操作機構１５を作動し、走行車輪１
２．１３の首振り角度を所定角度に維持することを要旨
とするものである。A second invention relates to a device for carrying out the above method, in which the towing rod 3 is pivotally supported on the rear part of the tractor 2 so as to be swingable in the left and right direction, and this shaft support is equipped with a hit angle detection sensor 25, and the trailer 5 includes a steering operation mechanism 15 for the running wheels 12 and 13 and the running wheels 12 by this mechanism.
．． The hit angle α1 formed by the tractor axis 31 and the traction rod 3 is equipped with 13 swing angle detection sensors 27.
is detected by the hit angle detection sensor 25, and the steering operation mechanism 15 is operated based on the output signal, and the running wheel 1 is
The gist of this is to maintain the swing angle of 2.13 at a predetermined angle.
トラクタ２が走行方向を曲げるとき、これに伴いヒッチ
角を生じ、これをヒツチ角検出センサ２５が検出し、そ
の角度からトレーラ５のステアリング操作機構１５を作
動し、車輪１２．１３を所要角度の首振りを行う。これ
により作業車１は小さい曲率半径で容易に運行すること
ができる。When the tractor 2 bends in the traveling direction, a hitch angle is generated, which is detected by the hitch angle detection sensor 25, and the steering operation mechanism 15 of the trailer 5 is actuated from this angle to move the wheels 12, 13 to the required angle. Shake your head. Thereby, the work vehicle 1 can be easily operated with a small radius of curvature.
第１図乃至第４図は第１実施例を示す。図は本発明を農
耕用作業車に適用した例を示すもので、作業車１はトラ
クタ２の後部に牽引ロッド３を左右方向へ揺動可能に軸
支し、牽引ロッド３の先端にはトレーラ５を連結してな
る。牽引ロッド３は主ロッド６と比較的短小の副ロッド
７とからなり両者はピン８により連結し、副ロッド７の
他端はトレーラ５に固着する。１０はうね合わせ用シリ
ンダであり、これについては後述する。1 to 4 show a first embodiment. The figure shows an example in which the present invention is applied to an agricultural work vehicle.The work vehicle 1 has a tow rod 3 pivotally supported at the rear of a tractor 2 so as to be able to swing in the left and right directions, and a trailer attached to the tip of the tow rod 3. It is made by connecting 5. The towing rod 3 consists of a main rod 6 and a relatively short sub-rod 7, which are connected by a pin 8, and the other end of the sub-rod 7 is fixed to the trailer 5. 10 is a cylinder for ridge alignment, which will be described later.
トレーラ５は前記副ロッド７を中央に取付ける車体１１
の両画に車輪１２．２３を備える。この車輪１２゜１３
はそれぞれ揺動可能に軸支１８．１９１．たＬ型アーム
１６．１７に回動可能に支持されており、Ｌ型アーム１
６．１７は連結ロッド２０により連結し、一方のし型ア
ーム１６には油圧シリンダ２１を取付け、これらＬ型ア
ーム、連結ロッド及び油圧シリンダによりステアリング
操作機構１５を構成する。The trailer 5 has a vehicle body 11 to which the auxiliary rod 7 is attached in the center.
Wheels 12.23 are provided on both sides of the screen. This wheel 12°13
are each pivotably supported 18.191. The L-shaped arm 1 is rotatably supported by the L-shaped arm 16 and 17.
6.17 are connected by a connecting rod 20, and a hydraulic cylinder 21 is attached to one of the L-shaped arms 16, and the steering operation mechanism 15 is constituted by these L-shaped arms, the connecting rod, and the hydraulic cylinder.
上記トラクタ２の牽引ロッド３を軸支する軸支部４には
角度検出センサ（以下ヒツチ角検出センサという）２５
を、また主ロッド６と副ロッド７との接続部には角度検
出センサ（以下畦合せセンサという）２６を、更にトレ
ーラ５のステアリング操作機構１５の適所例えば軸支１
８には車輪１２．１３の首振り角度検出センサ（以下ス
テアリング角度検出センサという）２７をそれぞれ設け
る。これら各センサ２５，２６．２７はそれぞれ回転角
度を電気信号に変換して出力するもので、例えばポテン
ショメータ等により構成される。An angle detection sensor (hereinafter referred to as hitch angle detection sensor) 25 is attached to the shaft support 4 that pivotally supports the tow rod 3 of the tractor 2.
In addition, an angle detection sensor (hereinafter referred to as a ridge sensor) 26 is installed at the connecting part between the main rod 6 and the sub rod 7, and an appropriate position of the steering operation mechanism 15 of the trailer 5, for example, the shaft support 1.
8 is provided with a swing angle detection sensor (hereinafter referred to as a steering angle detection sensor) 27 for the wheels 12 and 13, respectively. Each of these sensors 25, 26, and 27 converts the rotation angle into an electrical signal and outputs the same, and is composed of, for example, a potentiometer.
上記構成において、第１図に示す如く半径Ｒの円弧Ｃに
沿って走行する場合のトレーラ５のステアリング操作に
ついて説明する。ただし本実施例は、うね合せ用シリン
ダ１０は作動せず牽引ロッド３は直線状に支持されてい
るものとする。In the above configuration, a steering operation of the trailer 5 when traveling along an arc C having a radius R as shown in FIG. 1 will be described. However, in this embodiment, it is assumed that the alignment cylinder 10 is not operated and the traction rod 3 is supported linearly.
先ずトラクタ２のステアリング（図示省略）を操作し、
前輪３０を軸線３１に対し所要の角度を付し円弧Ｃに沿
って走行する。これによりトラクタ２の軸線３１と牽引
ロッドは角度α１を形成する。この角度α１はヒツチ角
センサ２５により検出し、電気信号に変換し、これによ
りトレーラ５のステアリングを作動する。ただしヒッチ
角には若干の遊びを有せしめて上記ステアリングを作動
することが好ましく、上記ヒツチ角センサ２５の出力は
差検出回路３２に印加し、遊び角電気信号と比較し、第
２図に示すトラクタ２とトレーラ５とが直線状態のとき
、即ちヒッチ角が０を中心として若干の遊び角を越えた
とき、その量に応じた信号が演算回路３３に印加され、
演算回路３３は油圧シリンダ２１に対するソレノイドパ
ルプ３４を作動し、ステアリング操作機構１５により車
輪１２．１３の首振りを行う。First, operate the steering wheel (not shown) of the tractor 2,
The vehicle travels along an arc C with the front wheels 30 at a required angle with respect to the axis 31. The axis 31 of the tractor 2 and the traction rod thereby form an angle α1. This angle α1 is detected by the hit angle sensor 25 and converted into an electrical signal, thereby operating the steering of the trailer 5. However, it is preferable to operate the steering with some play in the hitch angle, and the output of the hitch angle sensor 25 is applied to a difference detection circuit 32 and compared with the play angle electric signal, as shown in FIG. When the tractor 2 and the trailer 5 are in a straight line state, that is, when the hitch angle exceeds a certain play angle around 0, a signal corresponding to the amount is applied to the arithmetic circuit 33,
The arithmetic circuit 33 operates the solenoid valve 34 for the hydraulic cylinder 21, and the steering operation mechanism 15 causes the wheels 12, 13 to oscillate.
この角度α２はステアリング角度検出センサ２７により
検出され演算回路３３にフィードバックされ、ヒッチ角
に対応するステアリング角に保持される。This angle α2 is detected by the steering angle detection sensor 27, fed back to the arithmetic circuit 33, and is maintained at the steering angle corresponding to the hitch angle.
ただし両者の角度は同一ではなく、例えばヒッチ角７５
度に対しステアリング角は１５度等両者の角度は適宜の
比率とし、演算回路３３に記憶されており、トレーラ５
の車輪１２．１３は第１図に示す如くトラクタ２の前輪
３０と支持方向に首振りされ、これにより曲率半径Ｒが
小さい場合でもトレーラ５は円弧Ｃ上を追随して移行す
る。However, the angles of both are not the same, for example, the hitch angle is 75
The steering angle is set to an appropriate ratio, such as 15 degrees to the steering angle, and is stored in the arithmetic circuit 33 and stored in the trailer 5.
As shown in FIG. 1, the wheels 12 and 13 of the tractor 2 are swung in the support direction with the front wheels 30 of the tractor 2, so that the trailer 5 moves along an arc C even if the radius of curvature R is small.
第４図はヒツチ角センサ２５及びステアリング角度検出
センサ２７の出力信号を表示するメータ回路４０の概略
説明図である。４１はヒツチ角検出センサ２５に接続さ
れる出力表示メータ、４２はステアリング角度検出セン
サ２７に接続される出力表示メータである。これら各メ
ータ４１．４２はトラクタ２の操縦席前面に取付けるこ
とにより両者の関係を確認するのに便利である。またこ
れらのメータを取付けることによりソレノイドバルブ３
４を適宜の手動操作回路（図示省略）により操作すると
き、ステアリング角度を確認することができる。図中４
３は各メータ４１．４２に対する中間電位回路であり、
それぞれの角度がＯのとは、指針を中央位置に保持する
ためのものである。FIG. 4 is a schematic explanatory diagram of a meter circuit 40 that displays output signals of the hit angle sensor 25 and the steering angle detection sensor 27. 41 is an output display meter connected to the hit angle detection sensor 25, and 42 is an output display meter connected to the steering angle detection sensor 27. These meters 41 and 42 are conveniently attached to the front of the cockpit of the tractor 2 to confirm the relationship between the two. Also, by installing these meters, solenoid valve 3
4 by an appropriate manual operation circuit (not shown), the steering angle can be confirmed. 4 in the diagram
3 is an intermediate potential circuit for each meter 41, 42;
The angles of O are for keeping the pointer in the center position.
なお上記各メータ４１．４２は実線で示す如くそれぞれ
別傷に設けてもよいが、あるいは鎖線で示す如く、１個
の共通メータ４４を用い切換えスイッチ４５により切換
え表示するようにしてもよい。The above-mentioned meters 41 and 42 may be provided at separate locations as shown by the solid lines, or alternatively, one common meter 44 may be used and switched and displayed by the changeover switch 45, as shown by the chain lines.
次に第５図乃至第６図は第２実施例を示す。本実施例は
第５図に示す如くトレーラ５をうね合せのためトラクタ
２の軸線３１と偏心して移行させるようにしたもので、
うね合せ用シリンダ１０を作動し、主ロッド６と副ロッ
ド７との間に角度５０（以下畦合せ角度という）を形成
し、この角度は畦合せセンサ２６により検出する。なお
トレーラ５の軸線５１はトラクタ２の軸線３１と平行で
あり、従ってヒッチ角α１も畦合せ角と同一でありヒツ
チ角センサ２５、畦合せセンサ２６の出力は記憶回路５
２に印加し、その角度を記憶する。もし両者の角度に相
違があるときは、両軸線３１．５１は非平行状態にある
ことを示すもので、この場合にはステアリング操作機構
１５により補正する。Next, FIGS. 5 and 6 show a second embodiment. In this embodiment, as shown in FIG. 5, the trailer 5 is moved eccentrically with respect to the axis 31 of the tractor 2 for alignment.
The ridge alignment cylinder 10 is operated to form an angle 50 (hereinafter referred to as ridge alignment angle) between the main rod 6 and the sub rod 7, and this angle is detected by the ridge alignment sensor 26. Note that the axis 51 of the trailer 5 is parallel to the axis 31 of the tractor 2, so the hitch angle α1 is also the same as the ridge angle, and the outputs of the hit angle sensor 25 and the ridge alignment sensor 26 are stored in the memory circuit 5.
2 and memorize the angle. If there is a difference between the two angles, this indicates that the two axes 31.51 are in a non-parallel state, and in this case, the steering operation mechanism 15 corrects this.
この状態において第６図に示す如くトラクタ２を曲率半
径Ｒ１の円弧ＣＩに沿い、トレーラ５は曲率半径Ｒ２の
円弧Ｃ２に沿って移行させるものとする。In this state, as shown in FIG. 6, the tractor 2 is moved along an arc CI with a radius of curvature R1, and the trailer 5 is moved along an arc C2 with a radius of curvature R2.
トラクタ２のステアリングを操作し前述の要領にてトラ
クタ２を円弧ＣＩに沿って走行させることによりヒッチ
角は畦合せ角度とに差を生じ、その差は差検出回路５３
に印加され、ヒッチ遊び角との差は演算回路５４に印加
される。その後は前例と同一であり説明を省略する。こ
れによりトレーラ５は畦合せ角度が付加されることによ
り曲率半径Ｒ２の円弧Ｃ２上を走行する。By operating the steering wheel of the tractor 2 and moving the tractor 2 along the arc CI in the manner described above, a difference is created between the hitch angle and the ridge angle, and this difference is detected by the difference detection circuit 53.
The difference between the hitch play angle and the hitch play angle is applied to the arithmetic circuit 54. The subsequent steps are the same as in the previous example, and the explanation will be omitted. As a result, the trailer 5 travels on a circular arc C2 having a radius of curvature R2 due to the addition of the ridge angle.
本発明によるときは、トラクタの方向変更に際し、トレ
ーラを連結する牽引ロッドとの間に形成されるヒッチ角
度によりトレーラのステアリングを自動的に操作するよ
うにしたから、トレーラのステアリングは迅速に行われ
、従って曲率半径の小さい円弧に沿っても移行すること
ができる。このため特に農耕用作業車に好適である等の
効果を有する。According to the present invention, when changing the direction of the tractor, the steering of the trailer is automatically operated by the hitch angle formed between the tow rod that connects the trailer, so the steering of the trailer is quickly performed. Therefore, it is possible to move along an arc with a small radius of curvature. Therefore, it has the advantage of being particularly suitable for agricultural work vehicles.
第１図乃至第４図は第１実施例に関し、第１図はトラク
タに牽引されるトレーラのステアリング制御方法の説明
図、第２図は作業車の全体平面図、第３図はトレーラの
ステアリング操作機構の平面図、第４図はメータ回路の
概略説明図、第５図乃至第６図は第２実施例に関し、第
５図は畦合せ状態の作業車の平面図、第６図はトレーラ
のステアリング制御方法の説明図である。
１は作業車、２はトラクタ、３は牽−引ロツド、５はト
レーラ、１２．１３はトレーラ車輪、１５はステアリン
グ操作機構、２５はヒツチ角検出センサ、２７はステア
リング角度検出センサ、３１はトラクタ軸線、α１はヒ
ッチ角度である。
特許出願人 日本スピンドル製造株式会社、？−′Figures 1 to 4 relate to the first embodiment, where Figure 1 is an explanatory diagram of a method of controlling the steering of a trailer towed by a tractor, Figure 2 is an overall plan view of the work vehicle, and Figure 3 is the steering of the trailer. A plan view of the operating mechanism, FIG. 4 is a schematic explanatory diagram of the meter circuit, FIGS. 5 and 6 relate to the second embodiment, FIG. 5 is a plan view of the work vehicle in the ridged state, and FIG. FIG. 3 is an explanatory diagram of a steering control method. 1 is a work vehicle, 2 is a tractor, 3 is a towing rod, 5 is a trailer, 12.13 is a trailer wheel, 15 is a steering operation mechanism, 25 is a hit angle detection sensor, 27 is a steering angle detection sensor, 31 is a tractor The axis, α1, is the hitch angle. Patent applicant Nippon Spindle Manufacturing Co., Ltd.? −′
Claims (4)
引する作業車において、トラクタ軸線と牽引ロッドとに
より形成する角度（以下ヒッチ角度という）を検出し、
この角度からトレーラのステアリング操作機構を作動し
、トレーラの走行車輪の走行方向を制御することを特徴
とするトラクタに牽引されるトレーラのステアリング制
御方法。(1) In a work vehicle that tows a trailer with a tractor via a tow rod, detect the angle formed by the tractor axis and the tow rod (hereinafter referred to as hitch angle),
A method for controlling the steering of a trailer towed by a tractor, characterized in that the steering operation mechanism of the trailer is operated from this angle to control the traveling direction of the traveling wheels of the trailer.
することを特徴とする特許請求の範囲第１項に記載のト
ラクタに牽引されるトレーラのステアリング制御方法。(2) The method for controlling the steering of a trailer towed by a tractor according to claim 1, wherein the hitch angle has a play of a predetermined angle with respect to 0.
て走行すべくヒッチ角は予め設定した角度を有せしめ、
ヒッチ角がこの設定角度を基準として変化したときトレ
ーラのステアリング操作機構を作動することを特徴とす
る特許請求の範囲第１項に記載のトラクタに牽引される
トレーラのステアリグ制御方法。(3) The hitch angle is set at a preset angle so that the trailer runs biased to one side with respect to the traveling axis of the tractor,
2. The method of controlling the steering of a trailer towed by a tractor according to claim 1, wherein a steering operation mechanism of the trailer is operated when the hitch angle changes based on the set angle.
引する作業車において、牽引ロッドはトラクタ後部に左
右方向に揺動可能に軸支し、この軸支部にはヒッチ角検
出センサを備え、トレーラには走行車輪に対するステア
リング操作機構並びに該機構による走行車輪の首振り角
度（以下ステアリング角度という）検出用センサを備え
、トラクタの軸線と牽引ロッドとにより形成するヒッチ
角度をヒッチ角検出センサにより検出し、その出力信号
によりステアリング操作機構を作動し、ステアリング角
度を所定角度に維持することを特徴とするトラクタに牽
引されるトレーラのステアリング制御装置。(4) In a work vehicle in which a trailer is towed by a tractor via a tow rod, the tow rod is pivotally supported at the rear of the tractor so as to be able to swing in the left and right direction, and this shaft support is equipped with a hitch angle detection sensor. It is equipped with a steering operation mechanism for the traveling wheels and a sensor for detecting the swing angle of the traveling wheels (hereinafter referred to as steering angle) by the mechanism, and a hitch angle detection sensor detects the hitch angle formed by the axis of the tractor and the traction rod. A steering control device for a trailer towed by a tractor, which operates a steering operation mechanism in response to an output signal to maintain a steering angle at a predetermined angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13344586A JPS62289472A (en) | 1986-06-09 | 1986-06-09 | Method and device for steering control of trailer drawn by tractor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13344586A JPS62289472A (en) | 1986-06-09 | 1986-06-09 | Method and device for steering control of trailer drawn by tractor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS62289472A true JPS62289472A (en) | 1987-12-16 |
Family
ID=15104942
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP13344586A Pending JPS62289472A (en) | 1986-06-09 | 1986-06-09 | Method and device for steering control of trailer drawn by tractor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS62289472A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01223084A (en) * | 1988-03-02 | 1989-09-06 | Seibutsukei Tokutei Sangyo Gijutsu Kenkyu Suishin Kiko | Steering operation of agricultural traction type working machine |
| JPH01145580U (en) * | 1988-03-15 | 1989-10-06 | ||
| US5013057A (en) * | 1987-08-11 | 1991-05-07 | Teco Systems Oy | Method of controlling a transport means and a transport means for effecting the method |
| US5145198A (en) * | 1990-09-25 | 1992-09-08 | Teco-Systems Oy | Method of controlling a transport means and a transport means |
| US6409199B1 (en) * | 2000-12-04 | 2002-06-25 | Joseph James Boyd | Rear wheel steering system |
| EP1818245A1 (en) | 2006-02-14 | 2007-08-15 | Paul Forrer AG | Wheel drive device and method for a wheel drive device |
| FR2909632A1 (en) * | 2006-12-07 | 2008-06-13 | Monroc | Steering wheel controlling method for e.g. farm trailer, involves assigning same value of control sensor to that of angle sensor to correct angle and to control hydraulic control unit so as to modify orientation of wheels in regulating mode |
| CN102320329A (en) * | 2011-06-16 | 2012-01-18 | 迟树廷 | Three-axle trailer steering system |
| JP2015202071A (en) * | 2014-04-14 | 2015-11-16 | 日本甜菜製糖株式会社 | harvester |
| WO2020137810A1 (en) * | 2018-12-26 | 2020-07-02 | 株式会社クボタ | Work vehicle, and work machinery equipped with work vehicle |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62275877A (en) * | 1986-05-22 | 1987-11-30 | Akutsu Yoshito | Wheel steering method for work truck drawn by tractor |
-
1986
- 1986-06-09 JP JP13344586A patent/JPS62289472A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62275877A (en) * | 1986-05-22 | 1987-11-30 | Akutsu Yoshito | Wheel steering method for work truck drawn by tractor |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5013057A (en) * | 1987-08-11 | 1991-05-07 | Teco Systems Oy | Method of controlling a transport means and a transport means for effecting the method |
| JPH01223084A (en) * | 1988-03-02 | 1989-09-06 | Seibutsukei Tokutei Sangyo Gijutsu Kenkyu Suishin Kiko | Steering operation of agricultural traction type working machine |
| JPH01145580U (en) * | 1988-03-15 | 1989-10-06 | ||
| US5145198A (en) * | 1990-09-25 | 1992-09-08 | Teco-Systems Oy | Method of controlling a transport means and a transport means |
| US6409199B1 (en) * | 2000-12-04 | 2002-06-25 | Joseph James Boyd | Rear wheel steering system |
| EP1818245A1 (en) | 2006-02-14 | 2007-08-15 | Paul Forrer AG | Wheel drive device and method for a wheel drive device |
| FR2909632A1 (en) * | 2006-12-07 | 2008-06-13 | Monroc | Steering wheel controlling method for e.g. farm trailer, involves assigning same value of control sensor to that of angle sensor to correct angle and to control hydraulic control unit so as to modify orientation of wheels in regulating mode |
| EP1932747A1 (en) * | 2006-12-07 | 2008-06-18 | Monroc | Method and device for controlling the steering wheels of a trailer |
| CN102320329A (en) * | 2011-06-16 | 2012-01-18 | 迟树廷 | Three-axle trailer steering system |
| JP2015202071A (en) * | 2014-04-14 | 2015-11-16 | 日本甜菜製糖株式会社 | harvester |
| WO2020137810A1 (en) * | 2018-12-26 | 2020-07-02 | 株式会社クボタ | Work vehicle, and work machinery equipped with work vehicle |
| US11968917B2 (en) | 2018-12-26 | 2024-04-30 | Kubota Corporation | Working vehicle and working machine having the working vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6925780B2 (en) | Work platform | |
| US20090276127A1 (en) | Correction in Position with Hitch Position Sensor | |
| JPS62289472A (en) | Method and device for steering control of trailer drawn by tractor | |
| JP3114207B2 (en) | Tractor steering system | |
| JPH05316807A (en) | Method for steering and controlling agricultural traction type working machine | |
| JP2662970B2 (en) | Steering operation method of agricultural towed work machine | |
| US3851895A (en) | Drawbar steering attachment for articulated tractors | |
| JPH0417820B2 (en) | ||
| US11968917B2 (en) | Working vehicle and working machine having the working vehicle | |
| JPH09123936A (en) | Steering device for self-running vehicle | |
| JP4326289B2 (en) | Agricultural work vehicle steering control device | |
| JPS596170A (en) | Steering apparatus for car | |
| KR20190093424A (en) | Electric vehicle for minimizing cornering radius | |
| JPS63158152A (en) | Running control apparatus of chemical agent sprinkling work vehicle | |
| JP2854482B2 (en) | Automatic steering structure of work vehicle | |
| JP2632332B2 (en) | Automatic steering system for work vehicles | |
| JPH02144880U (en) | ||
| JPH0522015Y2 (en) | ||
| JP3301414B2 (en) | Tractor steering system | |
| JP2020152349A (en) | Work vehicle | |
| JPH0638780Y2 (en) | Trailer steering device | |
| JP2562893Y2 (en) | Steering wheel steering angle detection device for traveling vehicles | |
| JPH02273004A (en) | Trolley type automatic running gear of working travelling car | |
| JPS6130464A (en) | Steering device for four-wheel driving type moving agricultural equipment | |
| JPH01164679A (en) | Steering angle ratio control mechanism |